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Multi-trailer driving track calculation method based on single sensing data

A technology of perceiving data and calculation methods, applied in navigation calculation tools, complex mathematical operations, etc., can solve the problems of field occlusion, no consideration of ground friction, no consideration of changes in trailer motion state differences, etc., to achieve simple and reliable data acquisition. low cost effect

Active Publication Date: 2022-07-05
CIVIL AVIATION LOGISTICS TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The current main method of trailer trajectory calculation is to obtain the trailer trajectory through sensor perception or images. There may be problems such as inaccurate perception in rainy and foggy days, and the vision being blocked by the towed goods.
There are some methods to obtain the trajectory of the trailer through calculation, but either do not consider the real-time external influences such as ground friction and load, or only calculate the trajectory of the next trailer based on the movement of the previous trailer, without considering the difference in motion state between the trailers The change

Method used

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  • Multi-trailer driving track calculation method based on single sensing data
  • Multi-trailer driving track calculation method based on single sensing data
  • Multi-trailer driving track calculation method based on single sensing data

Examples

Experimental program
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Effect test

Embodiment 1

[0056] like figure 1 As shown, this embodiment provides a method for calculating the driving trajectory of multiple trailers based on a single perception data. After the tractor, there are multiple trailers connected end-to-end through the tow bar, and the labels n of the trailers are recorded as 1 to 1 in the order from front to back. k, the tractor is regarded as a No. 0 trailer; the main pose points of the trailer include the front end of the trailer towbar, the midpoint of the front wheel axis, the midpoint of the rear wheel axis, and the rear trailer;

[0057] Mark the coordinates of the front end of the tow bar, the midpoint of the front wheel axis, the midpoint of the rear wheel axis, and the trailer at the previous moment of the trailer No. n as , , and , the current moment is recorded as , whose value represents the number of units of time away from the initial time, and the corresponding coordinates at this time are marked as , , and , the current mo...

Embodiment 2

[0065] This embodiment is based on the technical solution of Embodiment 1, and the specific steps will not be repeated. image 3 .

[0066] In this embodiment, the acquisition The method is:

[0067] ;

[0068] ;

[0069] Among them, L is and The distance between, representing the length of the trailer body, for and The distance between them represents the length of the tow bar of the n-trailer. Since the front end of the tow bar of the latter trailer is attached to the rear end of the previous trailer, so the value of and same.

[0070] Among them, as a preferred solution, since the angle of the drawbar of the No. 1 trailer can be obtained directly through the sensor, the time value when n is greater than 1 is The angle of the drawbar of the trailer No. n The acquisition method includes the following steps:

[0071] By solving the equation constructed by the speed of the tractor and the length of the trailer, the time shift of the angle change of th...

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Abstract

The invention discloses a multi-trailer traveling track calculation method based on single sensing data, relates to the technical field of trailer traveling track calculation, and aims to realize more accurate trailer track calculation, the angle of a traction rod of a No.1 trailer of a tractor is obtained through a sensor, the following steps are executed in sequence from n = 1 until n = k, and the number n is equal to 1; according to the angle of a traction rod of the trailer n, the pose point of the trailer n-1 and the pose point of the trailer n at the previous moment, the movement turning center of the trailer n is obtained; obtaining the pose point of the nth trailer at the moment according to the trailer movement turning center and the pose point of the nth trailer at the previous moment; the method has the advantages of high calculation precision and reliability.

Description

technical field [0001] The invention relates to the technical field of trailer driving trajectory calculation, and more particularly to the technical field of a multi-trailer driving trajectory calculation method based on single perception data. Background technique [0002] At present, due to the impact of the epidemic, the harsh driving environment of special vehicles at the airport, the lack of drivers, and the demand for smart airport construction, airport unmanned special vehicles have gradually become the first landing scene of intelligent driving, and the first application target is the tractor. [0003] Different from ordinary vehicles, tractors often tow multiple vehicles behind them, usually ranging from 1 to 6 trailers, so it is necessary to plan the path of the tractor reasonably to avoid the rear towing trailers and other vehicles. And roadside facilities collide and cause danger. To do this, the trajectory of the trailer needs to be acquired first. [0004] A...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/10G01C21/20
CPCG06F17/10G01C21/20
Inventor 杨秀清陈翼谌泓宇张建权向勇廖诗来李貌马俊勇王小锐陈柏宇李支茂何威
Owner CIVIL AVIATION LOGISTICS TECH
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