Steering angle detection method, device and system
A technology of steering angle and detection system, which is applied in the direction of steering mechanism, transportation and packaging, vehicle parts, etc., and can solve problems such as poor adaptability, difficulty in measuring angles, and angle sensors
Active Publication Date: 2020-08-25
SAIC MOTOR +1
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Problems solved by technology
[0005] However, due to the large sway margin between the trailer's shaft and the tractor saddle, it is difficult for the angle sensor to measure the angle directly, and the above-mentioned solution needs to modify the original saddle or traction pin, because different truck models have different modification methods , so the adaptability is poor
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[0069] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0070] This application provides a steering angle detection system, see figure 1 (in original state) and figure 2 (Under a certain steering angle), the steering angle detection system includes:
[0071] Processor (shown as shown).
[0072] The imaging device 1 is arranged on the rear side of the cockpit of the tractor, and the shooting field of view of the imaging device 1 is directly behind the tractor. For example, a monocular camera with a field of view facing directly behind...
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The invention discloses a steering angle detection method, device and system. The method is applied to a processor in a steering angle detection system. The steering angle detection system comprises camera equipment arranged on a rear side surface of a tractor cab and a plane target arranged between the rear side surface of the tractor cab and a front side surface of a trailer and attached to a front side surface of the trailer. The plane target is provided with a plurality of identification points, and a view angle of the camera equipment can completely cover the identification points of theplane target. The method comprises the following steps: receiving an image shot and sent by the camera equipment in a steering process of a tractor; identifying the plurality of identification pointsin the image; determining current coordinates of the plurality of identification points in a camera equipment coordinate system; and calculating the steering angle between the tractor and the traileraccording to the original coordinates of the plurality of identification points in the camera equipment coordinate system and the current coordinates of the plurality of identification points in the camera equipment coordinate system. The method, the device and the system can adapt to various types of trucks, and accuracy of the obtained steering angle is high.
Description
technical field [0001] The present application relates to the technical field of automatic driving, in particular to a steering angle detection method, device and system. Background technique [0002] Autonomous driving technology has already begun to be applied to the field of trucks. The truck includes a tractor and a trailer, and the tractor and the trailer are connected by a saddle on the tractor and a traction pin on the trailer. The saddle can rotate around the traction pin, and the tractor drives and pulls the trailer. [0003] During the driving process of the truck, the trailer has a certain steering angle relative to the tractor when the vehicle is turning, turning around, changing lanes, parking and other working conditions. This steering angle is critical for autonomous driving sensor calibration and path planning decisions. [0004] At present, a specific detection device containing an angle sensor is mainly used to be installed on the saddle or the traction p...
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Login to View More IPC IPC(8): B62D15/02
CPCB62D15/024
Inventor 叶卉项党刘玉刘元伟鲍凤卿卢远志梁伟铭刘奋
Owner SAIC MOTOR