A vehicle

Abstract

The present invention relates to the technical field of vehicles, and in particular to a vehicle. The vehicle comprises a tractor, a trailer, and a steering angle measuring device arranged between the tractor and the trailer, wherein the steering angle measuring device is used to measure the steering angle formed by the relative rotation of the tractor and the trailer. The vehicle is provided with a steering angle measuring device, which can solve the problem that the existing vehicle cannot accurately measure the steering angle between the tractor and the trailer of a semi-trailer.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle. Background Art

[0002] A semitrailer is a means of transportation in which a trailer is connected to a tractor by a towing pin. With the development of autonomous driving technology, more and more studies are being conducted on the autonomous driving technology of semitrailers. When a semitrailer is in motion, the steering angle between the tractor and the trailer is a very important parameter in the vehicle dynamics and kinematics model of the semitrailer, and is the basis for autonomous driving planning and control points.

[0003] However, existing semi-trailers generally do not have the function of providing the steering angle between the tractor and trailer of the semi-trailer when leaving the factory, so how to accurately measure the steering angle between the tractor and trailer of the semi-trailer becomes a difficult problem. Summary of the invention

[0004] The invention provides a vehicle, which is provided with a steering angle measuring device, thereby solving the problem that the existing vehicle cannot accurately measure the steering angle between a tractor and a trailer of a semitrailer.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A vehicle comprises a tractor and a trailer rotatably connected via a towing pin, and also comprises a steering angle measuring device arranged between the tractor and the trailer, wherein the steering angle measuring device is used to measure the steering angle formed by the relative rotation of the tractor and the trailer.

[0007] Preferably, the traction pin has an axis extending in a vertical direction; the cab of the tractor has a rear end face facing the trailer, and the rear end face has a rear end face center line parallel to the axis; the trailer has a front end face arranged opposite to the rear end face, and the front end face has a front end face center line parallel to the axis; a horizontal first flexible cable is connected between the front end face center line and the rear end face center line;

[0008] The steering angle measuring device comprises a measuring unit and a calculating unit connected by signals;

[0009] The measuring unit is used to measure the values ​​of the first length, the second length and the third length, and input the measured values ​​into the calculation unit; wherein the first length is the actual length of the first flexible cable between the center line of the front end face and the center line of the rear end face, the second length is the distance between the axis center line and the center line of the front end face, and the third length is the distance between the axis center line and the center line of the rear end face;

[0010] The calculation unit is used to calculate the angle of the steering angle according to the input numerical information.

[0011] Preferably, the calculation unit calculates the steering angle according to the input numerical information, specifically including:

[0012] Determine whether a is less than or equal to Wherein, a is the first length, b is the second length, and c is the third length:

[0013] If a is less than or equal to The steering angle A between the tractor and the trailer is calculated according to the following formula:

[0014]

[0015] Preferably, along the width extension direction of the vehicle, the rear end face has a first end and a second end that are arranged opposite to each other; along the length extension direction of the vehicle, the front end face has a third end that is opposite to the first end;

[0016] The measuring unit is further used to: measure a value of a fourth length and input the value of the fourth length into the calculating unit, wherein the fourth length is the distance between the center line of the front end face and the third end;

[0017] The calculation unit is also used to: if it is determined that a is greater than The steering angle A between the tractor and the trailer is calculated according to the following formula:

[0018]

[0019] Wherein, d is the fourth length.

[0020] Preferably, a second horizontal flexible cable is connected between the first end and the third end;

[0021] The measuring unit is further used to measure the values ​​of a fifth length and a sixth length, and input the measured values ​​into the calculating unit, the fifth length being the actual length of the second flexible cable between the first end and the third end, and the sixth length being the distance between the center line of the rear end face and the first end;

[0022] The calculation unit is further used to determine the orientation information of the steering angle according to the values ​​of the first length, the second length, the third length, the fourth length, the fifth length and the sixth length.

[0023] Preferably, the calculation unit determines the orientation information of the steering angle according to the values ​​of the first length, the second length, the third length, the fourth length, the fifth length and the sixth length, specifically including:

[0024] The first angle α is calculated according to the following formula, where f is the sixth length:

[0025]

[0026] The second angle β is calculated according to the following formula:

[0027]

[0028] The third angle γ is calculated according to the following formula, where e is the fifth length:

[0029]

[0030] Comparing the steering angle A with (γ-α+β) and (γ+α-β);

[0031] If A=γ-α+β, the steering angle A is determined to be a positive value, and the steering angle A is assigned the following first orientation information: the trailer rotates clockwise relative to the tractor around the axis of the traction pin;

[0032] If A=γ+α-β, the steering angle A is determined to be a negative value, and the steering angle A is assigned the following second direction information: the trailer rotates counterclockwise relative to the tractor around the axis of the traction pin.

[0033] Preferably, the first flexible cable is formed by a string potentiometer; and / or the second flexible cable is formed by a string potentiometer.

[0034] Preferably, the measuring unit is a string potentiometer, a laser radar rangefinder or an electronic ruler.

[0035] Preferably, the computing unit is an electronic control unit ECU.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] An embodiment of the present invention provides a vehicle, which can measure the steering angle between the tractor and the trailer by means of a steering angle measuring device arranged between the tractor and the trailer, thereby solving the problem that the existing vehicles cannot accurately measure the steering angle between the tractor and the trailer of a semi-trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A simplified structural schematic diagram of a vehicle provided in an embodiment of the present invention;

[0039] Figure 2 A working principle diagram of a steering angle measuring device provided in an embodiment of the present invention;

[0040] Figure 3 for Figure 1 A measurement principle diagram of the steering angle of a vehicle provided in;

[0041] Figure 4 for Figure 1 Another measurement principle diagram of the steering angle of a vehicle provided in;

[0042] Figure 5 A flow chart for calculating a steering angle provided by an embodiment of the present invention;

[0043] Figure 6 A flow chart for calculating the direction information of the steering angle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] The embodiment of the present invention provides a vehicle, which is provided with a steering angle measuring device, and can solve the problem that the existing vehicle cannot accurately measure the steering angle between the tractor and the trailer of the semi-trailer. The above-mentioned vehicle can be a semi-trailer or any vehicle towed by a tractor. At the same time, the vehicle can be an ordinary vehicle driven by a driver, or an unmanned vehicle, and can be a trackless vehicle such as a car, an electric car, a hybrid car, or a tracked vehicle such as a train.

[0046] Among them, please refer to Figure 1 , Figure 2 as well as Figure 3 A vehicle 1 is provided in one embodiment of the present invention. The vehicle 1 includes a tractor 11 and a trailer 12 which are rotatably connected via a traction pin 13. The vehicle 1 also includes a steering angle measuring device 14 arranged between the tractor 11 and the trailer 12. The steering angle measuring device 14 is used to measure a steering angle A formed by the relative rotation of the tractor 11 and the trailer 12.

[0047] like Figure 1As shown in the structure, the vehicle 1 includes a tractor 11, a cab 111 is provided at the front end of the tractor 11, and a trailer 12 is rotatably connected to the rear end of the tractor 11 through a traction pin 13. A steering angle measuring device 14 for measuring a steering angle A is provided between the tractor 11 and the trailer 12. The steering angle measuring device 14 may include a measuring unit 141 and a calculating unit 142 connected by signals; the measuring unit 141 is used to measure various parameters required for calculating the steering angle A, and the calculating unit 142 performs calculations based on the various parameters measured by the measuring unit 141 to obtain the steering angle A between the tractor 11 and the trailer 12; when measuring the steering angle A, the steering angle A of the trailer 12 rotating relative to the tractor 11 can be calculated based on the tractor 11 as a reference, and the steering angle A of the tractor 11 rotating relative to the trailer 12 can also be calculated based on the trailer 12 as a reference. In the embodiment of the present invention, the steering angle A is along the length extension direction of the vehicle 1, and the center line of the tractor 11 and the center line of the trailer 12 form an angle opening toward the tractor.

[0048] Since the above-mentioned vehicle 1 is provided with a steering angle measuring device 14 between the tractor 11 and the trailer 12, the steering angle A formed between the tractor 11 and the trailer 12 can be measured by the steering angle measuring device 14 to obtain the steering angle A between the tractor 11 and the trailer 12, thereby solving the problem that the existing vehicle 1 cannot accurately measure the steering angle A between the tractor 11 and the trailer 12 of the semi-trailer 12, which is beneficial to improving the accuracy and reliability of automatic driving.

[0049] In a specific implementation manner, Figure 1 , Figure 2 and Figure 3 As shown in the structure, the traction pin 13 has an axial centerline O extending in the vertical direction; the cab 111 of the tractor 11 has a rear end face 1111 facing the trailer 12, and the rear end face 1111 has a rear end face centerline 1112 parallel to the axial centerline O; the trailer 12 has a front end face 121 arranged opposite to the rear end face 1111, and the front end face 121 has a front end face centerline 1211 parallel to the axial centerline O; a horizontal first flexible cable 1411 is connected between the front end face centerline 1211 and the rear end face centerline 1112; the first flexible cable 1411 can be formed by a string potentiometer.

[0050] like Figure 2 As shown in the structure, the steering angle measuring device 14 includes a measuring unit 141 and a calculating unit 142 connected by signals;

[0051] The measuring unit 141 is used to measure the values ​​of the first length a, the second length b and the third length c, and input the measured values ​​into the calculation unit 142; wherein the first length a is the actual length of the first flexible cable 1411 between the front end face center line 1211 and the rear end face center line 1112; the second length b is the distance between the axis center line O and the front end face center line 1211; the third length c is the distance between the axis center line O and the rear end face center line 1112.

[0052] The calculation unit 142 is used to calculate the steering angle A according to the input numerical information.

[0053] When using the calculation unit 142 to calculate the steering angle A, it is necessary to first measure the specific values ​​of the first length a, the second length b and the third length c through the measuring unit 141. At this time, the first length a, the second length b and the third length c form a triangle. Therefore, the calculation unit 142 can obtain the specific angle value of the steering angle A according to the triangle calculation formula.

[0054] In one example, the calculation unit 142 calculates the angle of the steering angle A according to the input numerical information, which can be implemented in the following manner, which may include steps A1 to A2, wherein:

[0055] Step A1: Determine whether a is less than or equal to If yes, go to step A2;

[0056] Step A2: Calculate the steering angle A between the tractor and the trailer according to the following formula (1):

[0057]

[0058] In formula (1), a is the first length, b is the second length, and c is the third length.

[0059] like Figure 3 As shown in the structure, when a is less than or equal to When the axial line O of the traction pin 13, the front end face center line 1211 and the rear end face center line 1112 form the three vertices of a triangle. According to the calculation formula of the triangle, after knowing the first length a, the second length b and the third length c, the value of any angle in the triangle can be calculated; at this time, the steering angle A formed between the tractor 11 and the trailer 12 is Figure 3 The angle corresponding to the line connecting the front face center line 1211 and the rear face center line 1112 in the structure is thus the specific angle value of the steering angle A can be calculated using the above formula (1); similarly, when the trailer 12 rotates counterclockwise relative to the tractor 11 and a is less than or equal to When the steering angle A is 0, the above formula (1) can also be used to calculate the specific angle value of the steering angle A.

[0060] like Figure 3 As shown in the structure, the first length a can be measured by the measuring unit 141, and the second length b and the third length c can be directly obtained according to the fixed size parameters of the vehicle 1; then the steering angle A is calculated by the calculation unit 142 using a mathematical formula.

[0061] Since the vehicle 1 can measure various dimensional parameters in real time through the measuring unit 141 and can perform real-time and accurate calculations through the calculating unit 142, the accurate steering angle A between the tractor 11 and the trailer 12 can be automatically obtained in real time through the measuring unit 141 and the calculating unit 142 without manual operation and control, with a high degree of automation. The steering angle A obtained in real time can provide accurate data for the driver or control unit of the vehicle 1, thereby providing a guarantee for the driver and the automatic driving system to drive stably and reliably, so that the vehicle 1 can drive safely and reliably.

[0062] Preferably, in order to further improve the accuracy of the steering angle A measurement, as Figure 1 and Figure 4 As shown in the structure, along the width extension direction of the vehicle 1, the rear end face 1111 has a first end 1113 and a second end 1114 arranged opposite to each other; along the length extension direction of the vehicle 1, the front end face 121 has a third end 1212 opposite to the first end 1113. The measuring unit 141 is further used to: measure the value of the fourth length d, and input the value of the fourth length d into the calculating unit 142, where the fourth length d is the distance between the center line 1211 of the front end face and the third end 1212. The calculating unit 142 is used to calculate the angle of the steering angle A according to the input numerical information, which can be specifically calculated as follows: Figure 5 The method flow shown is implemented, and the method may include steps A1 to A3, wherein:

[0063] Step A1: Determine whether a is less than or equal to If yes, go to step A2, if no, go to step A3;

[0064] Step A2: Calculate the steering angle A between the tractor and the trailer according to the above formula (1), which will not be described in detail here;

[0065] Step A3: Calculate the steering angle A between the tractor and the trailer according to the following formula (2):

[0066]

[0067] In formula (2), a is the first length, b is the second length, c is the third length, and d is the fourth length.

[0068] When the calculation unit 142 determines that a is greater than When Figure 4 As shown in the structure, at this time, the first flexible cable 1411 connecting the rear end face center line 1112 and the front end face center line 1211 is abutted by the third end 1212 of the trailer 12, so that the first flexible cable 1411 is bent to form a two-section structure, wherein one section is the length of the third end 1212 of the trailer 12 and the front end face center line 1211, and the other end is the length between the rear end face center line 1112 and the third end 1212. At this time, the steering angle A is Figure 4 The sum of the two angles in the figure. Therefore, the angles can be calculated separately through the lengths of the sides of the two triangles and then added together to obtain the specific value of the steering angle A.

[0069] Preferably, in the embodiment of the present invention, a second flexible cable 1412 is connected horizontally between the first end 1113 and the third end 1212. In order to further obtain more accurate angle information of the steering angle A, in addition to obtaining the specific value of the steering angle A, the direction information of the steering angle A can also be obtained. The measuring unit 141 is also used to measure the values ​​of the fifth length e and the sixth length f, and input the measured values ​​into the calculation unit 142, the fifth length e is the actual length of the second flexible cable 1412 between the first end 1113 and the third end 1212, and the sixth length f is the distance between the rear end face centerline 1112 and the first end 1113; the calculation unit 142 is also used to determine the direction information of the steering angle A according to the values ​​of the first length a, the second length b, the third length c, the fourth length d, the fifth length e and the sixth length f. In one example, the calculation unit 142 determines the direction information of the steering angle A according to the values ​​of the first length a, the second length b, the third length c, the fourth length d, the fifth length e and the sixth length f. Specifically, it can be obtained as follows Figure 6 The method flow is implemented, the method includes steps B1 to B6, wherein:

[0070] Step B1, calculating the first angle α according to the following formula (3), where f is the sixth length:

[0071]

[0072] Step B2, calculating the second angle β according to the following formula (4):

[0073]

[0074] Step B3, calculating the third angle γ according to the following formula (5), where e is the fifth length:

[0075]

[0076] Step B4, compare the steering angle A with (γ-α+β) and (γ+α-β), if the steering angle A=γ-α+β, execute step B5, if the steering angle A=γ+α-β, execute step B6;

[0077] Step B5, determining that the steering angle A is a positive value, and assigning the following first direction information to the steering angle A: the trailer 12 rotates in a clockwise direction relative to the tractor 11 around the axis O of the traction pin 13;

[0078] Step B6, determining that the steering angle A is a negative value, and assigning the following second direction information to the steering angle A: the trailer 12 rotates counterclockwise relative to the tractor 11 around the axis O of the traction pin 13 .

[0079] like Figure 4 As shown in the structure, when the tractor 11 is taken as a reference, when the trailer 12 rotates clockwise relative to the tractor 11, the steering angle A between the trailer 12 and the tractor 11 is a positive value, that is, at this time, the steering angle A=γ-α+β; similarly, when the tractor 11 is taken as a reference, when the trailer 12 rotates counterclockwise relative to the tractor 11, the steering angle A between the trailer 12 and the tractor 11 is a negative value, and the steering angle A=γ+α-β; in the present invention, the positive value of the steering angle A indicates that the trailer 12 rotates clockwise relative to the tractor 11, and the opening of the steering angle A is toward the tractor 11; and the negative value of the steering angle A indicates that the trailer 12 rotates counterclockwise relative to the tractor 11, and the opening of the steering angle A is also toward the tractor 11; that is, the positive value and the negative value only indicate the direction of the steering angle A.

[0080] By setting the second flexible cable 1412 between the first end 1113 and the third end 1212, the direction of the steering angle A can be calculated, so that not only the magnitude of the steering angle A can be obtained in real time, but also the direction of the steering angle A can be calculated by the second flexible cable 1412, that is, when the tractor 11 is used as a reference, it can be accurately measured whether the trailer 12 rotates clockwise or counterclockwise relative to the tractor 11, so that the vehicle 1 can obtain a more accurate value and direction of the steering angle A. Of course, in addition to the above method, the direction information of the steering angle A can also be obtained according to the information of the vehicle 1's driving computer or the information input manually, and the information of the driving computer can include automatic driving information and other information. It can also be pre-set and stored with a corresponding relationship between the vehicle's steering and the direction of the steering angle, and the calculation unit 142 determines the direction of the calculated steering angle from the corresponding relationship according to the current steering information of the vehicle.

[0081] Specifically, in the above-mentioned vehicle 1, the measurement of the first length a and the fifth length e can be performed by using a string potentiometer.

[0082] In the above-mentioned vehicle 1, while measuring the steering angle A, the distance between the trailer 12 and the tractor 11 can also be measured in real time. This parameter can also be used as a monitoring data for the safe driving of the vehicle 1.

[0083] The second flexible cable 1412 can be arranged not only between the first end 1113 and the third end 1212, but also between the second end 1114 and the other end of the front end face 121 of the trailer 12 corresponding to the second end 1114, both of which can serve the purpose of calculating the steering angle A; and the first flexible cable 1411 and / or the second flexible cable 1412 can be formed by a string potentiometer.

[0084] Since the string potentiometer has the advantages of high measurement accuracy, compact structure, good waterproof performance and low use cost, using the string potentiometer to measure the first length a can reduce the use cost of the vehicle 1 and improve the measurement accuracy.

[0085] Based on the above various embodiments, the measuring unit 141 may be a string potentiometer, a laser radar rangefinder or an electronic ruler, or any other instrument capable of measuring. The computing unit 142 may be an electronic control unit ECU (Electronic Control Unit), or an MCU (Microcontroller Unit), a single-chip microcomputer or other electronic device capable of computing.

[0086] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle comprising a tractor and a trailer rotatably connected by a towing pin, characterized in that: It also includes a steering angle measuring device arranged between the tractor and the trailer, the steering angle measuring device is used to measure the steering angle formed by the relative rotation of the tractor and the trailer; the traction pin has an axial centerline extending in the vertical direction; the cab of the tractor has a rear end face facing the trailer, the rear end face has a rear end face centerline parallel to the axial centerline; the trailer has a front end face arranged opposite to the rear end face, the front end face has a front end face centerline parallel to the axial centerline; a horizontal first flexible cable is connected between the front end face centerline and the rear end face centerline; The steering angle measuring device comprises a measuring unit and a calculating unit connected by signals; The measuring unit is used to measure the values ​​of the first length, the second length and the third length, and input the measured values ​​into the calculation unit; wherein the first length is the actual length of the first flexible cable between the center line of the front end face and the center line of the rear end face, the second length is the distance between the axis center line and the center line of the front end face, and the third length is the distance between the axis center line and the center line of the rear end face; The calculation unit is used to calculate the angle of the steering angle according to the input numerical information, specifically including: Determine whether a is less than or equal to Wherein, a is the first length, b is the second length, and c is the third length: If a is less than or equal to The steering angle A between the tractor and the trailer is calculated according to the following formula: In the width extension direction of the vehicle, the rear end face has a first end and a second end that are arranged opposite to each other; in the length extension direction of the vehicle, the front end face has a third end that is opposite to the first end; The measuring unit is further used to: measure a value of a fourth length and input the value of the fourth length into the calculating unit, wherein the fourth length is the distance between the center line of the front end face and the third end; The calculation unit is also used to: if it is determined that a is greater than The steering angle A between the tractor and the trailer is calculated according to the following formula: Wherein, d is the fourth length; A second horizontal flexible cable is connected between the first end and the third end; The measuring unit is further used to measure the values ​​of a fifth length and a sixth length, and input the measured values ​​into the calculating unit, the fifth length being the actual length of the second flexible cable between the first end and the third end, and the sixth length being the distance between the center line of the rear end face and the first end; The calculation unit is also used to determine the orientation information of the steering angle according to the values ​​of the first length, the second length, the third length, the fourth length, the fifth length and the sixth length, specifically including: The first angle α is calculated according to the following formula, where f is the sixth length: The second angle β is calculated according to the following formula: The third angle γ is calculated according to the following formula, where e is the fifth length: If A=γ-α+β, the steering angle A is determined to be a positive value, and the steering angle A is assigned the following first orientation information: the trailer rotates clockwise relative to the tractor around the axis of the traction pin; If A=γ+α-β, the steering angle A is determined to be a negative value, and the steering angle A is assigned the following second orientation information: the trailer rotates counterclockwise relative to the tractor around the axis of the traction pin; The first flexible cable is formed by a string potentiometer; and / or the second flexible cable is formed by a string potentiometer.

2. The vehicle according to any one of claims 1, characterized in that: The computing unit is an electronic control unit ECU.

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