Tractor-trailer collision detection method, system, device and storage medium

Abstract

The present invention provides a collision detection method, system, device, and storage medium for a tractor and trailer. The method comprises: the tractor collects road surface point cloud data using a laser radar to obtain the spatial range of the road, establishes a plane coordinate system, projects the road into the plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road; collects first motion state information and a set of driving control signals of the tractor at the current moment, obtains third motion state information of the tractor and fourth motion state information of the trailer at the next moment; obtains the coordinate range of the tractor and trailer in the plane coordinate system, and when the coordinate range overlaps with the trigger area, the tractor performs the braking operation corresponding to the trigger area. The present invention can predict the motion state of the tractor and trailer at a future moment and apply braking in advance when the tractor or trailer is likely to collide in the future.

Description

Technical Field

[0001] The present invention relates to the field of vehicle motion detection, and in particular to a method, system, device and storage medium for detecting collision between a tractor and a trailer. Background Art

[0002] With the rapid development of autonomous driving technology, unmanned ports are becoming a key application scenario for this technology. Unmanned operations can significantly improve operational efficiency and reduce costs. In daily port operations, unmanned tractors complete the process of transporting containers by attaching trailers. In daily port operations, unmanned tractors complete the process of transporting containers by attaching trailers.

[0003] Among them, there is a perception problem that needs to be solved urgently. In order to ensure that the tractor body does not collide with the environment during operation, the yaw angle of the trailer needs to be accurately obtained. However, since the trailer itself has no power source and is only a follow-up system of the tractor, it is crucial to accurately calculate the yaw angle of the trailer through effective modeling to ensure that the tractor body does not collide with the environment during operation.

[0004] In view of this, the present invention provides a method, system, device and storage medium for collision detection and identification of a towing vehicle.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0006] In response to the problems in the prior art, the purpose of the present invention is to provide a collision detection method, system, equipment and storage medium for a tractor and a trailer, which overcomes the difficulties of the prior art and can predict the movement state of the tractor and the trailer at future moments, and perform early braking when the tractor or the trailer may cause a collision in the future.

[0007] An embodiment of the present invention provides a method for detecting a collision between a tractor and a trailer, comprising the following steps:

[0008] The tractor collects road surface point cloud data through a laser radar to obtain the spatial range of the road, projects the road into the plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road;

[0009] Collecting the first motion state information of the tractor and the set of driving control signals at the current time t0, and obtaining the second motion state information of the trailer and the angle formed by the trailer and the axle direction;

[0010] Establishing a single vehicle model of the tractor and trailer and the driving control signal at the current moment to obtain third motion state information of the tractor at the next moment t1; and

[0011] Obtaining fourth motion state information of the trailer at a next moment t1 based on the third motion state information and the driving control signal at the next moment; and

[0012] The coordinate range of the tractor and the trailer in the plane coordinate system is obtained, and when the coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area.

[0013] Preferably, the tractor collects road point cloud data through a laser radar to obtain the spatial range of the road, projects the road into the plane coordinate system, and establishes trigger areas and corresponding braking operations based on both sides of the road, including:

[0014] The tractor collects road point cloud data through LiDAR to obtain the spatial extent of the road;

[0015] The center point of the tractor is hinged to the trailer link of the towed vehicle, and a plane coordinate system is established based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width;

[0016] The spatial ranges of the two sides of the road are projected into the plane coordinate system, and at least one triggering area is established inwardly based on each of the two sides of the road.

[0017] Preferably, collecting the first motion state information of the tractor and the set of driving control signals at the current time t0 to obtain the second motion state information of the trailer and the angle formed between the trailer and the axle direction includes:

[0018] The center point of the tractor and the trailing trailer are respectively hinged to the two ends of a rigid trailing link, the tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle; and

[0019] Based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer.

[0020] Preferably, the tractor collects road point cloud data by using a laser radar to obtain the spatial range of the road, including:

[0021] The tractor collects road surface point cloud data through a laser radar, identifies the point cloud data, and obtains the spatial extent of the road;

[0022] The projecting the spatial range of both sides of the road into the plane coordinate system and establishing at least one triggering area inwardly based on both sides of the road includes:

[0023] The spatial range on both sides of the road is projected into the plane coordinate system, and a first trigger area is established based on the first preset distance as the width inward on each side of the road, and a second trigger area is established based on the second preset distance as the width inward on each side of the first trigger area.

[0024] Preferably, collecting the first motion state information of the tractor and the set of driving control signals at the current time t0 to obtain the second motion state information of the trailer and the angle formed between the trailer and the axle direction includes:

[0025] Collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), the yaw angle [yaw] of the tractor body t0 ;

[0026] The driving control signal set collected includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X-axis;

[0027] Assume that the first motion state information at the current time t0 is x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), [yaw] t0 = 0, the second motion state information obtained at the current time t0 includes the plane coordinates of the reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,

[0028] x(t,t0)=hitchv-hitch*cos([tyaw] t0 );

[0029] y(t,t0)=-hitcht*sin([tyaw] t0 );

[0030] [tyaw] t0 =myaw;

[0031] Where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle.

[0032] The angle between the trailer and the axle direction is obtained as [tyaw] t0 .

[0033] Preferably, the step of establishing a single-vehicle model of the tractor and trailer and obtaining the third motion state information of the tractor at the next moment t1 based on the driving control signal at the current moment includes:

[0034] Establishing a single vehicle model based on the tractor and trailer;

[0035] According to the bicycle model and the current speed v(t0), angle signal The plane coordinates of the reference position of the tractor in the third motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,

[0036] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0037] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0038] v(c,t1)=v(c,t0)+a(t1)*dt;

[0039] Obtain the yaw angle [yaw] of the tractor body in the third motion state information t1 :

[0040] [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R;

[0041] but

[0042] Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor.

[0043] Preferably, obtaining the fourth motion state information of the trailer at the next moment t1 based on the third motion state information and the driving control signal at the next moment includes:

[0044] According to the acceleration signal a(t1), the angle signal and the third motion state information, obtaining fourth motion state information of the trailer at the next time t1, the fourth motion state information including at least the plane coordinates and yaw angle of the reference position of the trailer, including:

[0045] The plane coordinates of the reference position of the trailer at the next time t1 are obtained as [x(t, t1), y(t, t1)]:

[0046] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));

[0047] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ));

[0048] Obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point:

[0049]

[0050] Wherein, r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point;

[0051] Get the yaw angle [tyaw] of the trailer at the next moment t1 t1 :

[0052] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw.

[0053] Preferably, obtaining the coordinate range of the tractor and the trailer in the plane coordinate system, and when the coordinate range overlaps with the trigger area, causing the tractor to perform a braking operation corresponding to the trigger area, includes:

[0054] Obtaining a first coordinate range of the tractor in the plane coordinate system based on the reference position of the tractor in the third motion state information at the next time t1 and the preset positional relationship between the four corners of the tractor;

[0055] Obtaining a second coordinate range of the trailer in the plane coordinate system based on the positional relationship between the reference position of the trailer and the four corners of the trailer in the fourth motion state information at the next time t1; and

[0056] When the first coordinate range or the second coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area.

[0057] Preferably, the center point of the tractor is located at the center between the center of the front axle of the tractor and the center of the rear axle of the tractor;

[0058] The reference position of the tractor is the center point of the rear axle of the tractor;

[0059] The reference position of the trailer is the center point of the rear axle of the trailer.

[0060] Preferably, the braking parameters are updated according to the overlapping area between the first coordinate range or the second coordinate range and the trigger area. When the area of the overlapping area between the first coordinate range or the second coordinate range and the trigger area increases, the braking parameters are increased, and the vehicle is decelerated in advance through greater braking force, thereby improving driving safety.

[0061] An embodiment of the present invention further provides a tractor-trailer collision detection system for implementing the above-mentioned tractor-trailer collision detection method. The tractor-trailer collision detection system includes:

[0062] A road acquisition module, in which the tractor collects road surface point cloud data using a laser radar to obtain the spatial extent of the road, establishes a plane coordinate system based on the center point of the tractor's rear axle as the coordinate origin, projects the road onto the plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road;

[0063] a control signal module for collecting the first motion state information of the tractor and the driving control signal set at the current time t0, and obtaining the second motion state information of the trailer and the angle formed by the trailer and the axle direction;

[0064] A tractor state module, which establishes a single-vehicle model of the tractor and trailer and obtains third motion state information of the tractor at the next moment t1 based on the driving control signal at the current moment; and

[0065] a trailer state module, which obtains fourth motion state information of the trailer at a next moment t1 based on the third motion state information and a driving control signal at a next moment; and

[0066] The brake trigger module obtains the coordinate range of the tractor and the trailer in the plane coordinate system, and when the coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area.

[0067] An embodiment of the present invention further provides a tractor-trailer collision detection device, comprising:

[0068] processor;

[0069] a memory storing executable instructions for the processor;

[0070] The processor is configured to execute the steps of the above-mentioned method for detecting collision between a tractor and a trailer by executing executable instructions.

[0071] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the above-mentioned method for detecting collision between a tractor and a trailer.

[0072] The tractor-trailer collision detection method, system, device and storage medium of the present invention can predict the motion state of the tractor and trailer at a future moment and perform braking in advance when the tractor or trailer is likely to cause a collision in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0074] Figure 1 The figure is a flow chart of a method for detecting collision between a tractor and a trailer according to the present invention.

[0075] Figures 2 to 7 The figure is a schematic diagram of an implementation process of the method for detecting collision between a tractor and a trailer according to the present invention.

[0076] Figure 8 It is a structural schematic diagram of the collision detection system between a tractor and a trailer of the present invention.

[0077] Figure 9 It is a structural diagram of the collision detection device between the tractor and the trailer of the present invention. And

[0078] Figure 10 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0079] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0080] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0081] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0082] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0083] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0084] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0085] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0086] Although in some instances the terms first, second, etc. are used to represent various elements in the present invention, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in the present invention, the singular forms "one", "an", and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise" and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C". An exception to this definition occurs only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0087] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0088] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0089] Figure 1 FIG. 1 is a flow chart of a method for detecting collision between a tractor and a trailer according to the present invention. Figure 1 As shown, an embodiment of the present invention provides a method for detecting collision between a tractor and a trailer, comprising the following steps:

[0090] S110: The tractor collects road surface point cloud data using a laser radar to obtain the spatial extent of the road, projects the road into a plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road.

[0091] S120, collecting first motion state information of the tractor and a set of driving control signals at the current time t0, obtaining second motion state information of the trailer and an angle formed between the trailer and the axle direction;

[0092] S130, establishing a single vehicle model of the tractor and trailer and the current driving control signal to obtain third motion state information of the tractor at the next moment t1; and

[0093] S140, obtaining fourth motion state information of the trailer at the next moment t1 based on the third motion state information and the driving control signal at the next moment; and

[0094] S150: Obtain the coordinate range of the tractor and the trailer in the plane coordinate system. When the coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area.

[0095] The present invention provides a method for collision detection based on predicted motion trajectories. The method comprises: using a control sequence to infer the motion states of a tractor and a trailer at N future moments, and judging whether the tractor and the trailer are likely to collide with both sides or need to slow down based on the obtained predicted motion trajectories.

[0096] In a preferred embodiment, S110 includes:

[0097] S111. The tractor collects road surface point cloud data using a laser radar to obtain the spatial extent of the road.

[0098] S112. The center point of the tractor is articulated with the trailer link of the trailer, and a plane coordinate system is established with the center point of the rear axle of the tractor as the coordinate origin, where the X-axis is the direction of the vehicle head and the Y-axis is the direction of the vehicle body width;

[0099] S113: Project the spatial range of both sides of the road into a plane coordinate system, and establish at least one triggering area inwardly from both sides of the road.

[0100] In a preferred embodiment, step S112 includes:

[0101] S1121. The center point of the tractor and the trailing trailer are each hinged to the ends of a rigid trailer link. The tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle.

[0102] S1122. Based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer.

[0103] In a preferred embodiment, step S111 includes:

[0104] The tractor collects road point cloud data through LiDAR, identifies the point cloud data, and obtains the spatial range of the road;

[0105] Step S113 includes:

[0106] The spatial range on both sides of the road is projected into a plane coordinate system, and a first trigger area is established based on the first preset distance as the width inward on both sides of the road, and a second trigger area is established based on the second preset distance as the width inward on both sides of the first trigger area.

[0107] In a preferred embodiment, step S120 includes:

[0108] S121. Collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the tractor's reference position [x(c, t0), y(c, t0)], the speed v(c, t0), and the yaw angle [yaw] of the tractor body. t0 ;

[0109] S122, collect the driving control signal set including at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis;

[0110] S123, assuming the first motion state information at the current time t0 is x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), [yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,

[0111] x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );

[0112] y(t,t0)=-hitcht*sin([tyaw] t0 );

[0113] [tyaw] t0 =myaw;

[0114] Where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle.

[0115] S124, obtain the angle between the trailer and the axle direction as [tyaw] t0 .

[0116] In a preferred embodiment, step S130 includes:

[0117] S131. Establish a single vehicle model based on the tractor and trailer;

[0118] S132, based on the bicycle model and the current speed v(t0), angle signal The plane coordinates of the reference position of the tractor in the third motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,

[0119] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0120] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0121] v(c,t1)=v(c,t0)+a(t1)*dt;

[0122] S133: Obtain the yaw angle [yaw] of the tractor body in the third motion state information. t1 :

[0123] [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R;

[0124] but

[0125] Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor.

[0126] In a preferred embodiment, step S140 includes:

[0127] S141, according to the acceleration signal a(t1), the angle signal and the third motion state information, and obtain the fourth motion state information of the trailer at the next time t1, the fourth motion state information including at least the plane coordinates and yaw angle of the reference position of the trailer, including:

[0128] S142. Obtain the plane coordinates of the reference position of the tow at the next moment t1 as [x(t, t1), y(t, t1)]:

[0129] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));

[0130] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ));

[0131] S143. Obtain the angular acceleration ω2 of the instantaneous rotation center O2 of the trailer based on the rotation of the hinge point:

[0132]

[0133] Where r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point;

[0134] S144. Obtain the yaw angle [tyaw] of the trailer at the next moment t1. t1 :

[0135] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw.

[0136] In a preferred embodiment, step S150 includes:

[0137] S151. Obtain a first coordinate range of the tractor in the plane coordinate system based on a reference position of the tractor in the third motion state information at the next time t1 and a preset positional relationship between the four corners of the tractor;

[0138] S152, based on the positional relationship between the reference position of the towed vehicle and the four corners of the towed vehicle in the fourth motion state information at the next time t1, obtain a second coordinate range of the towed vehicle in the plane coordinate system; and

[0139] S153: When the first coordinate range or the second coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area.

[0140] In a preferred embodiment, the center point of the tractor is located centrally between the center of the tractor's front axle and the center of the tractor's rear axle;

[0141] The reference position of the tractor is the center point of the rear axle of the tractor;

[0142] The reference position of the trailer is the center point of the trailer's rear axle.

[0143] like Figures 2 to 7 As shown, an implementation process of the present invention mainly includes:

[0144] refer to Figure 2 、 3 As shown, tractor 1 collects road surface point cloud data using a laser radar 14. This point cloud data is then recognized using an existing or future point cloud recognition neural network to determine the spatial extent of the road. The center point of tractor 1 and its accompanying trailer 2 are each articulated to the ends of a rigid towing link 15. Tractor 1 includes a steering front axle with front wheels 11 and a driven rear axle with rear wheels 12, while trailer 2 includes a trailing rear axle. The towing link 15 of tractor 1 and trailer 2 is articulated, with the towing link 15 and the center point of tractor 1 connected via a hitch 13. The center point of the tractor is located midway between the center points of the tractor's front and rear axles. With the center point of the tractor's rear axle as the coordinate origin, with the X axis oriented in the vehicle's forward direction and the Y axis oriented in the vehicle's width, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer. The spatial range on both sides of the road is projected into a plane coordinate system, and a first trigger area 31 (collision emergency braking area) is established based on a first preset distance as the width inward on each side of the road. A second trigger area 32 (braking deceleration area) is established based on a second preset distance as the width inward on each side of the first trigger area 31.

[0145] To conveniently describe the vehicle's motion, record the position, velocity, and yaw angle of the tractor, as well as the position and yaw angle of the trailer. These coordinates are expressed as [xc, yc, vc, yaw, xt, yt, tyaw], where xc, yc, and vc are the tractor's position and velocity, the vehicle's yaw angle is denoted as yaw, xt and yt are the trailer's position, and the trailer's yaw angle is denoted as tyaw. The vehicle's coordinate system is defined as the center of the tractor's rear axle, with the x-axis aligned with the vehicle's front direction and a right-handed coordinate system. The center of the trailer's rear axle is denoted as the trailer position.

[0146] The control signal received at the current time t0 is recorded as where v(t0), is the velocity and angle signal at the current moment, a(t1), is the control amount applied at the next moment t1, based on which the state at moment t0 can be updated to the motion state at moment t1. myaw is the trailer yaw angle measured by the vehicle-mounted sensor at moment t0, such as Figure 2 、 3 As shown, the distance from the hinge point 13 to the center of the rear axle of the tractor is recorded as hitchv, the distance from the hinge point 13 to the trailer rear axle is recorded as hitcht, and the distance between the center point of the front axle of the tractor and the center point of the rear axle (i.e., the wheelbase) is recorded as WB.

[0147] Figure 2 The full vehicle schematic is shown in the figure. Tractor 1 is rear-wheel drive, with rear wheels 12 responsible for acceleration and front wheels 11 for steering, connected by a hinge point 13. The origin of the red coordinate system is at the center of the tractor's rear axle. The x-axis faces forward, forming a right-hand coordinate system. HitchV represents the distance from hinge point 13 to the center of the tractor's rear axle. Trailer 2 consists solely of a rear axle 21 with a pair of trailing wheels. Hitch is the distance from hinge point 13 to the center of trailer 2's rear axle, and WB is the distance from the center of the tractor's front axle to the center of its rear axle. is the steering control signal applied to the front wheels, v is the current vehicle speed, the vehicle's power source is the tractor, and the trailer is the tractor's follow-up system.

[0148] like Figure 3 As shown, the yaw angle is the deflection angle of the vehicle coordinate system relative to the global coordinate system. The horizontal dashed line represents the x-axis of the global coordinate system. Because the trailer moves with the tractor during a turn, it deviates from the tractor at a certain angle. The yaw angle of the trailer is tyaw, and the yaw angle of the vehicle itself is yaw. The present invention aims to update the tractor's current motion state based on the control variable currently obtained at time t1, and then infer the trailer's yaw angle at time t1 based on the current sensor-measured trailer yaw angle. Assume that the control step length is dt, that is, the motion state of the vehicle body will be updated after dt seconds, that is, t1=t0+dt. At this time, what needs to be done is to update the motion state of the tractor to time t1 under the control information based on the motion state of the vehicle body at time t0 [xc, yc, vc, yaw, xt, yt, tyaw], and then infer the motion state of the trailer at time t1 through geometric relationships. The algorithm flow includes: initializing the current motion state of the tractor and trailer → updating the motion state of the tractor to the next moment through control signals → finally, using kinematic constraints and geometric relationships to predict the yaw angle of the trailer at the next moment.

[0149] Assume that the motion state of the tractor at time t0 is x(c,t0)=0,y(c,t0)=0,v(c,t0)=v(t0),[yaw] t0 =0, the trailer motion state is:

[0150] x(t,t0)=hitchv-hitcht*cos([tyaw] t0 )

[0151] y(t,t0)=-hitcht*sin([tyaw] t0 )

[0152] [tyaw] t0 =myaw

[0153] Continue to refer Figure 3 The angle between the trailer and the axle is (tyaw-yaw). Since yaw = 0, the angle is tyaw. Therefore, the position of the trailer at this time is shown above.

[0154] Assume that the tractor state at time t1 is updated as follows:

[0155] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]

[0156] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]

[0157] v(c,t1)=v(c,t0)+a(t1)*dt

[0158]

[0159] like Figure 4 As shown, the update of the yaw angle needs to be derived in combination with the rotational motion and the bicycle kinematic model. For example, Ackerman Turning Geometry is a geometry that solves the problem that the inner and outer steering wheel paths point to different centers of circles when a vehicle turns. In addition, the present invention assumes that the motion states of the left and right wheels are consistent, so only the motion state of the tire on one side needs to be analyzed. The bicycle kinematic model of the prior art is used in the present invention. The tractor is first simulated as a bicycle kinematic model, and then the motion of the front and rear wheels of the tractor is decomposed into translation and rotation. The translation of the object, i.e., the speed update, can be directly updated through the acceleration update, while the rotation angle is determined by the angular acceleration, i.e., [yaw] t1 =ω*dt+[yaw] t0 , ω=v / R, where R is the radius of rotation, such as Figure 4 As shown, is the control amount applied to the front wheel, O is the center of rotation during the steering process of the front vehicle, and it is easy to deduce the following angles if the speed direction is perpendicular to the rotation radius. The distance between the two wheels is known as WB, and the rotation radius R can be calculated, and thus the angular acceleration can be calculated to update the yaw angle of the tractor.

[0160] like Figure 5 As shown, the motion position of the trailer at time t1 is derived as:

[0161] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ))

[0162] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ))

[0163] Because the trailer is a follow-up system, its movement has a lag compared to the tractor. That is, the motion state of the trailer can only be deduced based on the kinematic model after the tractor has determined its motion state. Therefore, there is a control step length dt between them. Therefore, the yaw angle at time t0 is used here.

[0164] The yaw angle of the trailer at time t1 needs to be derived using the hinge point 13 as an intermediate variable. The velocity of the hinge point 13 is set to vh. Because this is the connection point of two rigid bodies (the axle and the hitch and trailer link), the linear velocities at the two locations are equal. Because the instantaneous center of rotation of the same rigid body is the same point during rotation, the instantaneous center of rotation of the tractor is O1, and the instantaneous center of rotation of the trailer is O2. Therefore, the line connecting the hitch and O2 passes through O1. The rotation radius of the hitch and O1 is recorded as r1, and the rotation radius of the hitch and O2 is recorded as r2. We can get:

[0165] vh=ω1*r1

[0166] vh=ω2*r2

[0167] [tyaw] t1 =ω2*dt+[tyaw] t0

[0168]

[0169] Therefore, we only need to obtain ω2 to get the trailer yaw angle at time t1, ω2=ω1*r1 / r2, and the yaw angle of the trailer and the vehicle body is Draw a perpendicular line from point O1 to the hitch and trailer line, with the foot of the perpendicular being T. Since the rotation radius is always perpendicular to the linear velocity direction of the tire (arrow direction), it is easy to get the equal angle Depend on Figure 5 Available And in [yaw] t0 = 0, we can get

[0170]

[0171] Finally, since the angular velocity of each point on a rigid body is the same, and the trailer yaw angle is obtained (because the vehicle yaw angle is assumed to be 0, the vehicle yaw angle needs to be subtracted), and because Therefore, it can be concluded that [tyaw] t1 for:

[0172]

[0173] [tyaw] t1 =ω2*dt+[tyaw] t0 -[tyaw] t0

[0174] The method for detecting collision between a tractor and a trailer of the present invention can predict the motion states of the tractor and the trailer at future moments and perform braking in advance when the tractor or the trailer is likely to collide in the future.

[0175] Based on the reference position of the tractor in the third motion state information at the next moment t1 and the positional relationship between the preset four corners of the tractor, the coordinate positions of the four corners of the tractor in the plane coordinate system are obtained, and then these four coordinate positions are used as the four corners of the first rectangle to connect the lines, and the range of the connection line is the first coordinate range 35.

[0176] Based on the reference position of the towing in the fourth motion state information at the next moment t1 and the positional relationship between the preset four corners of the towing, the coordinate positions of the four corners of the towing in the plane coordinate system are obtained, and then these four coordinate positions are used as the four corners of the second rectangle to connect the lines, and the range of the connection line is the second coordinate range 36.

[0177] The positional relationship between the first coordinate range 35 and the second coordinate range 36 and the trigger area is monitored in real time. When the first coordinate range 35 or the second coordinate range 36 overlaps with the second trigger area 32 (braking and deceleration area), braking and deceleration are immediately performed according to the braking operation corresponding to the second trigger area 32. If the first coordinate range 35 or the second coordinate range 36 overlaps with the first trigger area 31 (collision emergency braking area), emergency braking is immediately performed, with full force applied, to avoid a collision.

[0178] In a preferred example, the braking parameters are updated according to the overlapping area 33 between the first coordinate range 35 or the second coordinate range 36 and the trigger area. When the area of the overlapping area 33 between the first coordinate range 35 or the second coordinate range 36 and the trigger area increases, the braking parameters are increased, and the vehicle is decelerated in advance through greater braking force, thereby improving driving safety.

[0179] Another implementation process of the present invention mainly includes:

[0180] First, let the motion states of the tractor and trailer be xc, yc, yaw, xt, yt, tyaw, and the control variables for the next N moments are:

[0181] x(c,offset),y(c,offset),[yaw]offset,

[0182] x(t,offset),y(t,offset),[tyaw]offset

[0183] Where x(c, offset) is the X-axis coordinate of the reference position of the tractor at the future time;

[0184] y(c, offset) is the Y-axis coordinate of the tractor's reference position at the future moment;

[0185] [yaw]offset is the yaw angle of the tractor at the future moment;

[0186] x(t, offset) is the X-axis coordinate of the reference position of the trailer at the future time;

[0187] y(t, offset) is the Y-axis coordinate of the reference position of the trailer at the future moment;

[0188] [tyaw]offset is the yaw angle of the trailer at the future moment;

[0189] Then, the control value is used to update the motion state of the tractor and trailer to obtain the motion trajectory of the next N moments.

[0190] Then, the state update equations of the tractor and trailer from the current time t0 to the time t1 are as follows:

[0191] x(c,t1)=(x(c,t0)-x(c,offset))*cos([yaw]t1)+(y(c,t0)-y(c,offset))*sin([yaw]t1)

[0192] y(c,t1)=-(x(c,t0)-x(c,offset))*sin([yaw]t1)+(y(c,t0)-y(c,offset))*cos([yaw]t1)

[0193] x(t,t1)=(x(t,t0)-x(t,offset))*cos([tyaw]t1)+(y(t,t0)-y(t,offset))*sin([tyaw]t1)

[0194] y(t,t1)=-(x(t,t0)-x(t,offset))*sin([tyaw]t1)+(y(t,t0)-y(t,offset))*cos([tyaw]t1)

[0195] Because the x-axis is toward the front of the vehicle and the y-axis is the lateral direction of the vehicle, the collision safety distance in the y-direction is set to safetydis, which is the safe distance reserved for the vehicle from both sides. Based on the vehicle size, the vehicle's range in the x and y directions is set to xmin, ymin, xmax, and ymax. Therefore, after updating the position at time t1, determine whether the scanned point cloud exceeds the set collision safety range, that is, xmin, xmax, ymin-safetydis, and ymax+safetydis. The deceleration safety distance in the y-direction is set to safetydislow, so the coverage of the point cloud deceleration at time t1 is set to xmin, xmax, ymin-safetydislow, and ymax+safetydislow.

[0196] Next, determine whether the point cloud observed at each moment on the updated motion trajectory is within the set safety range, and count the number of points that exceed the set safety range at future moments in different situations, that is, determine the number of points that exceed the collision safety range at each moment in the future prediction sequence and the number of points that exceed the deceleration safety range at each moment in the future prediction sequence.

[0197] Finally, based on the statistical results, the system publishes perception messages, such as possible collision or need to slow down.

[0198] Figure 8 Schematic diagram of the structure of the collision detection system of the tractor and trailer of the present invention. Figure 6 As shown, the tractor-trailer collision detection system 5 of the present invention includes:

[0199] The road acquisition module 51 uses a laser radar to collect road point cloud data to obtain the spatial range of the road, establishes a plane coordinate system based on the center point of the tractor's rear axle as the coordinate origin, projects the road into the plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road.

[0200] The control signal module 52 collects the first motion state information of the tractor and the driving control signal set at the current time t0, and obtains the second motion state information of the trailer and the angle formed by the trailer and the axle direction.

[0201] The tractor state module 53 establishes a single vehicle model of the tractor and the trailer and obtains the third motion state information of the tractor at the next moment t1 based on the current driving control signal.

[0202] The trailer state module 54 obtains the fourth motion state information of the trailer at the next moment t1 based on the third motion state information and the driving control signal at the next moment.

[0203] The brake trigger module 55 obtains the coordinate range of the tractor and the trailer in the plane coordinate system. When the coordinate range overlaps with the trigger area, the tractor performs the braking operation corresponding to the trigger area.

[0204] In a preferred embodiment, the road acquisition module 51 is configured to have the tractor use a laser radar to collect road surface point cloud data to determine the spatial extent of the road. The center point of the tractor is articulated with the trailer linkage. A plane coordinate system is established with the center point of the tractor's rear axle as the origin, where the X-axis is the direction of the vehicle's front and the Y-axis is the width of the vehicle. The spatial extent of both sides of the road is projected onto the plane coordinate system, and at least one trigger area is established inward from each side of the road.

[0205] In a preferred embodiment, the road acquisition module 51 is configured such that the center point of the tractor and the trailing trailer are each articulated to the ends of a rigid trailer link. The tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle. The center point of the tractor's rear axle serves as the coordinate origin, with the X axis oriented in the vehicle's forward direction and the Y axis oriented in the vehicle's width. The center point of the trailing rear axle serves as the trailer's coordinate position.

[0206] In a preferred embodiment, the road acquisition module 51 is further configured to collect road surface point cloud data using a laser radar system, identify the point cloud data, and determine the spatial extent of the road. Furthermore, the spatial extents on both sides of the road are projected onto a plane coordinate system, and a first triggering area is established on each side of the road, with a first preset distance inward as the width. A second triggering area is established on each side of the first triggering area, with a second preset distance inward as the width.

[0207] In a preferred embodiment, the control signal module 52 is configured to collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), the yaw angle [yaw] of the tractor body, and the yaw angle [yaw] of the tractor body. t0 .

[0208] The collected driving control signal set includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis.

[0209] Assume that the first motion state information at the current time t0 is x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), [yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,

[0210] x(t,t0)=hitchv-hitch*cos([tyaw] t0 );

[0211] y(t,t0)=-hitcht*sin([tyaw] t0 );

[0212] [tyaw] t0 =myaw;

[0213] Where myaw is the trailer yaw angle measured by the on-board sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle.

[0214] The angle between the trailer and the axle direction is [tyaw] t0 .

[0215] In a preferred embodiment, the tractor state module 53 is configured to establish a single vehicle model based on the tractor and the trailer. The plane coordinates of the reference position of the tractor in the third motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,

[0216] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0217] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0218] v(c,t1)=v(c,t0)+a(t1)*dt;

[0219] Obtain the yaw angle [yaw] of the tractor body in the third motion state information t1 :

[0220] [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R;

[0221] but

[0222] Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor.

[0223] In a preferred embodiment, the trailer status module 54 is configured to detect the vehicle's vehicle state based on the acceleration signal a(t1), the angle signal and the third motion state information, and obtain the fourth motion state information of the trailer at the next time t1, the fourth motion state information including at least the plane coordinates and yaw angle of the reference position of the trailer, including:

[0224] The plane coordinates of the reference position of the tow at the next moment t1 are obtained as [x(t, t1), y(t, t1)]:

[0225] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));

[0226] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ));

[0227] Obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point:

[0228]

[0229] Where r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point;

[0230] Get the trailer's yaw angle [tyaw] at the next moment t1 t1 :

[0231] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw.

[0232] In a preferred embodiment, the brake triggering module 55 is configured to obtain a first coordinate range of the tractor in the plane coordinate system based on the reference position of the tractor in the third motion state information at the next time t1 and the positional relationship between the four corners of the tractor. A second coordinate range of the trailer in the plane coordinate system is obtained based on the positional relationship between the reference position of the trailer and the four corners of the trailer in the fourth motion state information at the next time t1. If either the first coordinate range or the second coordinate range overlaps with a triggering area, the tractor performs the braking operation corresponding to the triggering area.

[0233] In a preferred embodiment, the center point of the tractor is located midway between the center of the tractor's front axle and the center of the tractor's rear axle. The reference position of the tractor is the center point of the tractor's rear axle. The reference position of the trailer is the center point of the trailer's rear axle.

[0234] The tractor-trailer collision detection system of the present invention can predict the motion state of the tractor and the trailer at a future moment and perform braking in advance when the tractor or the trailer is likely to collide in the future.

[0235] An embodiment of the present invention further provides a tractor-trailer collision detection device, comprising a processor and a memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the steps of a tractor-trailer collision detection method.

[0236] As described above, the collision detection device for a tractor and a trailer of the present invention can predict the motion state of the tractor and the trailer at a future moment, and perform braking in advance when the tractor or the trailer is likely to cause a collision in the future.

[0237] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "platforms."

[0238] Figure 9 This is a schematic diagram of the structure of the collision detection device of the tractor and trailer of the present invention. Figure 9 An electronic device 600 according to this embodiment of the present invention will be described. Figure 9 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0239] like Figure 9 As shown, electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), and a display unit 640.

[0240] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the electronic prescription circulation processing method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 1 Follow the steps shown in .

[0241] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0242] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0243] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0244] The electronic device 600 can also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0245] An embodiment of the present invention further provides a computer-readable storage medium for storing a program that, when executed, implements the steps of the method for detecting a collision between a tractor and a trailer. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the aforementioned electronic prescription circulation processing method section of this specification.

[0246] As shown above, when the program of the computer-readable storage medium of this embodiment is executed, it can predict the motion state of the tractor and trailer at a future moment and perform braking in advance when the tractor or trailer is likely to cause a collision in the future.

[0247] Figure 10 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 10 , a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0248] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0249] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0250] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, and the like, as well as conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0251] In summary, the tractor-trailer collision detection method, system, device, and storage medium of the present invention can predict the motion state of the tractor and trailer at a future moment, and perform braking in advance when the tractor or trailer is likely to cause a collision in the future.

[0252] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A method for detecting collision between a tractor and a trailer, characterized in that: The steps include: The tractor collects road surface point cloud data through LiDAR to obtain the spatial extent of the road, projects the road into a plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road. Collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), the yaw angle [yaw] of the tractor body t0 ; The collected driving control signal set includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis; let the first motion state information at the current time t0 be x(c,t0)=0,y(c,t0)=0,v(c,t0)=v(t0),[yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );y(t,t0)=-hitcht*sin([tyaw] t0 );[tyaw] t0 = myaw; where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle. The angle between the trailer and the axle direction is [tyaw] t0 ; A single vehicle model is established based on the tractor and trailer; and a single vehicle model is established based on the single vehicle model and the current speed v(t0), angle signal The plane coordinates of the reference position of the tractor in the third motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]; v(c, t1) = v(c, t0) + a(t1)*dt; obtain the yaw angle [yaw] of the tractor body in the third motion state information t1 : [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R; then Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor; According to the acceleration signal a(t1), the angle signal and the third motion state information, obtaining fourth motion state information of the trailer at the next time t1, the fourth motion state information including at least the plane coordinates of the reference position of the trailer and the yaw angle, including: obtaining the plane coordinates of the reference position of the trailer at the next time t1 as [x(t, t1), y(t, t1)]: x(t, t1) = x(c, t1) - (hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 )); obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point: Where r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point; the yaw angle [tyaw] of the trailer at the next moment t1 is obtained. t1 :[tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw; and The coordinate range of the tractor and the trailer in the plane coordinate system is obtained. When the coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area. The coordinate positions of the four corners of the tractor in the plane coordinate system are obtained based on the reference position of the tractor in the third motion state information at the next time t1 and the preset positional relationship between the four corners of the tractor. Then, a line is connected using these four coordinate positions as the four corners of a first rectangle, and the range within the connected line is the first coordinate range. The coordinate positions of the four corners of the trailer in the plane coordinate system are obtained based on the reference position of the trailer in the fourth motion state information at the next time t1 and the preset positional relationship between the four corners of the trailer. Then, a line is connected using these four coordinate positions as the four corners of a second rectangle, and the range within the connected line is the second coordinate range. The positional relationship between the first coordinate range and the second coordinate range and the trigger area is monitored in real time. When the first coordinate range or the second coordinate range overlaps with the trigger area, the tractor performs a braking operation corresponding to the trigger area.

2. The method for detecting collision between a tractor and a trailer according to claim 1, wherein: The tractor collects road point cloud data through a laser radar to obtain the spatial range of the road, projects the road into the plane coordinate system, and establishes trigger areas and corresponding braking operations based on both sides of the road, including: The tractor collects road point cloud data through LiDAR to obtain the spatial extent of the road; The center point of the tractor is hinged to the trailer link of the towed vehicle, and a plane coordinate system is established based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width; The spatial ranges of the two sides of the road are projected into the plane coordinate system, and at least one triggering area is established inwardly based on each of the two sides of the road.

3. The method for detecting collision between a tractor and a trailer according to claim 2, wherein: The collecting of the first motion state information of the tractor and the set of driving control signals at the current time t0 to obtain the second motion state information of the trailer and the angle formed between the trailer and the axle direction includes: The center point of the tractor and the trailing trailer are respectively hinged to the two ends of a rigid trailing link, the tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle; and Based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer.

4. The method for detecting collision between a tractor and a trailer according to claim 2, wherein: The tractor collects road point cloud data through a laser radar to obtain the spatial extent of the road, including: The tractor collects road surface point cloud data through a laser radar, identifies the point cloud data, and obtains the spatial extent of the road; The projecting the spatial range of both sides of the road into the plane coordinate system and establishing at least one triggering area inwardly based on both sides of the road includes: The spatial range on both sides of the road is projected into the plane coordinate system, and a first trigger area is established based on the first preset distance as the width inward on each side of the road, and a second trigger area is established based on the second preset distance as the width inward on each side of the first trigger area.

5. The method for detecting collision between a tractor and a trailer according to claim 1, wherein: The center point of the tractor is located at the center between the center of the front axle of the tractor and the center of the rear axle of the tractor; The reference position of the tractor is the center point of the rear axle of the tractor; The reference position of the trailer is the center point of the rear axle of the trailer.

6. A collision detection system between a tractor and a trailer, characterized in that: The system comprises: A road acquisition module, in which the tractor collects road surface point cloud data using a laser radar to obtain the spatial extent of the road, establishes a plane coordinate system based on the center point of the tractor's rear axle as the coordinate origin, projects the road onto the plane coordinate system, and establishes trigger areas and corresponding braking operations on both sides of the road; The control signal module collects the first motion state information of the tractor at the current time t0, including the plane coordinates of the reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), and the yaw angle [yaw] of the tractor body. t0 ; The collected driving control signal set includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis; let the first motion state information at the current time t0 be x(c,t0)=0,y(c,t0)=0,v(c,t0)=v(t0),[yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );y(t,t0)=-hitch*sin([tyaw] t0 );[tyaw] t0 = myaw; where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle. The angle between the trailer and the axle direction is [tyaw] t0 ; The tractor state module establishes a single vehicle model based on the tractor and trailer; based on the single vehicle model and the current speed v(t0), angle signal The plane coordinates of the reference position of the tractor in the third motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]; v(c, t1) = v(c, t0) + t(t1)*dt; obtain the yaw angle [yaw] of the tractor body in the third motion state information t1 : [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R; then Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor; The trailer status module, according to the acceleration signal a(t1), the angle signal and the third motion state information, obtaining fourth motion state information of the trailer at the next time t1, the fourth motion state information including at least the plane coordinates of the reference position of the trailer and the yaw angle, including: obtaining the plane coordinates of the reference position of the trailer at the next time t1 as [x(t, t1), y(t, t1)]: x(t, t1) = x(c, t1) - (hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));y(t,t1)=y(c,t1)-(htcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 )); obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point: Where r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point; the yaw angle [tyaw] of the trailer at the next moment t1 is obtained. t1 :[tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw; and The brake triggering module obtains a coordinate range of the tractor and the trailer in the plane coordinate system. When the coordinate range overlaps with the triggering area, the tractor performs a braking operation corresponding to the triggering area. The coordinate positions of the four corners of the tractor in the plane coordinate system are obtained based on the reference position of the tractor in the third motion state information at the next time t1 and the preset positional relationship between the four corners of the tractor. The four coordinate positions are then connected as the four corners of a first rectangle, and the range within the connected line is the first coordinate range. The coordinate positions of the four corners of the trailer in the plane coordinate system are obtained based on the reference position of the trailer in the fourth motion state information at the next time t1 and the preset positional relationship between the four corners of the trailer. The four coordinate positions are then connected as the four corners of a second rectangle, and the range within the connected line is the second coordinate range. The positional relationship between the first coordinate range and the second coordinate range and the triggering area is monitored in real time. When the first coordinate range or the second coordinate range overlaps with the triggering area, the tractor performs a braking operation corresponding to the triggering area.

7. A collision detection device for a tractor and a trailer, characterized in that: include: processor; a memory storing executable instructions for the processor; The processor is configured to execute the steps of the method for detecting a collision between a tractor and a trailer according to any one of claims 1 to 5 by executing the executable instructions.

8. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the method for detecting collision between a tractor and a trailer according to any one of claims 1 to 5 are implemented.

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