Logistics vehicle and trailer pose determination, pre-collision detection and automatic driving method thereof

Abstract

The invention provides a logistics vehicle and a trailer pose determination, pre-collision detection and automatic driving method thereof, and belongs to the technical field of automatic driving of logistics vehicles. The trailer pose determination method comprises the steps that the actual pose, the actual front wheel turning angle and the actual speed of a trailer are obtained through a sensor; inputting the actual front wheel turning angle and the actual speed of the trailer into the logistics vehicle kinematic model to obtain a trailer pose estimation value and a trailer angle estimation value based on the logistics vehicle kinematic model; comparing the actual pose of the trailer with the estimated value of the pose of the trailer, multiplying the deviation between the actual pose and the estimated value of the pose of the trailer by a coefficient K to obtain a pose error, and correcting the estimated value of the angle of the trailer by using the pose error to obtain an accurate angle of the trailer; and combining the actual pose of the trailer, the accurate trailer angle and the geometric parameters of the trailer and each trailer to obtain the pose of each trailer. The method can accurately determine the pose of the trailer in the logistics vehicle.

Description

technical field [0001] The invention relates to a method for determining the position and attitude of a logistics vehicle and its trailer, pre-collision detection and automatic driving, and belongs to the technical field of automatic driving of logistics vehicles. Background technique [0002] The logistics vehicle includes a trailer system and a trailer system. The trailer system consists of a trailer, and the trailer system can consist of one or more trailers. The trailer system and the trailer system of the logistics vehicle are only hinged together through axle pins, and there is no other way between the two. connect. Among them, the trailer system provides the required braking force and driving force for the logistics vehicle, the trailer system only has a mechanical structure, and the logistics vehicle only has sensors on the trailer system, and there are no sensors on the trailer system. [0003] Since the logistics vehicle only has sensors on the trailer system, the...

AI Technical Summary

Problems solved by technology

[0003] Since logistics vehicles only have sensors on the trailer system, the operating status of the trailer system (including information such as the position, speed, and heading angle of the trailer) cannot be obtained directly. This is a big difference between logistics vehicles and other vehicles. The difference leads to the fact that the general automatic driving system cannot achieve good results on the logistics vehicle. Therefore, in order to realize the automatic driving of the logistics vehicle, it is first necessary to solve the problem that the trailer pose information in the logistics vehicle cannot be obtained.

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