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Method for detecting yaw angle between tractor and trailer

A detection method and tractor technology, applied in the field of yaw angle detection of tractors and trailers, can solve the problems of cumbersome and cumbersome installation and maintenance, and achieve the effects of flexible installation, low calculation intensity and real-time performance

Inactive Publication Date: 2019-04-26
魔视智能科技(上海)有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

This invention is suitable for full trailers and semi-trailers, but due to the use of GPS measuring devices, microwave antennas and steering wheel angle sensors and many other measuring sensors, the overall system is too bloated and the installation and maintenance are cumbersome

Method used

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  • Method for detecting yaw angle between tractor and trailer
  • Method for detecting yaw angle between tractor and trailer
  • Method for detecting yaw angle between tractor and trailer

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Embodiment Construction

[0037] A method for detecting the yaw angle of a tractor and a trailer, comprising:

[0038] 110. If figure 1 As shown, the detection board 2 is arranged on the front side of the trailer 1, the front side of the detection board 2 faces the rear side of the tractor 3, there are a plurality of characteristic patterns on the front side of the detection board 2, and on the rear side of the tractor 3 The camera 4 arranged at any yaw angle (-90 to 90 degrees) can capture at least one characteristic pattern on the detection board 2 .

[0039] Assuming that camera 4 looks vertically at the front side of trailer 1, the camera’s horizontal viewing angle is fov_h, vertical viewing angle is fov_v, and the distance between the camera and the front side is L. We define a rectangle on the front side of the trailer, and the center of the rectangle is the optical center of the camera. For the vertical projection on the front side, the length of the rectangle is 2*L*tan(fov_h / 2), and the heigh...

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Abstract

The invention provides a method for detecting a yaw angle between a tractor and a trailer. The method comprises the following steps that, a detection board is arranged in front of a trailer, a plurality characteristic patterns are arranged in the front face of the detection board, and a camera is arranged in the rear face of the tractor and can be used for shooting at least one characteristic pattern on the detection board at an arbitrary yaw angle; under the situation of no yaw between the trailer and the tractor, and the camera is used for shooting the detection board to calculate an initialtransformation matrix; the characteristic patterns on the detection board are shot by the camera in a vehicle driving process; at least four characteristic points are extracted from each shot characteristic pattern; the current transformation matrix is calculated; and the yaw angle between the tractor and the trailer is calculated. The method is suitable for types of various trailers, including full trailers and semitrailers, has relatively low calculation strength, can realize real time, and can run under an extreme work condition (low light condition).

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a method for detecting the yaw angle of a tractor and a trailer. Background technique [0002] With the widespread popularization of Industry 4.0 in my country, especially under the background of the full implementation of the "Made in China 2025" national strategy, unmanned driving technology has received extensive attention at the national and local levels, including enterprises, universities and research institutions. As the second largest economy in the world, my country has a huge import and export volume. The "2018 Global Top 20 Container Port Forecast Report" recently released by the Forecasting Science Research Center of the Chinese Academy of Sciences shows that in 2018, the total growth rate of container throughput in Chinese ports will continue to take the lead, accounting for half of the top 20 ports. Professional analysis believes that the freight industry...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60D1/24
CPCB60D1/248
Inventor 周易陆予侃丁洋王之睿
Owner 魔视智能科技(上海)有限公司
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