Semi-trailer truck train, method, device, equipment and medium for determining the position and attitude of a trailer

Abstract

The present application discloses a semi-trailer truck train, a method, device, equipment and medium for determining the pose of a trailer. The method includes: obtaining the initial poses of each vehicle body; for each semi-trailer: based on the target pose of the first adjacent vehicle body, determining the first coordinate of the first connection point between the first adjacent vehicle body and the semi-trailer, and based on the initial pose of the semi-trailer, determining the second coordinate of the first connection point; wherein, the first adjacent vehicle body is the vehicle body that is close to the tractor end and connected to the semi-trailer; based on the first coordinate and the second coordinate, determining the target pose of the semi-trailer. Through the above technical solution, it is not necessary to install high-precision sensors on each vehicle body, and the high-precision poses of each vehicle body can be obtained, reducing the acquisition cost of the high-precision poses of each vehicle body in the semi-trailer truck train and improving the convenience of obtaining the high-precision poses of each vehicle body.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a semi-trailer truck train, a method, a device, equipment and a medium for determining the pose of a trailer. Background Art

[0002] With the development of vehicle technology, more and more semi-trailer truck trains equipped with intelligent driving systems (such as driverless systems, assisted driving systems, etc.) are put into practical applications. The semi-trailer truck train is a truck train including a tractor and at least one trailer connected in a semi-trailer manner. To ensure the safe driving of the semi-trailer truck train, the intelligent driving system needs to obtain the high-precision poses (such as position and heading angle, etc.) of each vehicle body / compartment of the semi-trailer truck train.

[0003] In the prior art, high-precision sensors are usually installed on each vehicle body to obtain the high-precision pose of the corresponding vehicle body. For example, a navigation system composed of a Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS) is installed on each vehicle body, and the high-precision pose of each vehicle body is measured by the navigation system. However, this implementation scheme will increase the application cost of the semi-trailer truck train. Summary of the Invention

[0004] To solve the technical problem of high cost for obtaining the high-precision poses of vehicle bodies in the semi-trailer truck train, the present application provides a semi-trailer truck train, a method, a device, equipment and a medium for determining the pose of a trailer.

[0005] In a first aspect, the present application provides a method for determining the pose of a trailer of a semi-trailer truck train. The semi-trailer truck train is composed of multiple vehicle bodies. One of the vehicle bodies at one side edge of each vehicle body is a tractor, and the vehicle bodies other than the tractor in each vehicle body are all semi-trailer trailers. The method includes:

[0006] Obtain the initial poses of each vehicle body;

[0007] For each semi-trailer trailer:

[0008] Based on the target pose of the first adjacent vehicle body, determine the first coordinate of the first connection point between the first adjacent vehicle body and the semi-trailer tow bar, and based on the initial pose of the semi-trailer tow bar, determine the second coordinate of the first connection point; wherein, the first adjacent vehicle body is the vehicle body that is close to one end of the tractor and is connected to the semi-trailer tow bar; when the first adjacent vehicle body is the tractor, the target pose is the initial pose; when the first adjacent vehicle body is also a semi-trailer tow bar, the target pose is the corrected initial pose;

[0009] Based on the first coordinate and the second coordinate, determine the target pose of the semi-trailer tow bar.

[0010] In some embodiments, the determining the target pose of the semi-trailer tow bar based on the first coordinate and the second coordinate includes:

[0011] Based on the first coordinate and the second coordinate, determine the first position deviation corresponding to the first connection point;

[0012] Based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate, correct the initial pose of the semi-trailer tow bar to determine the target pose of the semi-trailer tow bar; wherein, the deviation threshold is used to perform rigid connection constraints on two adjacent vehicle bodies.

[0013] In some embodiments, the deviation threshold is determined at least based on the gap distance between the hinge column and the hinge ring of the first connection point.

[0014] In some embodiments, the correcting the initial pose of the semi-trailer tow bar based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate to determine the target pose of the semi-trailer tow bar includes:

[0015] If the comparison result is that the first position deviation is greater than the deviation threshold, then determine the initial heading angle in the initial pose of the semi-trailer tow bar as the target heading angle;

[0016] Use the coordinate difference between the first coordinate and the second coordinate to correct the initial coordinate in the initial pose of the semi-trailer tow bar to determine the target coordinate of the semi-trailer tow bar.

[0017] In some embodiments, the correcting the initial pose of the semi-trailer tow bar based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate to determine the target pose of the semi-trailer tow bar includes:

[0018] If the comparison result is that the first position deviation is less than or equal to the deviation threshold, correct the initial heading angle in the initial pose of the semi-trailer based on the first coordinate and the initial coordinate in the initial pose of the semi-trailer, and determine the target heading angle of the semi-trailer;

[0019] Correct the initial coordinate based on the distance difference between the first distance and the second distance and the target heading angle, and determine the target coordinate of the semi-trailer; wherein, the first distance is the second position deviation between the first coordinate and the initial coordinate, and the second distance is the distance between the first joint point and the center of the rear axle of the semi-trailer.

[0020] In some embodiments, the obtaining the initial poses of the vehicle bodies includes:

[0021] Obtain the initial pose of the tractor, the first speed and the front wheel steering angle at the center of the rear axle of the tractor;

[0022] Based on the initial pose of the tractor, the first speed and the front wheel steering angle, and the historical heading angles of the semi-trailers, determine the initial poses of the semi-trailers according to the kinematic model corresponding to the semi-trailer truck train; wherein, the historical heading angle is the heading angle obtained in the previous adjacent pose update cycle of the current pose update cycle.

[0023] In some embodiments, the determining the initial poses of the semi-trailers according to the kinematic model corresponding to the semi-trailer truck train based on the initial pose of the tractor, the first speed and the front wheel steering angle, and the historical heading angles of the semi-trailers includes:

[0024] For each semi-trailer:

[0025] Based on the second speed of the second adjacent vehicle body, the rate of change of the heading angle of the second adjacent vehicle body, and the third distance, as well as the heading angle between the second adjacent vehicle body and the semi-trailer, the third speed at the center of the rear axle of the semi-trailer is determined according to the speed equation in the kinematic model; wherein, when the second adjacent vehicle body is the tractor, the second speed is the first speed, and the rate of change of the heading angle of the second adjacent vehicle body is determined according to the first speed, the front wheel steering angle, and the fourth distance according to the motion equation of the tractor included in the kinematic model; the fourth distance is the distance between the front of the tractor and the center of the rear axle of the tractor; when the second adjacent vehicle body is also a semi-trailer, the second speed is the speed at the center of the rear axle of the second adjacent vehicle body; the third distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second connection point, and the second connection point is the connection point between the second adjacent vehicle body and the semi-trailer; the heading angle is determined by the historical heading angle of the second adjacent vehicle body and the historical heading angle of the semi-trailer;

[0026] Based on the third speed, the historical heading angle of the semi-trailer, the fifth distance, the second speed, the heading angle, the rate of change of the heading angle of the second adjacent vehicle body, and the sixth distance, the initial coordinates at the center of the rear axle of the semi-trailer and the rate of change of the heading angle of the semi-trailer are determined according to the motion equation of the semi-trailer included in the kinematic model; wherein, the initial coordinates and the historical heading angle of the semi-trailer are the initial pose of the semi-trailer; the fifth distance is the distance between the second connection point and the center of the rear axle of the semi-trailer; the sixth distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second connection point.

[0027] In a second aspect, the present application provides a trailer pose determination device for a semi-trailer truck train. The semi-trailer truck train is composed of multiple vehicle bodies. One vehicle body on one side edge of each vehicle body is a tractor, and each vehicle body except the tractor is a semi-trailer. The device includes:

[0028] An initial pose acquisition module, configured to acquire the initial pose of each vehicle body;

[0029] A target pose determination module, configured to execute for each semi-trailer:

[0030] Based on the target posture of the first adjacent vehicle body, determining the first coordinate of the first connection point between the first adjacent vehicle body and the semi-trailer, and based on the initial posture of the semi-trailer, determining the second coordinate of the first connection point; wherein the first adjacent vehicle body is the vehicle body close to one end of the tractor and connected to the semi-trailer; when the first adjacent vehicle body is the tractor, the target posture is the initial posture; when the first adjacent vehicle body is also the semi-trailer, the target posture is the corrected initial posture;

[0031] The target position of the semi-trailer is determined based on the first coordinate and the second coordinate.

[0032] In a third aspect, the present application provides an electronic device, the electronic device comprising:

[0033] Processor and memory;

[0034] The processor is used to execute the steps of the method for determining the trailer position of a semi-trailer vehicle train described in any embodiment of the present application by calling the program or instruction stored in the memory.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium that stores a program or instruction that enables a computer to execute the steps of a method for determining a trailer posture of a semi-trailer vehicle train described in any embodiment of the present application.

[0036] In a fifth aspect, the present application provides a semi-trailer vehicle train, the semi-trailer vehicle train is composed of a plurality of vehicle bodies, one of the vehicle bodies at one side edge of each of the vehicle bodies is a tractor, and the vehicle bodies other than the tractor of each of the vehicle bodies are semi-trailer trailers, and the semi-trailer vehicle train further includes: a controller;

[0037] The controller is used to execute the steps of the method for determining the trailer position of a semi-trailer vehicle train described in any embodiment of the present application.

[0038] The semi-trailer vehicle train and trailer posture determination method, device, equipment and medium provided in the embodiments of the present application can, on the basis of obtaining the initial posture of each vehicle body included in the semi-trailer vehicle train, respectively infer the first coordinate and the second coordinate of the connection point between the two adjacent vehicle bodies according to the initial postures of the two adjacent vehicle bodies, and correct the initial posture of the vehicle body of the two adjacent vehicle bodies that is away from the tractor according to the coordinate difference between the first coordinate and the second coordinate to obtain the corrected target posture, and iterate the target posture of each vehicle body according to this process; the high-precision posture of each vehicle body can be obtained without installing a high-precision sensor on each vehicle body, thereby reducing the cost of obtaining the high-precision posture of each vehicle body in the semi-trailer vehicle train and improving the convenience of obtaining the high-precision posture of each vehicle body. Brief Description of the Drawings

[0039] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. 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, the present application can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the drawings represent the same structures and operations.

[0040] Figure 1 is a flowchart of a method for determining the pose of a trailer of a semi-trailer truck train provided by an embodiment of the present application;

[0041] Figure 2 is a flowchart of another method for determining the pose of a trailer of a semi-trailer truck train provided by an embodiment of the present application;

[0042] Figure 3 is a schematic diagram of the result of an initial pose correction provided by an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of the result of another initial pose correction provided by an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of a motion model of a semi-trailer truck train provided by an embodiment of the present application;

[0045] Figure 6 is a schematic diagram of the structure of a device for determining the pose of a trailer of a semi-trailer truck train provided by an embodiment of the present application;

[0046] Figure 7 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application;

[0047] Figure 8 is a schematic diagram of the structure of a semi-trailer truck train provided by an embodiment of the present application. Detailed Description of the Embodiments

[0048] In the following detailed description, many specific details of the present application are illustrated by examples in order to provide a thorough understanding of the relevant disclosures. However, for those of ordinary skill in the art, the present application can obviously be implemented without these details. It should be understood that the terms "system", "device", "unit" and / or "module" used in the present application are a way to distinguish different components, elements, parts or assemblies at different levels in a sequential arrangement. However, if other expressions can achieve the same purpose, these terms can be replaced by other expressions.

[0049] It should be understood that when a device, unit or module is referred to as "on", "connected to" or "coupled to" another device, unit or module, it can be directly on the other device, unit or module, connected or coupled to or communicate with other devices, units or modules, or there may be intermediate devices, units or modules, unless the context clearly indicates otherwise. For example, the term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0050] The terms used in this application are only for describing specific embodiments and do not limit the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates otherwise, words such as "a", "an", "one" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified features, wholes, steps, operations, elements and / or components, and such expressions do not constitute an exclusive list, and other features, wholes, steps, operations, elements and / or components may also be included.

[0051] Referring to the following description and the accompanying drawings, these or other features and characteristics of this application, the operating methods, the functions of the relevant elements of the structure, the combination of parts, and the economy of manufacturing can be better understood, where the description and the drawings form a part of the specification. However, it can be clearly understood that the drawings are only for the purpose of illustration and description and are not intended to limit the protection scope of this application. It can be understood that the drawings are not drawn to scale.

[0052] In this application, a variety of structure diagrams are used to illustrate various deformations according to the embodiments of this application. It should be understood that the structures before or below are not used to limit this application. The protection scope of this application is subject to the claims.

[0053] Currently, for the intelligent driving system applied to semi-trailer truck trains, it is necessary to obtain the high-precision pose of each vehicle body in the semi-trailer truck train in order to accurately perform vehicle motion planning and control to achieve the safe driving of the intelligent driving semi-trailer truck train. In order to obtain the high-precision pose, one implementation in the related art is to install high-precision sensors on each vehicle body for pose measurement, but this implementation method will increase the cost of intelligent driving of the semi-trailer truck train, especially in the case of more semi-trailer trailers, the implementation cost is higher; another implementation method is to infer the pose of the semi-trailer trailer through the measured pose of the tractor and the motion model of the semi-trailer truck train, but this implementation method is mainly applicable to semi-trailer truck trains with one semi-trailer trailer and cannot be applied to the pose inference of semi-trailer truck trains with multiple semi-trailer trailers, and the accuracy of the inferred pose is low and cannot meet the requirements of accurate vehicle motion planning and control.

[0054] Based on the above situation, the embodiments of the present application provide a semi-trailer truck train, a trailer pose determination method, device, equipment and medium, so as to respectively calculate the two coordinates of the connection point between two adjacent car bodies through the initial poses of the two adjacent car bodies, and calculate the high-precision pose of the car body deviating from the tractor according to the difference between the two coordinates, and iterate this process to obtain the high-precision poses of each car body, which not only avoids the high cost problem caused by the need to install high-precision sensors on each car body, but also is applicable to the pose calculation of a semi-trailer truck train with multiple semi-trailer trailers mounted, and can improve the accuracy of the calculated poses.

[0055] The trailer pose determination method of the semi-trailer truck train provided by the embodiments of the present application can be applied to the scenario of determining the pose of a semi-trailer truck train, and is particularly applicable to the scenario of pose calculation of each car body of a semi-trailer truck train with multiple semi-trailer trailers mounted. In the embodiments of the present application, the trailer pose determination method of the semi-trailer truck train can be executed by an electronic device, and the electronic device can include, but is not limited to, a controller in the semi-trailer truck train, an external device capable of real-time communication with the semi-trailer truck train; the external device can be, for example, a dispatching system for dispatching vehicles or a notebook computer, a desktop computer or a server where the server of the intelligent driving system is located.

[0056] Figure 1 It is a flowchart of a trailer pose determination method of a semi-trailer truck train provided by the embodiments of the present application. As Figure 1 shown, the trailer pose determination method of the semi-trailer truck train specifically includes:

[0057] S110. Obtain the initial poses of the car bodies in the semi-trailer truck train.

[0058] Among them, a semi-trailer truck train refers to an articulated train composed of a tractor and one or more semi-trailer trailers (also called semi-trailers). The semi-trailer truck train in the embodiments of the present disclosure is composed of multiple car bodies, and one car body at one side edge of each car body is a tractor, and the car bodies other than the tractor are all semi-trailer trailers connected in a semi-trailer manner. The initial pose is the pose of the car body obtained preliminarily, which has not been corrected and has relatively low accuracy. The pose here can include the position and heading angle of the car body.

[0059] Specifically, before performing pose processing, the electronic device first determines whether the truck train is a semi-trailer truck train. In one example, the electronic device obtains identification information indicating that the vehicle type is a semi-trailer truck train from external input information (such as information input by an operator), and determines that the truck train is a semi-trailer truck train based on this identification information. In another example, the electronic device judges according to the attribute information of the vehicle. For example, if the attribute information indicates that the car bodies other than the tractor have no front wheels or the front wheels are universal wheels, then it can be determined that the truck train is a semi-trailer truck train.

[0060] Then, the electronic device obtains the initial pose of each vehicle body in the semi-trailer truck train, that is, obtains the initial pose of the tractor and the initial pose of each semi-trailer. In one example, the electronic device can obtain the initial pose through sensors installed on each vehicle body. For example, sensors with relatively low cost and capable of measuring pose are installed on each vehicle body, and the initial pose is measured and obtained by these sensors. In another example, high-precision sensors capable of measuring pose are installed on the tractor to measure and obtain the high-precision pose of the tractor as the initial pose of the tractor; then, according to the kinematic model of the semi-trailer truck train, the initial pose of each semi-trailer is deduced from the initial pose of the tractor.

[0061] S120. For each semi-trailer, based on the target pose of the first adjacent vehicle body, determine the first coordinate of the first connection point between the first adjacent vehicle body and the semi-trailer, and based on the initial pose of the semi-trailer, determine the second coordinate of the first connection point.

[0062] Wherein, the first adjacent vehicle body is the vehicle body that is close to one end of the tractor and is connected to the semi-trailer whose target pose is to be deduced. The target pose is the high-precision pose obtained after correcting the initial pose. The first connection point refers to the connection point between the first adjacent vehicle body and the semi-trailer. When the first adjacent vehicle body is the tractor, the target pose of the first adjacent vehicle body is the initial pose of the tractor; when the first adjacent vehicle body is also a semi-trailer, the target pose of the first adjacent vehicle body is the corrected initial pose of the semi-trailer.

[0063] Specifically, the electronic device corrects the initial pose of each vehicle body one by one in an iterative correction manner starting from one end of the tractor to obtain the high-precision target pose of each vehicle body. And, in each correction process of the electronic device, the initial poses of two adjacent vehicle bodies are processed, and the initial pose of the vehicle body away from the tractor is corrected.

[0064] Specifically in implementation, the (n - 1)th (n = 1, 2, 3,..., N) semi-trailer is used as the first adjacent vehicle body, and the nth semi-trailer connected to the (n - 1)th semi-trailer is used as the semi-trailer whose target pose is to be deduced. Then, according to the following formula (1), the electronic device can calculate and obtain the coordinates of the first connection point between the (n - 1)th semi-trailer and the nth semi-trailer, that is, the first coordinate (x n-1 , y n-1 ) and the heading angle θ n-1 of the (n - 1)th semi-trailer, and obtain the coordinates of the first connection point between the (n - 1)th semi-trailer and the nth semi-trailer, that is, the first coordinate (x f , y f ).

[0065]

[0066] where, L h,n-1 is the distance between the center of the rear axle of the (n - 1)-th semi-trailer trailer and the above first joint point.

[0067] Moreover, according to the following formula (2), the electronic device can calculate the coordinates of the first joint point between the (n - 1)-th semi-trailer trailer and the n-th semi-trailer trailer, that is, the second coordinates (x n , y n ) and the heading angle θ n based on the initial pose of the n-th semi-trailer trailer, that is, the coordinates of the center of the rear axle of the n-th semi-trailer trailer (x r , y r ).

[0068]

[0069] where, L n is the distance between the above first joint point and the center of the rear axle of the n-th semi-trailer trailer.

[0070] According to the above process, for each semi-trailer trailer whose target pose is to be deduced, the electronic device can obtain the target pose of the first adjacent vehicle body and the initial pose of the semi-trailer trailer whose target pose is to be deduced, and calculate the two coordinates of the first joint point respectively. In this way, the joint points between every two adjacent vehicle bodies in the semi-trailer truck train can obtain two coordinates, namely the first coordinate and the second coordinate.

[0071] S130. For each semi-trailer trailer, determine the target pose of the semi-trailer trailer based on the first coordinate and the second coordinate.

[0072] Specifically, for a certain semi-trailer trailer, according to the above description, the first joint point between this semi-trailer trailer and its first adjacent vehicle body has the first coordinate and the second coordinate. The difference between these two coordinates is caused by the inaccuracy of the initial pose. Therefore, the electronic device can correct the initial pose according to the difference between these two coordinates.

[0073] In an example, since the first adjacent vehicle body already has a target pose, it can be considered that the first coordinate calculated from the target pose is accurate. Therefore, the initial pose of this semi-trailer trailer can be corrected according to the difference between the two coordinates. For example, the difference between the two coordinates and the geometric relationship between the first joint point and the central axis of the semi-trailer trailer can be used to inversely calculate the new coordinates and the new heading angle at the center of the rear axle of the semi-trailer trailer as the target pose of the semi-trailer trailer.

[0074] In another example, considering that the target pose of each semi-trailer is calculated, there may be a small error in the target pose. Therefore, in order to reduce the influence of the possible error in the target pose, the first coordinate and the second coordinate can be fused according to a certain weight to obtain a fused coordinate, and then based on the fused coordinate and the geometric relationship between the first joint point and the central axis of the semi-trailer, the new coordinate and the new heading angle at the center of the rear axle of the semi-trailer are inversely calculated as the target pose of the semi-trailer.

[0075] According to the above process, for each semi-trailer, the target pose of each semi-trailer can be calculated and obtained.

[0076] It should be noted that any semi-trailer must first calculate its target pose through the pose correction process (i.e., S120 and S130) of the present disclosure embodiment before it can be used as the first adjacent vehicle body of the other semi-trailer connected to the semi-trailer to perform the pose correction of the other semi-trailer. Thus, for each semi-trailer, S120 and S130 need to be executed in a loop.

[0077] To make it easier to understand the above process, the processes of S120 and S130 can be described as Figure 2 the loop process shown below:

[0078] S210. Take the tractor as the first adjacent vehicle body, and take the first semi-trailer connected to the tractor as the target semi-trailer.

[0079] Specifically, considering that the initial pose of the tractor is already a high-precision pose and does not need to be corrected, in the first correction process, the electronic device takes the tractor as the first adjacent vehicle body and the first semi-trailer connected to the tractor as the target semi-trailer for which the target pose is to be deduced.

[0080] S220. Based on the target pose of the first adjacent vehicle body, determine the first coordinate of the first joint point between the first adjacent vehicle body and the target semi-trailer, and based on the initial pose of the target semi-trailer, determine the second coordinate of the first joint point.

[0081] Specifically, when the first adjacent vehicle body is the tractor, n = 1, then the following formula (3) can be obtained according to formula (1). In this way, according to formula (3), the electronic device calculates the coordinates of the first joint point, that is, the first coordinate (x 0 , y 0 ), and the heading angle θ 0 of the tractor, that is, the target pose of the tractor: f , y f ):

[0082]

[0083] Among them, L h,0 It is the distance from the center of the rear axle of the tractor to the first hitch point.

[0084] Then, according to formula (2), the following formula (4) can be obtained. According to formula (4), the electronic device calculates the initial posture of the first semi-trailer, that is, the center coordinate of the rear axle of the first semi-trailer (x 1 ,y 1 ) and heading angle θ 1 , calculate the coordinates of the first connection point, that is, the second coordinate (x r ,y r ):

[0085]

[0086] Among them, L 1 It is the distance from the first hitch point to the center of the rear axle of the first semi-trailer.

[0087] When the first adjacent vehicle body is not a tractor, n = 2, 3, ..., N, then the first coordinate (x f ,y f ) and the second coordinate (x r ,y r ).

[0088] S230: Determine a target position of the target semi-trailer based on the first coordinate and the second coordinate.

[0089] Specifically, when the first adjacent vehicle body is a tractor, the electronic device calculates the first coordinate (x f ,y f ) and the second coordinate (x r ,y r ), the target position of the first semi-trailer can be calculated.

[0090] When the first adjacent vehicle body is not a tractor, the electronic device calculates the target posture of the target semi-trailer according to the process described in S130.

[0091] S240: Determine whether the target semi-trailer is the last semi-trailer. If yes, end the posture correction process; if no, execute S250.

[0092] S250, using the target semi-trailer to update the first adjacent vehicle body, and using the next semi-trailer connected to the target semi-trailer and facing away from the tractor to update the target semi-trailer, and returning to execute S220-S240.

[0093] The method for determining the trailer posture of the semi-trailer vehicle train provided in the embodiment of the present application can, on the basis of obtaining the initial posture of each vehicle body included in the semi-trailer vehicle train, respectively infer the first coordinate and the second coordinate of the connection point between the two adjacent vehicle bodies according to the initial postures of the two adjacent vehicle bodies, and correct the initial posture of the vehicle body of the two adjacent vehicle bodies that is away from the tractor according to the coordinate difference between the first coordinate and the second coordinate to obtain the corrected target posture, and iterate the target posture of each vehicle body according to this process; the high-precision posture of each vehicle body can be obtained without installing a high-precision sensor on each vehicle body, thereby reducing the cost of obtaining the high-precision posture of each vehicle body in the semi-trailer vehicle train and improving the convenience of obtaining the high-precision posture of each vehicle body.

[0094] In some embodiments, S130 includes the following steps A and B.

[0095] Step A: Determine a first position deviation corresponding to a first connection point based on the first coordinate and the second coordinate.

[0096] Specifically, in the process of calculating the target posture, the electronic device first calculates the position deviation of the first connection point according to the first coordinate and the second coordinate according to the following formula (5), that is, the first position deviation d n :

[0097]

[0098] Step B: based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate, correct the initial posture of the semi-trailer to determine the target posture of the semi-trailer.

[0099] The deviation threshold is a pre-set critical value of the position deviation, which is used to determine the size of the coordinate deviation and then to determine the method of posture correction. Since the two adjacent car bodies in the semi-trailer train are connected by a rigid body, the target posture of the two adjacent car bodies must ensure that the first connection point between the two adjacent car bodies satisfies the rigid connection constraint. Based on this, in the embodiment of the present disclosure, the deviation threshold is used to perform a rigid connection constraint on the two adjacent car bodies.

[0100] Exemplarily, the deviation threshold is determined based on at least the gap distance between the hinge column and the hinge ring at the first connection point. Because the first connection point is rigidly connected by the hinge column and the hinge ring, the deviation threshold can be determined based on at least the maximum gap distance between the two after the hinge ring is wrapped around the hinge column. In addition, considering various factors such as the modeling error of the kinematic model, the discrete error in the vehicle control calculation, and the driving error caused by the road conditions, in the embodiment of the present disclosure, an empirical value can be superimposed on the gap distance to determine the final deviation threshold to improve the accuracy of the deviation threshold.

[0101] Specifically, the electronic device may determine whether the first position deviation satisfies the rigid connection constraint according to the magnitude relationship between the first position deviation d n and the deviation threshold d s , and determine the pose correction method suitable for the semi-trailer according to the judgment result, and perform correction processing on the first coordinate and the second coordinate to obtain the target pose.

[0102] For example, when the first position deviation d n is greater than the deviation threshold d s , it indicates that the first position deviation is large and does not satisfy the rigid connection constraint. At this time, a large-scale pose correction method can be adopted to correct the large first position deviation by using the first coordinate and the second coordinate to obtain the target pose.

[0103] Another example is that when the first position deviation d n is less than or equal to the deviation threshold d s , it indicates that the first position deviation is small and satisfies the rigid connection constraint. At this time, a small-scale pose correction method can be adopted to correct the small first position deviation by using the first coordinate and the second coordinate to obtain the target pose.

[0104] In the above embodiments of the present application, by setting the deviation threshold, rigid connection constraints are imposed on the pose correction of the first coordinate and the second coordinate, so that the corrected target pose meets the requirements of rigid connection between the vehicle bodies, further improving the accuracy of the target pose.

[0105] In an example, step B includes: if the comparison result is that the first position deviation is greater than the deviation threshold, determining the initial heading angle in the initial pose of the semi-trailer as the target heading angle; using the coordinate difference between the first coordinate and the second coordinate to correct the initial coordinate in the initial pose of the semi-trailer to determine the target coordinate of the semi-trailer.

[0106] Specifically, if the first position deviation is greater than the deviation threshold, it indicates that the first position deviation is large, and the distance deviation between the first adjacent vehicle body and the semi-trailer whose target pose is to be deduced is too large to satisfy the rigid connection. At this time, a large-scale pose correction method can be adopted, that is, mainly correcting the distance deviation between the first adjacent vehicle body and the semi-trailer whose target pose is to be deduced. The deviation of the heading angle can be ignored compared with the distance deviation. Therefore, the electronic device keeps the heading angle of the semi-trailer unchanged, that is, taking the heading angle (i.e., the initial heading angle) in the initial pose of the semi-trailer whose target pose is to be deduced as the heading angle (i.e., the target heading angle) in the target pose.

[0107] Then, the electronic device calculates the coordinate differences on the two coordinate axes using the first coordinate and the second coordinate respectively according to the following formula (6) (x f -xr ) and (y f -y r ), and then use the coordinate difference to correct the initial coordinates (x n , y n ) in the initial pose to obtain the target coordinates (x′ n , y′ n ) in the target pose.

[0108]

[0109] See Figure 3 , and calculate the first coordinates (x f , y f ) of the first joint point based on the target pose of the first adjacent vehicle body 301, and calculate the second coordinates (x r , y r ) of the first joint point based on the initial pose of the semi-trailer 302. If the first position deviation between the first coordinates and the second coordinates is greater than the deviation threshold, the semi-trailer is corrected by translation with an unchanged heading angle according to the above process to determine the corrected semi-trailer 302′, and obtain the target coordinates (x′ n , y′ n ) of the corrected semi-trailer 302′.

[0110] In another example, step B includes: if the comparison result shows that the first position deviation is less than or equal to the deviation threshold, correct the initial heading angle in the initial pose of the semi-trailer based on the first coordinates and the initial coordinates in the initial pose of the semi-trailer to determine the target heading angle of the semi-trailer; correct the initial coordinates based on the distance difference between the first distance and the second distance and the target heading angle to determine the target coordinates of the semi-trailer.

[0111] Wherein, the first distance is the second position deviation between the first coordinates and the initial coordinates, and the second distance is the distance between the first joint point and the center of the rear axle of the semi-trailer.

[0112] Specifically, if the first position deviation is less than or equal to the deviation threshold, it indicates that the first position deviation is relatively small, and there is a rigid connection between the first adjacent vehicle body and the semi-trailer whose target pose is to be calculated. At this time, a small-scale pose correction method can be used for it, that is, correct both the distance deviation and the heading angle deviation between the first adjacent vehicle body and the semi-trailer whose target pose is to be calculated.

[0113] For the heading angle correction, the electronic device calculates according to the first coordinates (x f , y f ) of the first joint point and the initial coordinates (x n , y n), calculate the target heading angle θ' of the semi-trailer according to the following formula (7). n .

[0114]

[0115] For coordinate correction, the electronic device first uses the first coordinate (x f , y f ) of the first joint point and the initial coordinates (x n , y n ) of the semi-trailer, and calculates the second position deviation between the first coordinate and the initial coordinates, that is, the first distance d according to the formula. g . Then, the electronic device uses the distance difference (d g - L n ), the target heading angle θ' n and the initial coordinates (x n , y n ) to calculate and obtain the target coordinates (x′ n , y′ n ) according to the following formula (8).

[0116]

[0117] See Figure 4 , the first coordinate (x f , y f ) of the first joint point is deduced according to the target pose of the first adjacent vehicle body 401, and the second coordinate (x r , y r ) of the first joint point is deduced according to the initial pose of the semi-trailer 402. If the first position deviation between the first coordinate and the second coordinate is less than or equal to the deviation threshold, the initial pose of the semi-trailer is corrected by rotation, that is, the heading angle and the initial coordinates are corrected, the corrected semi-trailer 402' is determined, and the target heading angle θ' n and the target coordinates (x′ n , y′ n ) of the corrected semi-trailer 402' are obtained.

[0118] In some embodiments, S110 includes the following steps C and D.

[0119] Step C: Obtain the initial pose of the tractor, the first speed at the center of the rear axle of the tractor, and the front wheel steering angle.

[0120] Specifically, in order to further reduce the cost of the semi-trailer truck train, in this embodiment, sensors for measuring the pose may be installed only on the tractor to measure and obtain the high-precision pose of the tractor, that is, to obtain the initial pose of the tractor, which is also the target pose of the tractor. At the same time, through the speed sensor and angle sensor installed on the tractor, the traveling speed (i.e., the first speed) and the front wheel deflection angle at the center of the rear axle of the tractor can be measured.

[0121] Step D: Based on the initial pose, the first speed and the front wheel deflection angle of the tractor, and the historical heading angles of each semi-trailer, determine the initial poses of each semi-trailer according to the kinematic model corresponding to the semi-trailer truck train.

[0122] Among them, the historical heading angle is the heading angle obtained in the previous adjacent pose update period of the current pose update period.

[0123] Specifically, in order to take into account the situation of safe driving control of a semi-trailer truck train with multiple semi-trailers mounted, in the embodiments of the present disclosure, a kinematic model applicable to a semi-trailer truck train with multiple semi-trailers mounted is constructed, which is used to describe the movement process of each vehicle body of the semi-trailer truck train. Therefore, after the electronic device obtains the initial pose, the first speed and the front wheel deflection angle of the tractor, and the historical heading angles of each semi-trailer, it can, according to the kinematic model, by means of iterative calculation, starting from the first semi-trailer, calculate the initial poses of each semi-trailer one by one.

[0124] In the above embodiments of the present application, only sensors for measuring the pose are installed on the tractor, and there is no need to install sensors for measuring the pose on each semi-trailer. In this case, the initial poses of each semi-trailer are calculated from the relevant information of the tractor through the kinematic model applicable to the semi-trailer truck train with multiple semi-trailers mounted, further reducing the cost of the semi-trailer truck train.

[0125] In one example, step D can be implemented by performing the following steps D1 and D2 for each semi-trailer.

[0126] Step D1: Based on the second speed of the second adjacent vehicle body, the heading angle change rate of the second adjacent vehicle body, and the third distance, and the heading angle between the second adjacent vehicle body and the semi-trailer, determine the third speed at the center of the rear axle of the semi-trailer according to the speed equation in the kinematic model.

[0127] Among them, the second adjacent vehicle body is the vehicle body that is close to the tractor end and is connected to the semi-trailer whose initial pose is to be deduced. The second speed is the speed of the second adjacent vehicle body. When the second adjacent vehicle body is the tractor, the second speed is the above-mentioned first speed; when the second adjacent vehicle body is also the semi-trailer, the second speed is the speed at the center of the rear axle of the second adjacent vehicle body. The course angle change rate is the rate at which the course angle changes with time. The third distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second connection point. The second connection point is the connection point between the second adjacent vehicle body and the semi-trailer. The course included angle is the included angle between two course directions. In this embodiment, the course included angle is determined by the historical course angle of the second adjacent vehicle body and the historical course angle of the semi-trailer.

[0128] Specifically, in order to take into account the situation of safe driving control when a semi-trailer truck trains with multiple semi-trailers, the embodiments of the present disclosure are based on Figure 5 the shown kinematic relationship of the semi-trailer truck train, and constructs a kinematic model applicable to the semi-trailer truck train with multiple semi-trailers, which includes the speed equation for calculating the speed v at the center of the rear axle of the nth vehicle body n as shown in formula (9):

[0129]

[0130] Among them, as Figure 5 shown, v n-1 is the speed at the center of the rear axle of the (n - 1)th vehicle body; β n is the course included angle between the nth vehicle body and the (n - 1)th vehicle body; is the course angle change rate of the (n - 1)th vehicle body; L h,n-1 is the distance between the center of the rear axle of the (n - 1)th vehicle body and the connection point between the (n - 1)th vehicle body and the nth vehicle body.

[0131] When the second adjacent vehicle body is the (n - 1)th vehicle body, the semi-trailer whose initial pose is to be deduced is the nth vehicle body. Then, according to the above speed equation (9), the electronic device can calculate the third speed v at the center of the rear axle of the semi-trailer based on the second speed v n-1 of the second adjacent vehicle body, the course angle change rate of the second adjacent vehicle body, and the third distance L h,n-1 , as well as the course included angle β n between the second adjacent vehicle body and the semi-trailer. Among them, the course included angle β n is determined by the historical course angle θ n of the second adjacent vehicle body and the historical course angle θ n-1 of the semi-trailer, that is, β n = θ n - θ n-1 - θ n .

[0132] In the above process, when the second adjacent vehicle body is also a semi-trailer towed trailer, the course angle of the second adjacent vehicle body is obtained by iterative calculation of steps D1 to D2 in this example. When the second adjacent vehicle body is a tractor, the rate of change of the course angle of the second adjacent vehicle body According to the motion equation of the tractor included in the kinematic model of the semi-trailer truck train (as shown in formula (10)), using the first speed v 0 and the front wheel steering angle δ f of the tractor, as well as the fourth distance L 0 between the front of the tractor and the center of the rear axle of the tractor, it is calculated and obtained.

[0133]

[0134] Step D2: Based on the third speed, the historical course angle of the semi-trailer towed trailer, the fifth distance, the second speed, the course angle difference, the rate of change of the course angle of the second adjacent vehicle body, and the sixth distance, according to the motion equation of the semi-trailer towed trailer included in the kinematic model, determine the initial coordinates at the center of the rear axle of the semi-trailer towed trailer and the rate of change of the course angle of the semi-trailer towed trailer.

[0135] Among them, the fifth distance is the distance between the second joint point and the center of the rear axle of the semi-trailer towed trailer. The sixth distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second joint point.

[0136] Specifically, after the electronic device obtains the third speed at the center of the rear axle of the semi-trailer towed trailer, it can use the motion equation of the semi-trailer towed trailer included in the following formula (11) of the kinematic model to calculate the initial coordinates at the center of the rear axle of the semi-trailer towed trailer and the rate of change of the course angle of the semi-trailer towed trailer respectively.

[0137]

[0138] Among them, v n is the third speed, θ n is the historical course angle of the semi-trailer towed trailer, Ln is the fifth distance between the second joint point and the center of the rear axle of the semi-trailer towed trailer, v n-1 is the second speed of the semi-trailer towed trailer, β n is the course angle difference between the second adjacent vehicle body and the semi-trailer towed trailer, is the rate of change of the course angle of the second adjacent vehicle body, and L h,n-1 is the sixth distance between the center of the rear axle of the second adjacent vehicle body and the second joint point.

[0139] The initial coordinates of the semi-trailer obtained by calculating according to the above process and the historical heading angle of the semi-trailer obtained in the previous cycle are the initial pose of the semi-trailer. The calculated heading angle change rate of the semi-trailer is used as the calculation basic data of the next adjacent semi-trailer of the semi-trailer.

[0140] The following are embodiments of a trailer pose determination device for a semi-trailer truck train provided in the embodiments of the present application. This device and the trailer pose determination method for a semi-trailer truck train in the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiments of the trailer pose determination device for a semi-trailer truck train, reference may be made to the embodiments of the trailer pose determination method for a semi-trailer truck train.

[0141] Figure 6 The structural schematic diagram of a trailer pose determination device for a semi-trailer truck train provided in the embodiments of the present application is shown. The semi-trailer truck train is composed of multiple vehicle bodies. One vehicle body at one side edge of each vehicle body is a tractor, and the vehicle bodies other than the tractor in each vehicle body are all semi-trailers. As Figure 6 shown, the trailer pose determination device 600 for a semi-trailer truck train specifically includes:

[0142] An initial pose acquisition module 610, configured to acquire the initial pose of each vehicle body;

[0143] A target pose determination module 620, configured to perform, for each semi-trailer:

[0144] Based on the target pose of the first adjacent vehicle body, determine the first coordinate of the first connection point between the first adjacent vehicle body and the semi-trailer, and based on the initial pose of the semi-trailer, determine the second coordinate of the first connection point; wherein, the first adjacent vehicle body is the vehicle body that is close to the tractor end and is connected to the semi-trailer; when the first adjacent vehicle body is the tractor, the target pose is the initial pose; when the first adjacent vehicle body is also a semi-trailer, the target pose is the corrected initial pose;

[0145] Based on the first coordinate and the second coordinate, determine the target pose of the semi-trailer.

[0146] The trailer posture determination device of the above-mentioned semi-trailer vehicle train provided in the embodiment of the present application can, on the basis of obtaining the initial posture of each vehicle body included in the semi-trailer vehicle train, respectively calculate the first coordinate and the second coordinate of the connection point between the two adjacent vehicle bodies according to the initial postures of the two adjacent vehicle bodies, and correct the initial posture of the vehicle body of the two adjacent vehicle bodies that is away from the tractor according to the coordinate difference between the first coordinate and the second coordinate to obtain the corrected target posture, and iterate the target posture of each vehicle body according to this process; the high-precision posture of each vehicle body can be obtained without installing a high-precision sensor on each vehicle body, thereby reducing the cost of obtaining the high-precision posture of each vehicle body in the semi-trailer vehicle train and improving the convenience of obtaining the high-precision posture of each vehicle body.

[0147] In some embodiments, the target pose determination module 620 includes:

[0148] a coordinate determination submodule, for determining a first coordinate of a first connection point between the first adjacent vehicle body and the semi-trailer based on a target posture of the first adjacent vehicle body, and determining a second coordinate of the first connection point based on an initial posture of the semi-trailer;

[0149] The target pose determination submodule is used to:

[0150] Determine a first position deviation corresponding to the first connection point based on the first coordinate and the second coordinate;

[0151] Based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate, the initial posture of the semi-trailer is corrected to determine the target posture of the semi-trailer; wherein the deviation threshold is used to perform a rigid connection constraint on two adjacent vehicle bodies.

[0152] In some embodiments, the deviation threshold is determined based on at least a gap distance between the hinge post and the hinge ring of the first joint.

[0153] In some embodiments, the target posture determination submodule is specifically used to:

[0154] If the comparison result is that the first position deviation is greater than the deviation threshold, the initial heading angle in the initial posture of the semi-trailer is determined as the target heading angle;

[0155] The initial coordinates in the initial posture of the semi-trailer are corrected by using the coordinate difference between the first coordinates and the second coordinates, so as to determine the target coordinates of the semi-trailer.

[0156] In some other embodiments, the target posture determination submodule is specifically used for:

[0157] If the comparison result is that the first position deviation is less than or equal to the deviation threshold, the initial heading angle in the initial pose of the semi-trailer is corrected based on the first coordinate and the initial coordinate in the initial pose of the semi-trailer, and the target heading angle of the semi-trailer is determined;

[0158] The initial coordinate is corrected based on the distance difference between the first distance and the second distance and the target heading angle to determine the target coordinate of the semi-trailer; where the first distance is the second position deviation between the first coordinate and the initial coordinate, and the second distance is the distance between the first connection point and the center of the rear axle of the semi-trailer.

[0159] In some embodiments, the initial pose acquisition module 610 includes:

[0160] A front wheel deflection angle acquisition sub-module for acquiring the initial pose of the tractor, the first speed at the center of the rear axle of the tractor, and the front wheel deflection angle;

[0161] An initial pose determination sub-module for determining the initial pose of each semi-trailer according to the kinematic model corresponding to the semi-trailer truck train based on the initial pose of the tractor, the first speed, the front wheel deflection angle, and the historical heading angles of the semi-trailers; where the historical heading angle is the heading angle obtained in the previous adjacent pose update period of the current pose update period.

[0162] In some embodiments, the initial pose determination sub-module is specifically configured for each semi-trailer:

[0163] Based on the second speed of the second adjacent vehicle body, the heading angle change rate of the second adjacent vehicle body, and the third distance, and the heading angle between the second adjacent vehicle body and the semi-trailer, the third speed at the center of the rear axle of the semi-trailer is determined according to the speed equation in the kinematic model; where when the second adjacent vehicle body is the tractor, the second speed is the first speed, and the heading angle change rate of the second adjacent vehicle body is determined according to the motion equation of the tractor included in the kinematic model based on the first speed, the front wheel deflection angle, and the fourth distance; the fourth distance is the distance between the front of the tractor and the center of the rear axle of the tractor; when the second adjacent vehicle body is also a semi-trailer, the second speed is the speed at the center of the rear axle of the second adjacent vehicle body; the third distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second connection point, and the second connection point is the connection point between the second adjacent vehicle body and the semi-trailer; the heading angle is determined by the historical heading angle of the second adjacent vehicle body and the historical heading angle of the semi-trailer;

[0164] Based on the third speed, the historical heading angle of the semi-trailer, the fifth distance, the second speed, the heading angle difference, the rate of change of the heading angle of the second adjacent vehicle body, and the sixth distance, determine the initial coordinates at the center of the rear axle of the semi-trailer and the rate of change of the heading angle of the semi-trailer according to the motion equation of the semi-trailer included in the kinematic model; wherein, the initial coordinates and the historical heading angle of the semi-trailer are the initial pose of the semi-trailer; the fifth distance is the distance between the second connection point and the center of the rear axle of the semi-trailer; the sixth distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second connection point.

[0165] The trailer pose determination device of the semi-trailer truck train provided by the embodiments of the present application can execute the trailer pose determination method of the semi-trailer truck train provided by any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing the method.

[0166] It should be noted that in the embodiments of the trailer pose determination device of the semi-trailer truck train described above, the various modules and sub-modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional modules / sub-modules are only for the convenience of mutual distinction and are not used to limit the protection scope of the present application.

[0167] Figure 7 It is a schematic structural diagram of an electronic device suitable for implementing the electronic device according to the embodiments of the present application. The electronic device may include, but is not limited to, a controller in a semi-trailer truck train, and an external device capable of performing real-time communication with the semi-trailer truck train. The external device may be, for example, a dispatching system for dispatching vehicles or a notebook computer, a desktop computer, or a server where the server of the intelligent driving system is located.

[0168] As Figure 7 shown, the electronic device 700 includes a central processing unit (CPU) 701, which can execute various processes in the trailer pose determination method of the semi-trailer truck train in any of the above embodiments according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0169] Optionally, the following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is installed on the drive 710 as needed so that a computer program read therefrom can be installed into the storage section 708 as needed.

[0170] Specifically, according to an embodiment of the present application, the method described in any of the above embodiments can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program tangibly embodied on a computer-readable medium, and the computer program includes program code for executing the trailer pose determination method of the semi-trailer truck train in any embodiment of the present application. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and / or installed from the removable medium 711.

[0171] The present application also provides a computer-readable storage medium, which can be the computer-readable storage medium included in the electronic device described in the above embodiment; or can exist separately and not assembled into the electronic device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the trailer pose determination method of the semi-trailer truck train described in the present application.

[0172] Figure 8 A schematic structural diagram of a semi-trailer truck train provided by an embodiment of the present application is shown. The semi-trailer truck train is composed of multiple vehicle bodies ( Figure 8 not shown), and one vehicle body at one side edge of each vehicle body is a tractor, and the vehicle bodies other than the tractor in each vehicle body are all semi-trailer trailers. As Figure 8 shown, the semi-trailer truck train 800 includes: a controller 810;

[0173] The controller 810 is configured to execute the steps of the trailer pose method of the semi-trailer truck train described in any of the above embodiments.

[0174] The above-mentioned controller 810 can be a software system, a hardware system, or a system combining software and hardware. For example, the controller 810 is a software system running on an operating system, and the vehicle-mounted hardware system is a hardware system that supports the operation of the operating system.

[0175] Although Figure 8 not shown in the figure, it is understandable that the semi-trailer truck train 800 further includes at least a plurality of sensors and an underlying execution system.

[0176] The plurality of sensors are at least used to obtain environmental data and data related to the driving state of the tractor in the semi-trailer truck train, as well as data related to the driving state of the semi-trailer, and send the environmental data and data related to the driving state to the controller 810 to provide a data basis for the controller 810.

[0177] In some embodiments, the plurality of sensors include, but are not limited to, wheel speed sensors, speed sensors, acceleration sensors, steering wheel angle sensors, front wheel angle sensors, etc., for obtaining vehicle driving data; and include, but are not limited to, cameras, lidar, and millimeter wave radars, etc., for sensing the vehicle surrounding environment. Additionally, sensors for measuring pose may include, for example, GNSS sensors and INS sensors.

[0178] The underlying execution system is at least used to receive information from the controller 810 and control the driving of the semi-trailer truck train. The underlying execution system includes, but is not limited to, a chassis system, a drive system, a steering system, a braking system, and the like.

[0179] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of methods, apparatuses, devices, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0180] The units or modules involved in the embodiments described in the present application can be implemented in software or in hardware. The described units or modules can also be provided in a processor, and the names of these units or modules do not constitute a limitation to the units or modules themselves in some cases.

[0181] It should be understood that the above specific embodiments of the present application are only for illustrative explanation or interpretation of the principles of the present application, and do not constitute a limitation on the present application. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present application shall be included within the protection scope of the present application. In addition, the appended claims of the present application are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A method for determining the pose of a trailer of a semi-trailer truck train, the semi-trailer truck train being composed of multiple vehicle bodies, one of the vehicle bodies at one side edge of each vehicle body being a tractor, and the vehicle bodies other than the tractor among each vehicle body being semi-trailer trailers. Characterized in that: Including: Obtain the initial poses of each vehicle body; For each semi-trailer trailer: Based on the target pose of the first adjacent vehicle body, determine the first coordinate of the first joint point between the first adjacent vehicle body and the semi-trailer trailer, and based on the initial pose of the semi-trailer trailer, determine the second coordinate of the first joint point; wherein, the first adjacent vehicle body is the vehicle body that is close to one end of the tractor and is connected to the semi-trailer trailer; when the first adjacent vehicle body is the tractor, the target pose is the initial pose; when the first adjacent vehicle body is also a semi-trailer trailer, the target pose is the corrected initial pose; Based on the first coordinate and the second coordinate, determine the target pose of the semi-trailer trailer.

2. The method according to claim 1, Characterized in that: The determining the target pose of the semi-trailer trailer based on the first coordinate and the second coordinate includes: Based on the first coordinate and the second coordinate, determine the first position deviation corresponding to the first joint point; Based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate, correct the initial pose of the semi-trailer trailer to determine the target pose of the semi-trailer trailer; wherein, the deviation threshold is used to perform rigid connection constraint on two adjacent vehicle bodies.

3. The method according to claim 2, Characterized in that: The deviation threshold is at least determined based on the gap distance between the hinge column and the hinge ring of the first joint point.

4. The method according to claim 2, Characterized in that: The correcting the initial pose of the semi-trailer trailer based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate to determine the target pose of the semi-trailer trailer includes: If the comparison result is that the first position deviation is greater than the deviation threshold, then determine the initial heading angle in the initial pose of the semi-trailer trailer as the target heading angle; Use the coordinate difference between the first coordinate and the second coordinate to correct the initial coordinate in the initial pose of the semi-trailer trailer to determine the target coordinate of the semi-trailer trailer.

5. The method according to claim 2, Characterized in that: The correcting the initial pose of the semi-trailer trailer based on the comparison result between the first position deviation and the deviation threshold, the first coordinate and the second coordinate to determine the target pose of the semi-trailer trailer includes: If the comparison result is that the first position deviation is less than or equal to the deviation threshold, then correct the initial heading angle in the initial pose of the semi-trailer trailer based on the first coordinate and the initial coordinate in the initial pose of the semi-trailer trailer to determine the target heading angle of the semi-trailer trailer. Based on the distance difference between the first distance and the second distance and the target heading angle, correct the initial coordinates to determine the target coordinates of the semi-trailer towed vehicle; wherein, the first distance is the second position deviation between the first coordinate and the initial coordinate, and the second distance is the distance between the first connection point and the center of the rear axle of the semi-trailer towed vehicle.

6. The method according to claim 1, wherein, the obtaining of the initial poses of the vehicle bodies includes: obtaining the initial pose of the tractor, the first speed and the front wheel steering angle at the center of the rear axle of the tractor; Based on the initial pose of the tractor, the first speed and the front wheel steering angle, and the historical heading angles of the semi-trailer towed vehicles, according to the kinematic model corresponding to the semi-trailer truck train, determine the initial poses of the semi-trailer towed vehicles; wherein, the historical heading angle is the heading angle obtained in the previous adjacent pose update period of the current pose update period.

7. The method according to claim 6, wherein, the determining of the initial poses of the semi-trailer towed vehicles based on the initial pose of the tractor, the first speed and the front wheel steering angle, and the historical heading angles of the semi-trailer towed vehicles, according to the kinematic model corresponding to the semi-trailer truck train includes: For each semi-trailer towed vehicle: Based on the second speed of the second adjacent vehicle body, the heading angle change rate of the second adjacent vehicle body and the third distance, and the heading angle between the second adjacent vehicle body and the semi-trailer towed vehicle, according to the speed equation in the kinematic model, determine the third speed at the center of the rear axle of the semi-trailer towed vehicle; wherein, when the second adjacent vehicle body is the tractor, the second speed is the first speed, and the heading angle change rate of the second adjacent vehicle body is determined according to the first speed, the front wheel steering angle and the fourth distance according to the motion equation of the tractor included in the kinematic model; the fourth distance is the distance between the front of the tractor and the center of the rear axle of the tractor; when the second adjacent vehicle body is also a semi-trailer towed vehicle, the second speed is the speed at the center of the rear axle of the second adjacent vehicle body; the third distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second connection point, and the second connection point is the connection point between the second adjacent vehicle body and the semi-trailer towed vehicle; the heading angle is determined by the historical heading angle of the second adjacent vehicle body and the historical heading angle of the semi-trailer towed vehicle; Based on the third speed, the historical heading angle of the semi-trailer towed vehicle, the fifth distance, the second speed, the heading angle, the heading angle change rate of the second adjacent vehicle body and the sixth distance, according to the motion equation of the semi-trailer towed vehicle included in the kinematic model, determine the initial coordinates at the center of the rear axle of the semi-trailer towed vehicle and the heading angle change rate of the semi-trailer towed vehicle; wherein, the initial coordinates and the historical heading angle of the semi-trailer towed vehicle are the initial pose of the semi-trailer towed vehicle. The fifth distance is the distance between the second joint point and the center of the rear axle of the semi-trailer; the sixth distance is the distance between the center of the rear axle of the second adjacent vehicle body and the second joint point.

8. A trailer pose determination device for a semi-trailer truck train, the semi-trailer truck train being composed of multiple vehicle bodies, one of the vehicle bodies at one side edge of each vehicle body being a tractor, and the vehicle bodies other than the tractor in each vehicle body being semi-trailers. Characterized in that: It includes: An initial pose acquisition module for acquiring the initial poses of the respective vehicle bodies. A target pose determination module for performing, for each semi-trailer: Based on the target pose of the first adjacent vehicle body, determining the first coordinates of the first joint point between the first adjacent vehicle body and the semi-trailer, and based on the initial pose of the semi-trailer, determining the second coordinates of the first joint point; wherein, the first adjacent vehicle body is the vehicle body that is close to the end of the tractor and is connected to the semi-trailer; when the first adjacent vehicle body is the tractor, the target pose is the initial pose; when the first adjacent vehicle body is also a semi-trailer, the target pose is the corrected initial pose. Based on the first coordinates and the second coordinates, determining the target pose of the semi-trailer.

9. An electronic device Characterized in that: It includes: A processor and a memory; The processor is used to execute the steps of the trailer pose method of the semi-trailer truck train according to any one of claims 1 to 7 by calling the program or instruction stored in the memory.

10. A computer-readable storage medium Characterized in that: The computer-readable storage medium stores a program or instruction, and the program or instruction causes a computer to execute the steps of the trailer pose method of the semi-trailer truck train according to any one of claims 1 to 7.

11. A semi-trailer truck train, the semi-trailer truck train being composed of multiple vehicle bodies, one of the vehicle bodies at one side edge of each vehicle body being a tractor, and the vehicle bodies other than the tractor in each vehicle body being semi-trailers. Characterized in that: It includes: A controller; The controller is used to execute the steps of the trailer pose method of the semi-trailer truck train according to any one of claims 1 to 7.

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