An Auxiliary Articulation Angle Measurement Method for Unmanned Articulated Vehicles Based on Millimeter Wave Radar

Abstract

The invention discloses an auxiliary articulation angle measurement method of an unmanned articulated vehicle based on a millimeter wave radar, comprising the following steps: (1) installing millimeter wave radars on the sides of the front rigid body and the rear rigid body of the articulated vehicle respectively, and the articulated vehicle Drive to the base surface to get the distance between each millimeter-wave radar and the base surface; (2) the relative distance of the millimeter-wave radar on the front rigid body, the relative distance and distance of the millimeter-wave radar on the rear rigid body, and calculate the relative angle between the front rigid body and the rear rigid body. (3) Calculate the relative articulation angle between the front rigid body and the rear rigid body at the hinge according to the relative included angle; (4) Calculate the absolute articulation angle in the articulated vehicle control according to the relative articulation angle. The base plane is used as the datum plane for millimeter-wave radar detection, and the distance between the front and rear rigid bodies relative to the base plane is measured, and the angle at the hinge of the front and rear rigid bodies is calculated by combining the installation distance of the millimeter-wave radar, which reduces the complexity of the millimeter-wave radar and improves the Availability of measurement.

Description

technical field [0001] The invention belongs to the field of vehicle control, in particular to an articulation angle auxiliary measurement method of an unmanned articulated vehicle based on millimeter wave radar. Background technique [0002] The articulated vehicle uses a hinge device to connect multiple rigid bodies, and the articulated vehicle relies on the mutual rotation of the joints to change the direction of the vehicle's motion. [0003] In recent years, the control technology of unmanned articulated vehicles has gradually developed. Compared with single-rigid vehicles, articulated vehicles are prone to instability and sideslip during steering and lateral adjustment. In control, the articulation angles of multiple rigid body joints of an articulated vehicle directly affect the ride comfort and stability of the vehicle during driving. Therefore, the degree of measurement of the articulation angle is an important quantity for vehicle control, and the accuracy of the ...

AI Technical Summary

Problems solved by technology

[0004] At present, the articulation angle of articulated vehicles is generally obtained by direct measurement of angle sensors. This measurement method has high requirements for the measurement accuracy and installation accuracy of the sensors, and the adaptability of the articulations is different for different articulated vehicles, thus affecting the articulation. The measurement accuracy of the articulation angle of the vehicle is poor, and the measurement practicability is poor

There is also a laser range finder and a camera installed between multiple rigid bodies, and the articulation angle can be obtained through auxiliary measurement by measuring the mutual relationship between multiple rigid bodies. However, this method has high requirements for the measurement environment and the price of the measuring device is high. , resulting in high cost of measurement, large limitations, and poor applicability in practical applications

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