Trailer posture estimation method, device and equipment, and storage medium

Abstract

The present application provides a method, device, equipment, and storage medium for estimating the posture of a trailer. The method includes: obtaining multiple groups of point cloud data of reflected lasers, wherein the point cloud data at least includes the deflection angle, pitch angle, and depth value of each frame of laser point cloud; based on the depth value of the reference frame laser point cloud in any two groups of reflected laser point cloud data, determining the deflection angle of the trailer's deflection movement between the time when any two groups of reflected lasers are received by the laser radar; the reflection point of the reference frame laser point cloud is located along the rear edge of the side end face of the trailer; based on the deflection angle and pitch angle of the reference frame laser point cloud in any group of reflected laser point cloud data, determining the roll angle of the trailer's roll movement when any group of reflected lasers is received by the laser radar. The method of the present application can estimate the posture of the trailer to improve the automatic driving control effect of the truck.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a trailer posture estimation method, device and equipment, and storage medium, which can be applied to scenes such as ports, highways, logistics, mines, closed parks or urban transportation. Background Art

[0002] A truck is divided into two parts: a tractor and a trailer. It is a heavy-duty means of transportation. In the truck's automatic driving system, basically all sensors are installed on the tractor, and no sensors are installed on the trailer connected to the rear of the tractor.

[0003] As a result, the autonomous driving system will mainly consider the posture of the tractor itself and the lane position of the tractor when performing autonomous driving planning and control, and will not consider the current posture of the trailer. In this case, the control of the tractor will inevitably be limited, and it may not be possible to make the most appropriate control strategy for the truck.

[0004] Therefore, how to estimate the posture of the trailer to improve the autonomous driving control effect of the truck remains an urgent problem to be solved. Summary of the invention

[0005] The present application provides a trailer posture estimation method, device and equipment, and storage medium for estimating the posture of a trailer to improve the automatic driving control effect of a truck.

[0006] On the one hand, the present application provides a method for estimating a trailer posture, the method comprising:

[0007] Obtaining multiple sets of point cloud data of reflected lasers, wherein the point cloud data at least includes a deflection angle, a pitch angle, and a depth value of each frame of laser point cloud;

[0008] Determine the deflection angle of the trailer deflection movement between the time when any two sets of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two sets of reflected lasers; the reflection point of the reference frame laser point cloud is located along the rear end edge of the side end face of the trailer;

[0009] Based on the deflection angle and pitch angle of the reference frame laser point cloud in the point cloud data of any group of reflected lasers, the roll angle of the trailer's rolling motion when any group of reflected lasers is received by the laser radar is determined.

[0010] In one embodiment, the determining of the deflection angle of the trailer deflection motion between the time when any two groups of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers comprises:

[0011] Obtaining a first distance between a saddle rotation point and a first position point of the trailer, a first angle between an extension direction of a line connecting the saddle rotation point and the first position point and the first direction, a second distance between the saddle rotation point and the second position point, and a third distance between the second position point and a third position point;

[0012] The first position point is the vertex of the tail end edge, the second position point is the midpoint of the top line of the rear end surface of the tractor, and the third position point is the end point of the top line along the first direction;

[0013] Determine the deflection angle of the trailer deflection motion according to the first distance, the first angle, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers in the any two groups of reflected lasers;

[0014] The second group of reflected laser emission moments are greater than the first group of reflected laser emission moments.

[0015] In one embodiment, determining the deflection angle of the trailer deflection motion according to the first distance, the first angle, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers in the any two groups of reflected lasers comprises:

[0016] Determine a second angle according to the second distance, the first angle and the third distance;

[0017] Determine a third angle according to the first distance, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers;

[0018] Wherein, the second angle and the third angle are both angles between a first line and a second line, the first line is a line connecting the saddle rotation point and the first position point, the second line is a line connecting the saddle rotation point and the center point of the laser radar emission surface, and the position of the first position point changes dynamically with the deflection of the trailer;

[0019] The deflection angle of the trailer's deflection motion is obtained by subtracting the second angle from the third angle.

[0020] In one embodiment, determining the second angle according to the second distance, the first angle and the third distance comprises:

[0021] Obtaining an arc tangent value of a ratio of the second distance to the third distance to obtain a fourth angle;

[0022] The second angle is obtained by summing the first angle and the fourth angle.

[0023] In one embodiment, determining the third angle according to the first distance, the first angle, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers comprises:

[0024] Determine a first value according to the first distance, the second distance, the third distance, and a depth value of a reference frame laser point cloud in the point cloud data of the second group of reflected lasers;

[0025] determining a second value according to the first distance, the second distance, and the third distance;

[0026] The arc cosine value of the ratio of the first value to the second value is obtained to obtain the third angle.

[0027] In one embodiment, the first value is determined according to the first distance, the second distance, the third distance and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers:

[0028] According to the formula L1 = h 2 +w 2 +R 2 -M 2 determining the first value;

[0029] The second value is determined according to the first distance, the second distance and the third distance:

[0030] According to the formula determining the second value;

[0031] Among them, L1 represents the first value, L2 represents the second value, R represents the first distance, h represents the second distance, w represents the third distance, and M represents the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers.

[0032] In one embodiment, the rolling angle of the trailer rolling motion when any group of reflected lasers is received by the laser radar based on the deflection angle and pitch angle of the reference frame laser point cloud in the point cloud data of any group of reflected lasers includes:

[0033] The roll angle of the trailer's rolling motion when any group of reflected lasers is received by the laser radar is determined based on the deflection angle, pitch angle and depth value of any two feature points in the reference frame laser point cloud.

[0034] On the other hand, the present application provides a trailer posture estimation device, the device comprising:

[0035] An acquisition module is used to obtain multiple sets of point cloud data of reflected lasers, wherein the point cloud data at least includes a deflection angle, a pitch angle and a depth value of each frame of laser point cloud;

[0036] A processing module, for determining the deflection angle of the trailer deflection movement between the time when any two groups of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers; the reflection point of the reference frame laser point cloud is located along the rear end edge of the side end face of the trailer;

[0037] The processing module is also used to determine the roll angle of the trailer's rolling motion between the time when any two groups of reflected lasers are received by the laser radar based on the deflection angle and pitch angle of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers.

[0038] In one embodiment, the processing module is specifically used for:

[0039] Obtaining a first distance between a saddle rotation point and a first position point of the trailer, a first angle between an extension direction of a line connecting the saddle rotation point and the first position point and the first direction, a second distance between the saddle rotation point and the second position point, and a third distance between the second position point and a third position point;

[0040] The first position point is the vertex of the tail end edge, the second position point is the midpoint of the top line of the rear end surface of the tractor, and the third position point is the end point of the top line along the first direction;

[0041] Determine the deflection angle of the trailer deflection motion according to the first distance, the first angle, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers in the any two groups of reflected lasers;

[0042] The second group of reflected laser emission moments are greater than the first group of reflected laser emission moments.

[0043] In one embodiment, the processing module is specifically used for:

[0044] Determine a second angle according to the second distance, the first angle and the third distance;

[0045] Determine a third angle according to the first distance, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers;

[0046] Wherein, the second angle and the third angle are both angles between a first line and a second line, the first line is a line connecting the saddle rotation point and the first position point, the second line is a line connecting the saddle rotation point and the center point of the laser radar emission surface, and the position of the first position point changes dynamically with the deflection of the trailer;

[0047] The deflection angle of the trailer's deflection motion is obtained by subtracting the second angle from the third angle.

[0048] In one embodiment, the processing module is specifically used for:

[0049] Obtaining an arc tangent value of a ratio of the second distance to the third distance to obtain a fourth angle;

[0050] The second angle is obtained by summing the first angle and the fourth angle.

[0051] In one embodiment, the processing module is specifically used for:

[0052] Determine a first value according to the first distance, the second distance, the third distance, and a depth value of a reference frame laser point cloud in the point cloud data of the second group of reflected lasers;

[0053] determining a second value according to the first distance, the second distance, and the third distance;

[0054] The arc cosine value of the ratio of the first value to the second value is obtained to obtain the third angle.

[0055] In one embodiment, the processing module is specifically used for:

[0056] According to the formula L1 = h 2 +w 2 +R 2 -M 2 determining the first value;

[0057] According to the formula determining the second value;

[0058] Among them, L1 represents the first value, L2 represents the second value, R represents the first distance, h represents the second distance, w represents the third distance, and M represents the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers.

[0059] In one embodiment, the processing module is specifically used for:

[0060] The roll angle of the trailer's rolling motion when any group of reflected lasers is received by the laser radar is determined based on the deflection angle, pitch angle and depth value of any two feature points in the reference frame laser point cloud.

[0061] On the other hand, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0062] The memory stores computer-executable instructions;

[0063] The processor executes the computer-executable instructions stored in the memory to implement the trailer pose estimation method provided in the first aspect.

[0064] On the other hand, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the instructions are executed, the computer executes the trailer pose estimation method provided in the first aspect.

[0065] The method provided in the embodiment of the present application is applied to a controller, which determines the deflection angle of the trailer's deflection motion and the roll angle of its rolling motion based on multiple groups of point cloud data of reflected lasers sent by a laser radar. The method provided in this embodiment can assist the controller in estimating the posture of the trailer based on the deflection angle of the trailer's deflection motion and the roll angle of its rolling motion. In particular, during the operation of the automatic driving system, the estimation of the posture of the trailer can improve the automatic driving control effect of the truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0067] Figure 1 A schematic diagram of an application scenario of the trailer posture estimation method provided in this application;

[0068] Figure 2 A schematic flow chart of a trailer posture estimation method provided for one embodiment of the present application;

[0069] Figure 3 A schematic diagram of trailer deflection provided for one embodiment of the present application;

[0070] Figure 4 A simplified schematic diagram of trailer deflection provided for one embodiment of the present application;

[0071] Figure 5 A schematic top view of a truck in a method for estimating a trailer posture provided by one embodiment of the present application;

[0072] Figure 6 A schematic diagram of laser point cloud imaging provided for one embodiment of the present application;

[0073] Figure 7A schematic diagram of a trailer posture estimation device provided in accordance with an embodiment of the present application;

[0074] Figure 8 A schematic diagram of an electronic device provided for one embodiment of the present application.

[0075] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0076] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0077] First, let’s explain the terms involved in this application:

[0078] Deflection angle of laser point cloud: the deflection angle of the laser point cloud coordinates in the horizontal direction compared with the laser radar coordinate center.

[0079] The pitch angle of the laser point cloud: the deflection angle in the vertical direction between the laser point cloud coordinates and the laser radar coordinate center.

[0080] Depth value of laser point cloud: the straight-line distance between the laser point cloud and the center of the laser radar coordinate system.

[0081] A truck is a heavy-duty transportation vehicle consisting of a tractor and a trailer. In the truck's autonomous driving system, basically all sensors are installed on the tractor, and no sensors are installed on the trailer connected to the rear of the tractor. Because the trailer of a truck (such as a heavy truck used in logistics) is not fixed but is frequently replaced, it is impossible to install sensors on the trailer.

[0082] In this way, the autonomous driving system will mainly consider the posture of the tractor itself and the lane position of the tractor when planning and controlling autonomous driving, and will not consider the current posture of the trailer. In this case, the control of the tractor will inevitably have limitations, and it may not be possible to make the most appropriate control strategy for the truck, and it may not be possible to put the vehicle in the most appropriate and fuel-efficient control state.

[0083] How to estimate the posture of the trailer to improve the autonomous driving control effect of the truck is still an urgent problem to be solved.

[0084] Based on this, the present application provides a trailer posture estimation method, device, equipment, and storage medium. The trailer posture estimation method is applied to a controller, and the controller communicates with a laser radar. The laser radar is installed at the rear of the tractor, and is used to emit multiple groups of lasers to the side end face of the trailer, and receive the reflected lasers of each group of lasers to generate point cloud data of each group of reflected lasers. The controller determines the deflection angle of the trailer's yaw motion and the roll angle of the roll motion based on the point cloud data of the multiple groups of reflected lasers sent by the laser radar.

[0085] The trailer posture estimation method provided in the present application is applied to electronic devices, such as processors and controllers on trucks. Figure 1 This is a schematic diagram of the application of the trailer posture estimation method provided by the present application. In the figure, the laser radar 11 is installed at the rear of the tractor 12, and is used to emit multiple groups of lasers to the side end surface of the trailer 13, and receive the reflected lasers of each group of lasers to generate point cloud data of each group of reflected lasers. The electronic device receives the point cloud data of multiple groups of reflected lasers sent by the laser radar 11, and determines the deflection angle of the trailer's yaw motion and the roll angle of the trailer's roll motion according to the point cloud data. Figure 1 Only one installation position of the laser radar is shown as an example, and the installation position of the laser radar can also be adjusted according to actual needs.

[0086] An embodiment of the present application provides a method for estimating a trailer posture, which is applied to a controller 14 that communicates with a laser radar 11 .

[0087] like Figure 1 As shown, the laser radar 11 can be installed at the rear of the tractor 12, for example, fixed to the rear of the tractor 12 by a fastening device. The laser radar 11 is used to emit multiple groups of lasers to the side end surface of the trailer 13, and receive the reflected lasers of each group of lasers to generate point cloud data of each group of reflected lasers. The point cloud data generated by the laser radar 11 based on the received reflected lasers includes the deflection angle, pitch angle and depth value of each frame of laser point cloud.

[0088] See also Figure 2 , the trailer posture estimation method includes:

[0089] S210, acquiring multiple groups of point cloud data of reflected lasers, where the point cloud data at least includes a deflection angle, a pitch angle, and a depth value of each frame of laser point cloud.

[0090] The point cloud data of the multiple groups of reflected lasers can be sent to the controller 14 by the laser radar 11. The laser radar 11 is, for example, a three-dimensional laser radar, which can perform array detection on the side surface of the trailer 13, that is, scan the entire side surface of the trailer 13. Specifically, the laser radar 11 emits a laser to the side surface of the trailer 13, and then compares the received laser (signal echo) reflected from the side surface of the trailer 13 with the emitted laser. After appropriate processing, the deflection angle, pitch angle and depth value of the laser point cloud can be obtained. Among them, the depth value of the laser point cloud represents the distance between the laser radar emission surface and the position point on the side surface of the trailer 13 corresponding to the laser point cloud.

[0091] The laser radar 11 emits a pulsed laser, so it will continuously emit lasers over time. For example, when the truck is moving, the laser radar 11 emits a group of lasers at 1 o'clock and another group of lasers at 1:01. Each group of lasers emitted by the laser radar 11 has multiple frames of lasers. For example, a group of lasers includes N frames of lasers, the first frame is the first frame, and the Nth frame is the last frame. Generally, the first frame of lasers will be emitted at the head position of the side end face of the trailer 13, and the Nth frame of lasers will be emitted at the tail position of the side end face of the trailer 13.

[0092] S220, based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers, determine the deflection angle of the trailer's deflection movement between the time when any two groups of reflected lasers are received by the laser radar; the reflection point of the reference frame laser point cloud is located along the rear end edge of the side end face of the trailer 13.

[0093] The depth value represents the distance between the laser radar emission surface and the position point on the side end surface of the trailer 13 corresponding to the laser point cloud.

[0094] During the operation of the truck's autonomous driving system, the trailer may deviate due to various reasons such as changing lanes, entering a curve, avoiding obstacles, and different road conditions. Figure 3 (a) to Figure 3 As shown in (b), when the trailer deflects in one direction, the straight-line distance between the rear edge of the side end face of the trailer 13 and the laser radar emitting surface (the depth value of the laser point cloud of the reference frame) will change, from Figure 3 (a) H becomes Figure 3 (b)M.

[0095] Assuming that the straight-line distance between the rear edge of the side end face of the trailer 13 and the laser radar emitting surface during the first group of reflected laser receiving time (first receiving time) is H, and the straight-line distance between the rear edge of the side end face of the trailer 13 and the laser radar emitting surface during the second group of reflected laser receiving time (second receiving time) is M, then, based on H and M, the deflection angle of the deflection movement of the trailer 13 between the first receiving time and the second receiving time is determined.

[0096] For calculation convenience, the reference frame may be a frame where the reflection point of the reference frame laser point cloud is located along the rear edge of the side end surface of the trailer 13. The reference frame is, for example, the Nth frame (rear frame) described above.

[0097] The laser radar 11 emits each group of lasers at different emission times, and correspondingly, the receiving time of the reflected lasers is also different. If you want to obtain the deflection angle of the trailer 13 in a fixed time period, you can obtain the time when the two groups of reflected lasers corresponding to the fixed time period are received by the laser radar, and the depth value of the reference frame laser point cloud in the point cloud data of the two groups of reflected lasers.

[0098] The following describes a method for determining the deflection angle of the trailer's deflection motion between the time when any two sets of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two sets of reflected lasers as an exemplary illustration.

[0099] like Figure 4 It is a simplified schematic diagram showing that the straight-line distance between the rear edge of the trailer side end face and the laser radar emission surface changes from OB to OC (where O is the saddle rotation point of the trailer 13), the deflection angle of the trailer deflection motion is θ, and OA represents the laser emission surface of the laser radar 11. θ = ∠AOB-∠AOC, then, the deflection angle of the trailer deflection motion can be determined by calculating ∠AOB and ∠AOC.

[0100] like Figure 5 The top view of the truck is shown. First, the first distance (the length value of OQ is the first distance, which is R) between the saddle rotation point (point O) and the first position point (point Q) of the trailer 13 is obtained, and the first position point (point Q) is the vertex of the tail end edge. The first angle (α) between the extension direction of the line connecting the saddle rotation point (point O) and the first position point (point Q) and the first direction is obtained. The second distance (the length value of OP is the second distance, which is h) between the saddle rotation point (point O) and the second position point (point P) is obtained, wherein the second position point (point P) is the midpoint of the top line of the rear end face of the tractor 12. The third distance (the length value of PL is the third distance, which is w) between the second position point (point P) and the third position point (point L), wherein the third position point (point L) is the endpoint of the top line along the first direction.

[0101] Then, according to the first distance (R), the first angle (α), the second distance (h), the third distance (w), and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers in the arbitrary two groups of reflected lasers (such as Figure 4 OC in the figure, and determine the deflection angle (θ) of the deflection motion of the trailer. The emission time of the second group of reflected lasers in the arbitrary two groups of reflected lasers is greater than the emission time of the first group of reflected lasers.

[0102] Specifically,

[0103] Step 1: Determine the second angle ∠AOB according to the second distance (h), the first angle (α) and the third distance (w).

[0104] Step 2: According to the first distance (R), the second distance (h), the third distance (w) and the depth value of the reference frame laser point cloud in the second set of reflected laser point cloud data (such as Figure 4 OB in), determine the third angle ∠AOC.

[0105] Step 3: Subtract the second angle ∠AOB from the third angle ∠AOC to obtain the deflection angle θ of the trailer's deflection motion.

[0106] Among them, Figure 4 and Figure 5 It can be seen that the second angle ∠AOB and the third angle ∠AOC are both the angles between the first line and the second line, the first line is the line between the saddle rotation point (point O) and the first position point (point P), and the second line is the line between the saddle rotation point (point O) and the center point (point A) of the laser radar emission surface. The position of the first position point (point P) changes dynamically with the deflection of the trailer 13, such as Figure 4 As shown, point P changes from point B to point C.

[0107] Specifically, in the first step above:

[0108] Obtain the arc tangent value of the ratio of the second distance to the third distance to obtain a fourth angle, which is: The first angle (α) and the fourth angle Add them together to get the second angle ∠AOB.

[0109] Specifically, in the second step above:

[0110] 1) Determine a first value according to the second distance (h), the third distance (w), the fourth distance and a depth value of a reference frame laser point cloud in the point cloud data of the second group of reflected lasers.

[0111] For example, according to the formula L1 = h 2 +w2 +R 2 -M 2 Determine the first value. Wherein, L1 represents the first value, R represents the first distance, h represents the second distance, w represents the third distance, and M represents the depth value of the reference frame laser point cloud in the second set of reflected laser point cloud data.

[0112] 2) Determine a second value according to the first distance, the second distance and the third distance.

[0113] For example, according to the formula The second value is determined. Wherein, L2 represents the second value, R represents the first distance, h represents the second distance, and w represents the third distance.

[0114] 3) Obtain the arccosine value of the ratio of the first value to the second value to obtain the third angle.

[0115] Right now

[0116] Then, in the third step above:

[0117] For example, according to the formula The deflection angle θ of the trailer's deflection motion is obtained.

[0118] The first distance R, the second distance h, and the third distance w are input into the controller 14 after manual testing. In the actual operation of the truck, the controller 14 only needs to receive the value of M (i.e., the measured depth value) measured by the laser radar 11 in real time, and can calculate the deflection angle of the trailer's deflection motion according to the method for calculating the deflection angle of the trailer's deflection motion described above.

[0119] The method for calculating the deflection angle of the trailer's deflection motion described above is only an exemplary description, and the formula used therein can be modified or used directly according to actual needs, and this embodiment does not limit it.

[0120] S230, based on the deflection angle, pitch angle and depth value of the reference frame laser point cloud in any group of point cloud data of reflected lasers, determine the roll angle of the trailer's roll motion when any group of reflected lasers is received by the laser radar.

[0121] Laser point cloud imaging Figure 6 As shown, the roll angle of the trailer 13 is as follows Figure 6 ω shown.

[0122] Specifically, when calculating the roll angle of the trailer's rolling motion, the roll angle of the trailer's rolling motion when any group of reflected lasers is received by the laser radar is determined based on the deflection angle, pitch angle and depth values ​​of any two feature points in the reference frame laser point cloud.

[0123] Two feature points are selected from the reference frame laser point cloud of the laser point cloud imaging. Figure 6 As shown in point A and point B, the deflection angle of point A is α1, the pitch angle is β1, and the depth value is H1; the deflection angle of point B is α2, the pitch angle is β2, and the depth value is H2.

[0124] Then, the horizontal distance h1 between point A and the laser radar coordinate center is: h1 = H1 × α1 × β1, and the horizontal distance h2 between point B and the laser radar coordinate center is: h2 = H2 × α2 × β2. The horizontal distance Δh between point A and point B is: Δh = H1 × sin α1 × cos β1 - H2 × sin α2 × cos β2.

[0125] The vertical distance v1 between point A and the laser radar coordinate center is: v1 = H1 × sin β1, and the vertical distance v2 between point B and the laser radar coordinate center is: v2 = H2 × sin β2. The vertical distance Δv between point A and point B is: Δv = H1 × sin β1-H2 × sin β2.

[0126] but,

[0127] In the description of step S210 to step S230, the two groups of reflected lasers and the group of reflected lasers can be selected according to actual needs. During the operation of the automatic driving system, the second group of reflected lasers in the two groups of reflected lasers and the group of reflected lasers can be the reflected lasers received by the laser radar 11 at the most recent moment to assist in real-time planning of automatic driving of the truck.

[0128] In summary, the method provided in this embodiment is applied to the controller 14, and the controller 14 determines the deflection angle of the trailer's deflection motion and the roll angle of the trailer's roll motion according to the point cloud data of multiple groups of reflected lasers sent by the laser radar 11. The method provided in this embodiment can assist the controller 14 in estimating the posture of the trailer 13 based on the deflection angle of the trailer's deflection motion and the roll angle of the trailer's roll motion. In particular, during the operation of the automatic driving system, the estimation of the posture of the trailer 13 can improve the automatic driving control effect of the truck.

[0129] See also Figure 7 One embodiment of the present application further provides a trailer posture estimation device 20, comprising:

[0130] An acquisition module 21 is used to acquire multiple sets of point cloud data of reflected lasers, wherein the point cloud data at least includes a deflection angle, a pitch angle and a depth value of each frame of laser point cloud;

[0131] The processing module 22 is used to determine the deflection angle of the trailer deflection movement between the time when any two groups of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers; the reflection point of the reference frame laser point cloud is located along the rear end edge of the side end face of the trailer;

[0132] The processing module 22 is also used to determine the roll angle of the trailer's rolling motion between the time when any two groups of reflected lasers are received by the laser radar based on the deflection angle and pitch angle of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers.

[0133] The processing module 22 is specifically used to obtain a first distance between a saddle rotation point and a first position point of the trailer, a first angle between an extension direction of a line connecting the saddle rotation point and the first position point and a first direction, a second distance between the saddle rotation point and the second position point, and a third distance between the second position point and a third position point; wherein the first position point is the vertex of the tail end edge, the second position point is the midpoint of the top line of the rear end face of the tractor 12, and the third position point is the endpoint of the top line along the first direction; the deflection angle of the trailer's deflection motion is determined according to the first distance, the first angle, the second distance, the third distance and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers in the arbitrary two groups of reflected lasers; the emission time of the second group of reflected lasers is greater than the emission time of the first group of reflected lasers.

[0134] The processing module 22 is specifically used to determine the second angle according to the second distance, the first angle and the third distance; determine the third angle according to the first distance, the second distance, the third distance and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers; wherein the second angle and the third angle are both the angles between the first line and the second line, the first line is the line between the saddle rotation point and the first position point, the second line is the line between the saddle rotation point and the center point of the laser radar emitting surface, and the position of the first position point changes dynamically with the deflection of the trailer; the second angle is subtracted from the third angle to obtain the deflection angle of the trailer's deflection motion.

[0135] The processing module 22 is specifically configured to obtain an arc tangent value of the ratio of the second distance to the third distance to obtain a fourth angle; and to add the first angle to the fourth angle to obtain the second angle.

[0136] The processing module 22 is specifically used to determine a first value based on the first distance, the second distance, the third distance and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers; determine a second value based on the first distance, the second distance and the third distance; obtain the arccosine value of the ratio of the first value to the second value to obtain the third angle.

[0137] The processing module 22 is specifically used for:

[0138] According to the formula L1 = h 2 +w 2 +R 2 -M 2 determining the first value;

[0139] According to the formula determining the second value;

[0140] Among them, L1 represents the first value, L2 represents the second value, R represents the first distance, h represents the second distance, w represents the third distance, and M represents the depth value of the reference frame laser point cloud in the second group of reflected laser point cloud data.

[0141] The processing module 22 is specifically used for:

[0142] The roll angle of the trailer's rolling motion when any group of reflected lasers is received by the laser radar is determined based on the deflection angle, pitch angle and depth values ​​of any two feature points in the reference frame laser point cloud.

[0143] See also Figure 8 The present application also provides an electronic device 30, which includes a processor 31 and a memory 32 in communication with the processor 31. The memory 32 stores computer-executable instructions, and the processor 31 executes the computer-executable instructions stored in the memory to implement the trailer posture estimation method provided in any of the above embodiments.

[0144] The present application also provides a computer-readable storage medium, which stores computer execution instructions. When the instructions are executed, the computer execution instructions are executed by a processor to implement the trailer posture estimation method provided in any of the above embodiments.

[0145] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the trailer posture estimation method provided in any of the above embodiments.

[0146] It should be noted that the computer-readable storage medium may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM), etc. It may also be various electronic devices including one or any combination of the above memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0147] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0148] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0149] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for estimating a trailer posture, characterized in that: The method comprises: Acquire multiple sets of point cloud data of reflected lasers, wherein the point cloud data at least includes a deflection angle, a pitch angle, and a depth value of each frame of laser point cloud; Based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers, determine the deflection angle of the trailer deflection movement between the time when any two groups of reflected lasers are received by the laser radar; the reflection point of the reference frame laser point cloud is located along the edge of the rear end of the trailer side end face, and the deflection angle is the difference between the second angle and the third angle corresponding to the two groups of reflected lasers, respectively, and the second angle and the third angle are both the angles between the line connecting the saddle rotation point and the first position point and the line connecting the saddle rotation point and the center point of the laser radar emission surface, and the position of the first position point changes dynamically with the deflection of the trailer; Determine the roll angle of the trailer roll motion when any set of reflected lasers is received by the laser radar based on the deflection angle and pitch angle of the reference frame laser point cloud in any set of point cloud data of reflected lasers; The method further comprises: According to the formula L1 = h 2 +w 2 +R 2 -M 2 determining a first value; According to the formula determining a second value; Wherein, L1 represents the first value, L2 represents the second value, R represents the first distance, h represents the second distance, w represents the third distance, M represents the depth value of the reference frame laser point cloud in the second set of reflected laser point cloud data, the first distance is the distance between the saddle rotation point and the first position point, the second distance is the distance between the saddle rotation point and the second position point, the third distance is the distance between the second position point and the third position point, the first position point is the vertex of the tail end edge, the second position point is the midpoint of the top line of the rear end face of the tractor, and the third position point is the endpoint of the top line; The arc cosine value of the ratio of the first value to the second value is obtained to obtain the third angle.

2. The method according to claim 1, characterized in that The step of determining the deflection angle of the trailer deflection motion between the time when any two groups of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers comprises: Obtaining the first distance of the trailer, the first angle between the extension direction of the line connecting the saddle rotation point and the first position point and the first direction, the second distance, and the third distance, wherein the first direction is the direction extending from the midpoint of the top line to the end point of the top line; Determine the deflection angle of the trailer deflection motion according to the first distance, the first angle, the second distance, the third distance, and the depth value of the reference frame laser point cloud in the point cloud data of the second group of reflected lasers in the any two groups of reflected lasers; The second group of reflected laser emission moments are greater than the first group of reflected laser emission moments.

3. The method according to claim 2, characterized in that The method further comprises: A second angle is determined according to the second distance, the first angle and the third distance.

4. The method according to claim 3, characterized in that The determining the second angle according to the second distance, the first angle and the third distance comprises: Obtaining an arc tangent value of a ratio of the second distance to the third distance to obtain a fourth angle; The second angle is obtained by summing the first angle and the fourth angle.

5. The method according to claim 1, characterized in that: The method of determining the roll angle of the trailer roll motion when any group of reflected lasers is received by the laser radar based on the deflection angle and pitch angle of the reference frame laser point cloud in the point cloud data of any group of reflected lasers includes: The roll angle of the trailer's rolling motion when any group of reflected lasers is received by the laser radar is determined based on the deflection angle, pitch angle and depth value of any two feature points in the reference frame laser point cloud.

6. A trailer posture estimation device, characterized in that: include: An acquisition module is used to obtain multiple sets of point cloud data of reflected lasers, wherein the point cloud data at least includes a deflection angle, a pitch angle and a depth value of each frame of laser point cloud; A processing module, for determining the deflection angle of the trailer deflection movement between the time when any two groups of reflected lasers are received by the laser radar based on the depth value of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers; the reflection point of the reference frame laser point cloud is located along the edge of the rear end of the trailer side end surface, and the deflection angle is the difference between the second angle and the third angle respectively corresponding to the two groups of reflected lasers, the second angle and the third angle are both the angles between the line connecting the saddle rotation point and the first position point and the line connecting the saddle rotation point and the center point of the laser radar emission surface, and the position of the first position point changes dynamically with the deflection of the trailer; The processing module is also used to determine the roll angle of the trailer rolling motion between the time when any two groups of reflected lasers are received by the laser radar based on the deflection angle and pitch angle of the reference frame laser point cloud in the point cloud data of any two groups of reflected lasers; The processing module is specifically used for: According to the formula L1 = h 2 +w 2 +R 2 -M 2 determining a first value; According to the formula determining a second value; Wherein, L1 represents the first value, L2 represents the second value, R represents the first distance, h represents the second distance, w represents the third distance, M represents the depth value of the reference frame laser point cloud in the second set of reflected laser point cloud data, the first distance is the distance between the saddle rotation point and the first position point, the second distance is the distance between the saddle rotation point and the second position point, the third distance is the distance between the second position point and the third position point, the first position point is the vertex of the tail end edge, the second position point is the midpoint of the top line of the rear end face of the tractor, and the third position point is the endpoint of the top line; The arc cosine value of the ratio of the first value to the second value is obtained to obtain the third angle.

7. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the trailer pose estimation method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the instructions are executed, the computer executes the trailer posture estimation method according to any one of claims 1 to 5.

9. A computer program product, characterized in that The computer program product stores a computer program, and when the program is executed, the computer executes the trailer pose estimation method according to any one of claims 1 to 5.

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