Pose derivation method and device of tractor-trailer system, medium and equipment

Abstract

The invention belongs to the technical field of automatic driving, and particularly relates to a position and posture derivation method and device of a tractor-trailer system, a computer readable storage medium and electronic equipment. The method comprises the following steps: determining an initial pose state of the tractor-trailer system; acquiring a real-time position of a tractor, and determining the real-time position of the tractor as a target position; based on a preset trajectory tracking controller, the initial pose state and the target position are processed, and the linear speed and the steering angle of the tractor are obtained; and based on a preset differential algebraic equation solver, the initial pose state, the linear speed and the steering rudder angle are processed, and the target pose state of the tractor-trailer system is obtained. According to the invention, accurate pose derivation can be carried out on the tractor-trailer system, so that the automatic driving technology can be conveniently applied to the tractor-trailer system.

Description

Technical Field

[0001] This application belongs to the technical field of autonomous driving, and particularly relates to a method, device, computer-readable storage medium and electronic device for deriving the pose of a tractor-trailer system. Background Art

[0002] Tractor-trailer systems are widely used in fields such as logistics transportation, engineering construction, and agricultural production. Combining them with autonomous driving technology has broad application prospects. Different from traditional single-rigid-body vehicles, tractor-trailer systems have a multi-degree-of-freedom motion mode during steering, and their complex articulated structure makes the vehicle exhibit unique kinematic and dynamic characteristics during operation. How to perform accurate pose derivation is a difficult problem that needs to be solved urgently for the application of current autonomous driving technology to tractor-trailer systems. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, device, computer-readable storage medium and electronic device for deriving the pose of a tractor-trailer system to solve the problem in the prior art that it is difficult to accurately derive the pose of a tractor-trailer system.

[0004] The first aspect of the embodiments of this application provides a method for deriving the pose of a tractor-trailer system, which may include:

[0005] Determine the initial pose state of the tractor-trailer system;

[0006] Obtain the real-time position of the tractor, and determine the real-time position of the tractor as the target position;

[0007] Based on a preset trajectory tracking controller, process the initial pose state and the target position to obtain the linear velocity and steering rudder angle of the tractor;

[0008] Based on a preset differential algebraic equation solver, process the initial pose state, the linear velocity, and the steering rudder angle to obtain the target pose state of the tractor-trailer system.

[0009] In a specific implementation manner of the first aspect, after determining the real-time position of the tractor as the target position, it may further include:

[0010] Judge whether the target position is valid;

[0011] In the case where the target position is invalid, return to execute the step of obtaining the real-time position of the tractor and its subsequent steps;

[0012] When the target position is valid, execute the step of processing the initial pose state and the target position based on a preset trajectory tracking controller and subsequent steps.

[0013] In a specific implementation manner of the first aspect, the pose derivation method of the tractor-trailer system may further include:

[0014] Obtain the current pose state and the trajectory to be evaluated of the tractor-trailer system;

[0015] Judge whether the target distance is less than a preset distance threshold; wherein, the target distance is the distance between the position of the tractor in the current pose state and the starting point of the trajectory to be evaluated;

[0016] When the target distance is less than the distance threshold, insert the current pose state into the end of a preset trajectory deduction state queue, and determine the current pose state as the initial pose state of the trajectory;

[0017] Select a trajectory target position in the trajectory to be evaluated according to the initial pose state of the trajectory;

[0018] Based on the trajectory tracking controller, process the initial pose state of the trajectory and the trajectory target position to obtain the linear velocity and steering rudder angle of the tractor;

[0019] Based on the differential-algebraic equation solver, process the initial pose state of the trajectory, the linear velocity and the steering rudder angle to obtain a new current pose state, and return to execute the step of inserting the current pose state into the end of the preset trajectory deduction state queue and its subsequent steps;

[0020] After completing the deduction of the trajectory to be evaluated, output the trajectory deduction state queue.

[0021] In a specific implementation manner of the first aspect, after judging whether the target distance is less than a preset distance threshold, it may further include:

[0022] When the target distance is greater than or equal to the distance threshold, based on the trajectory tracking controller, process the current pose state and the starting point of the trajectory to be evaluated to obtain the linear velocity and steering rudder angle of the tractor;

[0023] Based on the differential-algebraic equation solver, process the current pose state, the linear velocity and the steering rudder angle to obtain a new current pose state, and return to execute the step of judging whether the target distance is less than a preset distance threshold and its subsequent steps.

[0024] In a specific implementation manner of the first aspect, selecting a trajectory target position in the to-be-evaluated trajectory according to the initial pose state of the trajectory may include:

[0025] Selecting a position that meets a preset condition in the to-be-evaluated trajectory as the trajectory target position; wherein, the preset condition includes being in front of the initial position and having a preset distance interval from the initial position, and the initial position is the tractor position in the initial pose state of the trajectory.

[0026] In a specific implementation manner of the first aspect, after outputting the trajectory deduction state queue, it may further include:

[0027] Performing a feasibility evaluation on the to-be-evaluated trajectory according to the trajectory deduction state queue to obtain a feasibility evaluation result of the to-be-evaluated trajectory.

[0028] In a specific implementation manner of the first aspect, after obtaining the target pose state of the tractor-trailer system, it may further include:

[0029] Determining the target pose state of the tractor-trailer system as a new initial pose state, and returning to execute the step of obtaining the real-time position of the tractor and its subsequent steps.

[0030] A second aspect of the embodiments of the present application provides a pose derivation device for a tractor-trailer system, which may include:

[0031] An initial pose state determination module, configured to determine the initial pose state of the tractor-trailer system;

[0032] A target position determination module, configured to obtain the real-time position of the tractor and determine the real-time position of the tractor as the target position;

[0033] A first trajectory tracking module, configured to process the initial pose state and the target position based on a preset trajectory tracking controller to obtain the linear velocity and steering rudder angle of the tractor;

[0034] A first equation solving module, configured to process the initial pose state, the linear velocity, and the steering rudder angle based on a preset differential algebraic equation solver to obtain the target pose state of the tractor-trailer system.

[0035] In a specific implementation manner of the second aspect, the pose derivation device for the tractor-trailer system may further include:

[0036] A target position validity judgment module, which is used to judge whether the target position is valid; in the case where the target position is invalid, return to execute the step of obtaining the real-time position of the tractor and its subsequent steps; in the case where the target position is valid, execute the step of processing the initial pose state and the target position based on a preset trajectory tracking controller and its subsequent steps.

[0037] In a specific implementation manner of the second aspect, the pose derivation device of the tractor-trailer system may further include:

[0038] A current pose state acquisition module, which is used to acquire the current pose state and the to-be-evaluated trajectory of the tractor-trailer system;

[0039] A target distance judgment module, which is used to judge whether the target distance is less than a preset distance threshold; wherein, the target distance is the distance between the position of the tractor in the current pose state and the starting point of the to-be-evaluated trajectory;

[0040] A trajectory initial pose state determination module, which is used to insert the current pose state into the end of a preset trajectory deduction state queue and determine the current pose state as the trajectory initial pose state in the case where the target distance is less than the distance threshold;

[0041] A trajectory target position selection module, which is used to select a trajectory target position in the to-be-evaluated trajectory according to the trajectory initial pose state;

[0042] A second trajectory tracking module, which is used to process the trajectory initial pose state and the trajectory target position based on the trajectory tracking controller to obtain the linear velocity and steering rudder angle of the tractor;

[0043] A second equation solving module, which is used to process the trajectory initial pose state, the linear velocity and the steering rudder angle based on the differential algebraic equation solver to obtain a new current pose state, and return to execute the step of inserting the current pose state into the end of the preset trajectory deduction state queue and its subsequent steps;

[0044] A trajectory deduction state queue output module, which is used to output the trajectory deduction state queue after completing the deduction of the to-be-evaluated trajectory.

[0045] In a specific implementation manner of the second aspect, the pose derivation device of the tractor-trailer system may further include:

[0046] A third trajectory tracking module, configured to, when the target distance is greater than or equal to the distance threshold, process the current pose state and the starting point of the to-be-evaluated trajectory based on the trajectory tracking controller to obtain the linear velocity and the steering rudder angle of the tractor;

[0047] A third equation solving module, configured to process the current pose state, the linear velocity, and the steering rudder angle based on the differential algebraic equation solver to obtain a new current pose state, and return to execute the step of determining whether the target distance is less than a preset distance threshold and subsequent steps thereof.

[0048] In a specific implementation manner of the second aspect, the trajectory target position selection module may be specifically configured to: select a position that meets a preset condition in the to-be-evaluated trajectory as the trajectory target position; wherein, the preset condition includes being in front of the initial position and being at a preset distance interval from the initial position, and the initial position is the position of the tractor in the initial pose state of the trajectory.

[0049] In a specific implementation manner of the second aspect, the pose derivation device of the tractor-trailer system may further include:

[0050] A feasibility evaluation module, configured to perform a feasibility evaluation on the to-be-evaluated trajectory according to the trajectory deduction state queue to obtain a feasibility evaluation result of the to-be-evaluated trajectory.

[0051] In a specific implementation manner of the second aspect, the pose derivation device of the tractor-trailer system may further include:

[0052] An initial pose state update module, configured to determine the target pose state of the tractor-trailer system as a new initial pose state, and return to execute the step of obtaining the real-time position of the tractor and subsequent steps thereof.

[0053] A third aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned pose derivation methods of the tractor-trailer system are implemented.

[0054] A fourth aspect of the embodiments of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of any one of the above-mentioned pose derivation methods of the tractor-trailer system are implemented.

[0055] A fifth aspect of the embodiments of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device is caused to execute the steps of any of the above-mentioned methods for deriving the pose of a tractor-trailer system.

[0056] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The embodiments of the present application determine the initial pose state of the tractor-trailer system; obtain the real-time position of the tractor and determine the real-time position of the tractor as the target position; based on a preset trajectory tracking controller, process the initial pose state and the target position to obtain the linear velocity and steering angle of the tractor; based on a preset differential-algebraic equation solver, process the initial pose state, the linear velocity, and the steering angle to obtain the target pose state of the tractor-trailer system. Through the embodiments of the present application, accurate pose derivation of the tractor-trailer system can be performed, facilitating the application of autonomous driving technology to the tractor-trailer system. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0058] Figure 1 It is a schematic diagram of a tractor-trailer system in an embodiment of the present application;

[0059] Figure 2 It is a flowchart of an embodiment of a method for deriving the pose of a tractor-trailer system in an embodiment of the present application;

[0060] Figure 3 It is a schematic flowchart for performing trajectory deduction on a tractor-trailer system;

[0061] Figure 4 It is a structural diagram of an embodiment of a device for deriving the pose of a tractor-trailer system in an embodiment of the present application;

[0062] Figure 5 It is a schematic block diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] To make the objectives, features, and advantages of the present application more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the embodiments described below are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0064] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0065] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0066] It should be further understood that the term "and / or" used in this specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0067] As used in this specification and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0068] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0069] Tractor-trailer systems are widely used in fields such as logistics transportation, engineering construction, and agricultural production. Combining them with autonomous driving technology has broad application prospects. Different from traditional single-rigid-body vehicles, tractor-trailer systems have a multi-degree-of-freedom motion mode when steering. Their complex articulated structure makes the vehicle exhibit unique kinematic and dynamic characteristics during operation. How to perform accurate pose derivation is an urgent problem to be solved in the application of current autonomous driving technology to tractor-trailer systems.

[0070] In view of this, embodiments of the present application provide a method and device for deriving the pose of a tractor-trailer system, a computer-readable storage medium, and an electronic device, so as to solve the problem in the prior art that it is difficult to accurately derive the pose of a tractor-trailer system.

[0071] Figure 1 Shown is a schematic diagram of a tractor-trailer system. The tractor-trailer system may include one tractor and more than one trailer. Among them, a tractor refers to a vehicle with driving ability for towing a trailer, and a trailer refers to a vehicle without driving ability that is towed by a tractor. The specific number of trailers can be flexibly set according to actual situations, and the embodiments of the present application do not make specific limitations on this. Figure 1 Shown in is the case of 3 trailers.

[0072] Based on Figure 1 the shown tractor-trailer system, an accurate kinematic model of the tractor-trailer system can be established. Among them, the state equation of the tractor is shown as follows:

[0073]

[0074] The state equation of the trailer is shown as follows:

[0075]

[0076] Among them, the subscript 0 represents the state quantity of the tractor, and the subscript greater than or equal to 1 represents the state quantity of the trailer. N is the number of trailers, P0 is the midpoint of the rear axle of the tractor, P i (i = 1,..., N) is the midpoint of the axle of the i-th trailer, H0 is the hitching point between the tractor and the first trailer, H i (i = 1,..., N - 1) is the hitching point between the i-th trailer and the (i + 1)-th trailer, L Hi (i = 0, 1,..., N - 1) is the distance between P i and H i , L W0 is the distance between the midpoint of the front axle and the midpoint of the rear axle of the tractor, L Wi (i = 1,..., N) is the distance between H i-1 and P i , (x i y i θ i v i )(i = 0, 1,..., N) respectively represent P iThe horizontal axis coordinate, vertical axis coordinate, heading angle, and speed, in particular, v0 and φ0 respectively represent the linear speed and steering rudder angle of the tractor, and are used as the control variables of the state equation.

[0077] The tractor state equation and the trailer state equation can jointly form the differential-algebraic equations (DAE) of the tractor-trailer system.

[0078] Based on the established kinematic model of the tractor-trailer system, as Figure 2 shown, an embodiment of a pose derivation method for a tractor-trailer system in an embodiment of the present application may include:

[0079] Step S201, determine the initial pose state of the tractor-trailer system.

[0080] Among them, the initial pose state (denoted as int_tt_s) is the pose state of the tractor-trailer system at the starting moment of pose derivation, and the initial pose state is a known quantity.

[0081] Step S202, obtain the real-time position of the tractor, and determine the real-time position of the tractor as the target position.

[0082] In an embodiment of the present application, a position sensor based on the Global Navigation Satellite System (GNSS) may be deployed in the tractor, and the real-time position of the tractor is obtained through the position sensor and determined as the target position (denoted as target_tractor_s).

[0083] Among them, GNSS may include but is not limited to at least one of the Beidou Satellite Navigation System (BDS), Global Positioning System (GPS), GLONASS Satellite Navigation System (GLONASS), and Galileo Satellite Navigation System (GALILEO).

[0084] In a specific implementation manner of an embodiment of the present application, after determining the target position, it may further be determined whether the target position is valid. For example, whether the target position is a reachable position. In the case where the target position is invalid, step S202 may be returned to execute, that is, the real-time position of the tractor is obtained again, determined as a new target position, and it is determined again whether the target position is valid. In the case where the target position is valid, step S203 and its subsequent steps may be continued.

[0085] Step S203, based on a preset trajectory tracking controller, process the initial pose state and the target position to obtain the linear speed and steering rudder angle of the tractor.

[0086] In the embodiments of the present application, any trajectory tracking controller in the prior art can be adopted according to the actual situation. The initial pose state and the target position are input into the trajectory tracking controller, and the linear velocity and the steering angle of the tractor are obtained from the output of the trajectory tracking controller.

[0087] Step S204: Based on a preset differential-algebraic equation solver, the initial pose state, the linear velocity, and the steering angle are processed to obtain the target pose state of the tractor-trailer system.

[0088] The differential-algebraic equation solver is used to solve the differential-algebraic equation of the tractor-trailer system. In the embodiments of the present application, any differential-algebraic equation solver in the prior art can be adopted according to the actual situation. The initial pose state, the linear velocity, and the steering angle are input into the differential-algebraic equation solver, and the target pose state (denoted as target_tt_s) of the tractor-trailer system output by the differential-algebraic equation solver is obtained.

[0089] It should be noted that the above process is only one pose derivation process. In fact, the pose derivation process can be continuously carried out. At this time, the target pose state of the tractor-trailer system can be determined as the new initial pose state, and step S202 and its subsequent steps are returned to execute, so as to realize the continuous pose derivation of the tractor-trailer system.

[0090] In a specific implementation manner of the embodiments of the present application, on the basis of the pose derivation of the tractor-trailer system, trajectory deduction can be further performed, that is, a planned trajectory (i.e., the trajectory to be evaluated, denoted as target_traj) is given, and the pose state of the tractor-trailer system at the starting point of the trajectory to be evaluated has been determined through the foregoing pose derivation process. Through a certain open-loop or closed-loop trajectory tracking algorithm, the actual trajectories of the tractor and the trailer obtained when the tractor tracks this trajectory are simulated. As Figure 3 shown, the process of trajectory deduction for the tractor-trailer system may include the following steps:

[0091] Step S301: Obtain the current pose state of the tractor-trailer system and the trajectory to be evaluated.

[0092] Among them, the current pose state of the tractor-trailer system can be obtained through the foregoing pose derivation process, that is, the latest derived target pose state.

[0093] Step S302: Determine whether the target distance is less than a preset distance threshold.

[0094] Among them, the target distance is the distance between the position of the tractor in the current pose state and the starting point of the trajectory to be evaluated (denoted as target_traj_point_0). The specific value of the distance threshold can be flexibly set according to the actual situation, and the embodiments of the present application do not make specific limitations on this.

[0095] When the target distance is greater than or equal to the distance threshold, it indicates that the tractor is still far from the starting point of the trajectory to be evaluated. At this time, it is necessary to first move the tractor to the vicinity of the starting point of the trajectory to be evaluated, that is, execute step S303 and its subsequent steps.

[0096] When the target distance is less than the distance threshold, it indicates that the tractor is already near the starting point of the trajectory to be evaluated. At this time, the tractor can be directly moved along the trajectory to be evaluated, that is, execute step S305 and its subsequent steps.

[0097] Step S303: Based on the trajectory tracking controller, process the current pose state and the starting point of the trajectory to be evaluated to obtain the linear velocity and steering angle of the tractor.

[0098] The specific usage method of the trajectory tracking controller is similar to that of step S203. Specifically, reference can be made to the description in step S203, which will not be elaborated here.

[0099] Step S304: Based on the differential-algebraic equation solver, process the current pose state, linear velocity, and steering angle to obtain a new current pose state.

[0100] The specific usage method of the differential-algebraic equation solver is similar to that of step S204. Specifically, reference can be made to the description in step S204, which will not be elaborated here. After obtaining the new current pose state, step S302 and its subsequent steps can be returned for execution.

[0101] Step S305: Insert the current pose state into the tail of the preset trajectory deduction state queue, and determine the current pose state as the initial pose state of the trajectory.

[0102] Among them, the trajectory deduction state queue (denoted as traj_tt_s_list) is an empty queue initially. Each time a new current pose state is obtained during the trajectory deduction process, it will be inserted into the tail of the trajectory deduction state queue, so that the complete trajectory deduction result can be recorded, and the current pose state is determined as the initial pose state of the trajectory (denoted as traj_int_tt_s).

[0103] Step S306: Select a trajectory target position in the trajectory to be evaluated according to the initial pose state of the trajectory.

[0104] In an embodiment of the present application, a position that meets a preset condition can be selected in the trajectory to be evaluated as the trajectory target position (denoted as traj_target_tractor_s). Among them, the preset condition includes being in front of the initial position and being separated from the initial position by a preset distance interval, and the initial position is the position of the tractor in the initial pose state of the trajectory. The specific value of the distance interval can be flexibly set according to the actual situation, and the embodiments of the present application do not make specific limitations on this.

[0105] In a specific implementation manner of an embodiment of the present application, after determining the trajectory target position, it can be further determined whether the trajectory target position is valid. For example, whether the trajectory target position is a reachable position. In the case where the trajectory target position is invalid, the deduction of the trajectory to be evaluated can be ended, and the trajectory deduction status queue can be output. In the case where the trajectory target position is valid, step S307 and its subsequent steps can be continued to be executed.

[0106] Step S307: Based on the trajectory tracking controller, process the initial pose state of the trajectory and the trajectory target position to obtain the linear velocity and steering rudder angle of the tractor.

[0107] The specific usage method of the trajectory tracking controller is similar to that of step S203. For details, reference can be made to the description in step S203, which will not be elaborated here.

[0108] Step S308: Based on the differential algebraic equation solver, process the initial pose state of the trajectory, the linear velocity, and the steering rudder angle to obtain a new current pose state.

[0109] The specific usage method of the differential algebraic equation solver is similar to that of step S204. For details, reference can be made to the description in step S204, which will not be elaborated here. After obtaining the new current pose state, step S305 and its subsequent steps can be returned to be executed.

[0110] Through the above process, the trajectory of the tractor-trailer system is continuously deduced along the trajectory to be evaluated. After completing the deduction of the trajectory to be evaluated, the trajectory deduction status queue can be output, and the complete trajectory deduction result is recorded in the trajectory deduction status queue.

[0111] After obtaining the trajectory deduction status queue, the feasibility of the trajectory to be evaluated can be evaluated according to the trajectory deduction status queue. For example, it can include but is not limited to whether there will be a collision with an obstacle, whether the lane line will be crossed, etc., so as to obtain the feasibility evaluation result of the trajectory to be evaluated.

[0112] In summary, the embodiment of the present application determines the initial pose state of the tractor-trailer system; obtains the real-time position of the tractor, and determines the real-time position of the tractor as the target position; based on a preset trajectory tracking controller, processes the initial pose state and the target position to obtain the linear velocity and steering angle of the tractor; based on a preset differential-algebraic equation solver, processes the initial pose state, the linear velocity, and the steering angle to obtain the target pose state of the tractor-trailer system. Through the embodiment of the present application, accurate pose derivation of the tractor-trailer system can be performed, facilitating the application of autonomous driving technology to the tractor-trailer system.

[0113] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution is prior or subsequent. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0114] Corresponding to the pose derivation method of a tractor-trailer system described in the above embodiments, Figure 4 FIG. shows a structural diagram of an embodiment of a pose derivation device for a tractor-trailer system provided by an embodiment of the present application.

[0115] In this embodiment, a pose derivation device for a tractor-trailer system may include:

[0116] An initial pose state determination module 401, configured to determine the initial pose state of the tractor-trailer system;

[0117] A target position determination module 402, configured to obtain the real-time position of the tractor, and determine the real-time position of the tractor as the target position;

[0118] A first trajectory tracking module 403, configured to process the initial pose state and the target position based on a preset trajectory tracking controller to obtain the linear velocity and steering angle of the tractor;

[0119] A first equation solving module 404, configured to process the initial pose state, the linear velocity, and the steering angle based on a preset differential-algebraic equation solver to obtain the target pose state of the tractor-trailer system.

[0120] In a specific implementation manner of the embodiment of the present application, the pose derivation device for the tractor-trailer system may further include:

[0121] A target position validity judgment module, configured to judge whether the target position is valid; in the case where the target position is invalid, return to execute the step of obtaining the real-time position of the tractor and its subsequent steps; in the case where the target position is valid, execute the step of processing the initial pose state and the target position based on a preset trajectory tracking controller and its subsequent steps.

[0122] In a specific implementation manner of the embodiment of the present application, the pose derivation device of the tractor-trailer system may further include:

[0123] A current pose state acquisition module, configured to acquire the current pose state and the to-be-evaluated trajectory of the tractor-trailer system;

[0124] A target distance judgment module, configured to judge whether the target distance is less than a preset distance threshold; wherein, the target distance is the distance between the position of the tractor in the current pose state and the starting point of the to-be-evaluated trajectory;

[0125] A trajectory initial pose state determination module, configured to, in the case where the target distance is less than the distance threshold, insert the current pose state into the end of a preset trajectory deduction state queue, and determine the current pose state as the trajectory initial pose state;

[0126] A trajectory target position selection module, configured to select a trajectory target position in the to-be-evaluated trajectory according to the trajectory initial pose state;

[0127] A second trajectory tracking module, configured to process the trajectory initial pose state and the trajectory target position based on the trajectory tracking controller to obtain the linear velocity and steering rudder angle of the tractor;

[0128] A second equation solving module, configured to process the trajectory initial pose state, the linear velocity, and the steering rudder angle based on the differential algebraic equation solver to obtain a new current pose state, and return to execute the step of inserting the current pose state into the end of the preset trajectory deduction state queue and its subsequent steps;

[0129] A trajectory deduction state queue output module, configured to output the trajectory deduction state queue after completing the deduction of the to-be-evaluated trajectory.

[0130] In a specific implementation manner of the embodiment of the present application, the pose derivation device of the tractor-trailer system may further include:

[0131] A third trajectory tracking module, configured to, when the target distance is greater than or equal to the distance threshold, process the current pose state and the starting point of the to-be-evaluated trajectory based on the trajectory tracking controller to obtain the linear velocity and the steering angle of the tractor;

[0132] A third equation solving module, configured to process the current pose state, the linear velocity, and the steering angle based on the differential-algebraic equation solver to obtain a new current pose state, and return to execute the step of determining whether the target distance is less than a preset distance threshold and subsequent steps.

[0133] In a specific implementation manner of the embodiment of the present application, the trajectory target position selection module may specifically be configured to: select a position that meets a preset condition in the to-be-evaluated trajectory as the trajectory target position; wherein the preset condition includes being in front of the initial position and being at a preset distance interval from the initial position, and the initial position is the position of the tractor in the initial pose state of the trajectory.

[0134] In a specific implementation manner of the embodiment of the present application, the pose derivation device of the tractor-trailer system may further include:

[0135] A feasibility evaluation module, configured to perform a feasibility evaluation on the to-be-evaluated trajectory according to the trajectory deduction state queue to obtain a feasibility evaluation result of the to-be-evaluated trajectory.

[0136] In a specific implementation manner of the embodiment of the present application, the pose derivation device of the tractor-trailer system may further include:

[0137] An initial pose state update module, configured to determine the target pose state of the tractor-trailer system as a new initial pose state, and return to execute the step of obtaining the real-time position of the tractor and subsequent steps.

[0138] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices, modules, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0139] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not elaborated or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0140] Figure 5 The schematic block diagram of an electronic device provided by an embodiment of the present application is shown. For the convenience of description, only parts related to the embodiment of the present application are shown.

[0141] As Figure 5As shown, the electronic device 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, it implements the steps in the embodiments of the pose derivation method for each of the above tractor-trailer systems, such as Figure 2 the steps S201 to S204 shown. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the above device embodiments, such as Figure 4 the functions of the modules 401 to 404 shown.

[0142] Exemplarily, the computer program 52 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 51 and executed by the processor 50 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 52 in the electronic device 5.

[0143] The electronic device 5 can include, but is not limited to, computing devices such as mobile phones, tablet computers, desktop computers, notebooks, handheld computers, robots, and servers. Those skilled in the art can understand that Figure 5 these are merely examples of the electronic device 5 and do not constitute a limitation on the electronic device 5. It can include more or fewer components than shown in the figure, or combine certain components, or have different components. For example, the electronic device 5 can also include input / output devices, network access devices, buses, etc.

[0144] The processor 50 can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0145] The memory 51 may be an internal storage unit of the electronic device 5, such as a hard disk or memory of the electronic device 5. The memory 51 may also be an external storage device of the electronic device 5, such as a plug-in hard disk equipped on the electronic device 5, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 51 may also include both the internal storage unit and the external storage device of the electronic device 5. The memory 51 is used to store the computer program and other programs and data required by the electronic device 5. The memory 51 may also be used to temporarily store the data that has been output or will be output.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be assigned to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated herein.

[0147] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0148] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0149] In the embodiments provided in the present application, it should be understood that the disclosed device / electronic device and method can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0150] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0152] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0153] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for deriving a posture of a tractor-trailer system, characterized in that: include: Determining an initial posture state of the tractor-trailer system; Acquiring the real-time position of the tractor, and determining the real-time position of the tractor as the target position; Based on a preset trajectory tracking controller, the initial posture state and the target position are processed to obtain the linear speed and steering angle of the tractor; Based on a preset differential algebraic equation solver, the initial posture state, the linear velocity and the steering angle are processed to obtain a target posture state of the tractor-trailer system.

2. The method for deriving the posture of a tractor-trailer system according to claim 1, characterized in that: After the real-time position of the tractor is determined as the target position, the method further includes: Determining whether the target position is valid; In the case where the target position is invalid, returning to execute the step of obtaining the real-time position of the tractor and subsequent steps; When the target position is valid, the step of processing the initial posture state and the target position based on the preset trajectory tracking controller and its subsequent steps are executed.

3. The method for deriving the posture of a tractor-trailer system according to claim 1, characterized in that: Also includes: Obtaining the current posture state and trajectory to be evaluated of the tractor-trailer system; Determine whether the target distance is less than a preset distance threshold; wherein the target distance is the distance between the tractor position in the current posture state and the starting point of the trajectory to be evaluated; When the target distance is less than the distance threshold, inserting the current posture state into the tail of a preset trajectory deduction state queue, and determining the current posture state as the trajectory initial posture state; According to the initial posture state of the trajectory, a trajectory target position is selected in the trajectory to be evaluated; Based on the trajectory tracking controller, the initial posture state of the trajectory and the target position of the trajectory are processed to obtain the linear speed and steering angle of the tractor; Based on the differential algebraic equation solver, the initial posture state of the trajectory, the linear velocity and the steering angle are processed to obtain the new current posture state, and the step of inserting the current posture state into the tail of the preset trajectory deduction state queue and subsequent steps are returned to execute; After completing the deduction of the trajectory to be evaluated, the trajectory deduction state queue is output.

4. The method for deriving the posture of a tractor-trailer system according to claim 3, characterized in that: After determining whether the target distance is less than a preset distance threshold, the method further includes: When the target distance is greater than or equal to the distance threshold, based on the trajectory tracking controller, the current posture state and the starting point of the trajectory to be evaluated are processed to obtain the linear speed and steering angle of the tractor; Based on the differential algebraic equation solver, the current posture state, the linear velocity and the steering angle are processed to obtain a new current posture state, and the step of determining whether the target distance is less than a preset distance threshold and its subsequent steps are returned to execute.

5. The method for deriving the posture of a tractor-trailer system according to claim 3, characterized in that: The step of selecting a trajectory target position in the trajectory to be evaluated according to the initial posture state of the trajectory includes: A position satisfying a preset condition is selected in the trajectory to be evaluated as the trajectory target position; wherein the preset condition includes being located in front of an initial position and being separated from the initial position by a preset distance, and the initial position is the position of the tractor in the initial posture state of the trajectory.

6. The method for deriving the posture of a tractor-trailer system according to claim 3, characterized in that: After outputting the trajectory deduction state queue, it also includes: A feasibility assessment is performed on the trajectory to be evaluated according to the trajectory deduction state queue to obtain a feasibility assessment result of the trajectory to be evaluated.

7. The method for deriving the posture of a tractor-trailer system according to any one of claims 1 to 6, characterized in that: After obtaining the target posture state of the tractor-trailer system, the method further includes: The target posture state of the tractor-trailer system is determined as a new initial posture state, and the step of obtaining the real-time position of the tractor and its subsequent steps are returned to execute.

8. A posture derivation device for a tractor-trailer system, characterized in that: include: An initial posture state determination module, used to determine the initial posture state of the tractor-trailer system; A target position determination module, used for acquiring the real-time position of the tractor and determining the real-time position of the tractor as the target position; A first trajectory tracking module, used for processing the initial posture state and the target position based on a preset trajectory tracking controller to obtain the linear speed and steering angle of the tractor; The first equation solving module is used to process the initial posture state, the linear speed and the steering angle based on a preset differential algebraic equation solver to obtain a target posture state of the tractor-trailer system.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for deriving the posture of the tractor-trailer system according to any one of claims 1 to 7 are implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for deriving the posture of the tractor-trailer system according to any one of claims 1 to 7 are implemented.

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