A device and method for calibrating a trailer corner sensor

Abstract

The application provides a kind of trailer included angle sensor calibrating device and method, to reduce the difficulty of trailer included angle sensor calibration, and improve the accuracy of trailer included angle sensor calibration.The device includes: control device, drive device, transmission device, traction pin replacement device and the trailer included angle sensor;The drive device is connected with the transmission device, and the transmission device is connected with the traction pin replacement device;When the drive device rotates, the drive device drives the transmission device to rotate, and when the transmission device rotates, the transmission device drives the traction pin device to rotate;The control device is used to control the drive device to rotate the first angle;The trailer included angle sensor is used to detect the value of the drive device rotating the first angle driving the traction pin replacement device to rotate the second angle;Wherein, the first angle and the second angle are used to verify the accuracy of the trailer included angle sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a trailer included angle sensor calibrating device and method. BACKGROUND

[0002] The automatic driving technology for trucks is different from that for cars, and the measurement of the trailer included angle is an important parameter in the driving decision algorithm of the automatic driving truck. Generally, a truck is divided into a tractor head and a trailer, and the two are connected through a towing pin. When turning or reversing, the two parts of the vehicle body will move relatively, resulting in inconsistent movement directions and a certain included angle. In order to ensure that the automatic driving truck with a trailer can stably reverse and follow, and to meet the functional requirements of other modules in the future, the angle of the trailer relative to the tractor head needs to be obtained in real time through the trailer included angle sensor, and the accuracy thereof needs to be ensured. Therefore, whether the trailer included angle sensor is accurate or not is an important problem that needs to be overcome in the automatic driving technology of the truck.

[0003] In the prior art, the detection and calibration of the trailer included angle sensor can basically only rely on real vehicles, but since there is no true value of the rotation angle for comparison, the calibration of the trailer included angle sensor is very limited, and there are disadvantages such as complex operation, low consistency of results, high requirement for the site, limited testable range, etc. SUMMARY

[0004] The present application provides a trailer included angle sensor calibrating device and method, which reduces the difficulty of calibrating the trailer included angle sensor and improves the accuracy of calibrating the trailer included angle sensor.

[0005] In a first aspect, the present application provides a trailer included angle sensor calibrating device, which specifically comprises: a control device, a driving device, a transmission device, a towing pin replacement device, and the trailer included angle sensor; the driving device is connected with the transmission device, and the transmission device is connected with the towing pin replacement device; when the driving device rotates, the driving device drives the transmission device to rotate, and when the transmission device rotates, the transmission device drives the towing pin device to rotate; the control device is used to control the driving device to rotate a first angle; the trailer included angle sensor is used to detect the value of a second angle driven by the towing pin replacement device when the driving device rotates the first angle; wherein the first angle and the second angle are used to verify the accuracy of the trailer included angle sensor.

[0006] In the scheme, through the simulation of the actual use of the trailer included angle sensor, the dependence of the trailer included angle sensor calibration on the real vehicle environment is eliminated, the process of the trailer included angle sensor calibration is simplified, the difficulty of the trailer included angle sensor calibration is reduced, and the efficiency of the trailer included angle sensor calibration is improved. At the same time, through the joint action of the control device and the driving device of the scheme, the rotation true value of the hitch pin substitute device is provided for the trailer included angle sensor calibration, and the accuracy of the trailer included angle sensor calibration is effectively improved.

[0007] In a possible design, the device further includes a processing device, and the processing device is configured to determine the accuracy of the trailer included angle sensor according to the first angle and the second angle.

[0008] In the design, by comparing the true value of the angle rotated by the driving device with the measured value detected by the trailer included angle sensor, the processing device can efficiently determine the accuracy of the trailer included angle sensor, thereby further calibrating the trailer included angle sensor. In this way, the calibration of the trailer included angle sensor by the processing device is simple to implement, can effectively reduce the labor cost, and improves the user experience.

[0009] In a possible design, the transmission device includes a driving shaft, the driving device is connected with the transmission device through the driving shaft, and the driving device drives the transmission device to rotate through the driving shaft; and a driven shaft, the transmission device is connected with the hitch pin substitute device through the driven shaft, and the transmission device drives the hitch pin substitute device to rotate through the driven shaft.

[0010] In the design, the driving shaft drives the driven shaft to rotate through the transmission device, which can effectively solve the influence of structural interference and direct driving vibration.

[0011] In a possible design, the device further includes a first type of mounting base, the first type of mounting base includes a first sub-mounting base and a second sub-mounting base, the relative positions of the first sub-mounting base and the second sub-mounting base can be changed, the hitch pin substitute device is arranged on the first sub-mounting base, and the trailer included angle sensor is arranged on the second sub-mounting base; when the relative positions of the first sub-mounting base and the second sub-mounting base change, the first sub-mounting base and the second sub-mounting base drive the relative positions of the hitch pin substitute device and the trailer included angle sensor to change.

[0012] In the design, the spatial relative position of the draw pin replacement device and the trailer included angle sensor can be freely adjusted through the setting of the first type of mounting base, so that the calibration capability of the trailer included angle sensor is more comprehensive, and the simulation of the real vehicle environment can be realized without other truck devices (such as a saddle), thereby simplifying the calibration process of the trailer included angle sensor.

[0013] In a possible design, the device further includes a second type of mounting base; the first type of mounting base is arranged on the second type of mounting base along a first direction, and the second type of mounting base is fixed along a second direction; wherein the first direction and the second direction are in the same horizontal plane and perpendicular to each other; the first type of mounting base can slide on the second type of mounting base along the second direction, and when the first type of mounting base slides on the second type of mounting base, the relative position of the trailer included angle sensor and the draw pin replacement device changes.

[0014] In the design, the sliding direction of the first type of mounting base is fixed through the second type of mounting base, and the first type of mounting base and the second type of mounting base are fixed as a rectangular structure, thereby improving the stability of the device installation on the base. At the same time, the miniaturization design of the above-mentioned rectangular structure makes the replacement work of each component more convenient, which can effectively adapt to the use of laboratory and production environment.

[0015] In a possible design, the control device includes: a driver for transmitting the value of the first angle to the driving device to make the driving device rotate; an encoder for detecting the real-time rotation angle of the driving device and transmitting the real-time rotation angle to the driver; the driver is further used to determine whether the rotation angle of the driving device reaches the first angle according to the real-time rotation angle; if the first angle is not reached, a third angle is transmitted to the driving device to make the total rotation angle of the driving device reach the first angle; wherein the third angle is determined by the difference between the first angle and the real-time rotation angle.

[0016] In the design, the closed-loop control of the driving device is realized through the control of the driver and the real-time feedback of the encoder, which effectively improves the control precision of the driving device, and further improves the calibration precision of the trailer included angle sensor.

[0017] In a possible design, the ratio of the rotation angle of the driving device to the rotation angle of the draw pin replacement device is 3:1.

[0018] In the design, the ratio of the rotation angle of the driving device to the rotation angle of the draw pin replacement device is set to 3:1, which avoids the problem of inaccurate true value acquisition caused by the difficulty in accurately controlling the rotation angle of the draw pin replacement device due to the low ratio, and also avoids the problem of slow realization process of the driving device driving the transmission device to rotate caused by the high ratio, thereby reducing the efficiency of the trailer included angle sensor calibration.

[0019] In a second aspect, the application provides a trailer included angle sensor calibration method, applied to the device of any one of the first aspect, the method comprising: controlling the driving device to rotate a first angle; the driving device drives the transmission device to rotate; the transmission device drives the draw pin replacement device to rotate; the trailer included angle sensor detects the value of the draw pin replacement device rotating a second angle when the driving device rotates the first angle; wherein the first angle and the second angle are used to verify the accuracy of the trailer included angle sensor.

[0020] Optionally, the method further comprises: determining the accuracy of the trailer included angle sensor according to the first angle and the second angle by the processing device.

[0021] Optionally, the control device controls the driving device to rotate a first angle, comprising: transmitting the value of the first angle to the driving device by the driver to make the driving device rotate; detecting the real-time rotation angle of the driving device by the encoder and transmitting the real-time rotation angle to the driver; determining whether the rotation angle of the driving device reaches the first angle according to the real-time rotation angle by the driver; if not, transmitting a third angle to the driving device to make the total rotation angle of the driving device reach the first angle; wherein the third angle is determined by the difference between the first angle and the real-time rotation angle.

[0022] In a third aspect, the application provides a trailer included angle sensor calibration method, applied to the control device, the method comprising: obtaining the value of the first angle; transmitting the value of the first angle to the driving device to make the driving device rotate a first angle.

[0023] In a fourth aspect, the application provides a trailer included angle sensor calibration method, applied to the processing device, the method comprising: obtaining a first angle and a second angle, wherein the first angle is the rotation angle of the driving device, and the second angle is the rotation angle of the draw pin replacement device detected by the trailer included angle sensor; determining the accuracy of the trailer included angle sensor according to the first angle and the second angle.

[0024] In a fifth aspect, the present application provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, causes the device to execute the method in the embodiments of the third aspect or the fourth aspect or the fifth aspect.

[0025] In a sixth aspect, the present application provides a computer readable storage medium for storing instructions, when the instructions are executed, causing the method in the embodiments of the third aspect or the fourth aspect or the fifth aspect to be implemented.

[0026] In a seventh aspect, the present application provides a computer program product, comprising: computer program code, when the computer program code is run on a computer, causing the method in the embodiments of the third aspect or the fourth aspect or the fifth aspect to be implemented.

[0027] In an eighth aspect, an embodiment of the present application provides a chip, comprising a processor for executing computer program instructions to implement the steps of any of the above methods.

[0028] Optionally, it further comprises a memory, and the memory stores computer program instructions executable on the processor.

[0029] Optionally, it further comprises a transceiver for receiving the trailer image collected by the image collection device. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A structural block diagram of a trailer included angle sensor calibration device provided by the present application;

[0031] Figure 2 A possible structural block diagram of a transmission device provided by an embodiment of the present application;

[0032] Figure 3a A structural schematic diagram of a calibration device 100 provided by an embodiment of the present application;

[0033] Figure 3b A moving direction schematic diagram of a trailer included angle sensor provided by an embodiment of the present application;

[0034] Figure 4 A structural schematic diagram of another calibration device 100 provided by an embodiment of the present application;

[0035] Figure 5 A structural schematic diagram of another calibration device 100 provided by an embodiment of the present application;

[0036] Figure 6 A structural block diagram of an example device 600 provided for an embodiment of the present application is provided;

[0037] Figure 7 A structural block diagram of an example device 600 provided for an embodiment of the present application is provided;

[0038] Figure 8 A flowchart of a method for calibrating a trailer included angle sensor provided for an embodiment of the present application is provided;

[0039] Figure 9 A structural block diagram of an example device 600 provided for an embodiment of the present application is provided; DETAILED DESCRIPTION

[0040] The technical solutions of the present application will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific features in the embodiments and the embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments and the embodiments of the present application can be combined with each other.

[0041] It should be understood that in the description of the embodiments of the present application, the words "first", "second", etc. are used only for the purpose of distinguishing the description and cannot be understood as indicating or implying relative importance. Also, it cannot be understood as indicating or implying order. In the description of the embodiments of the present application, "multiple" means two or more.

[0042] In the embodiments of the present application, the term "and / or" is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents a "or" relationship between the front and rear associated objects.

[0043] Generally, a truck is divided into a tractor head and a trailer, and the tractor head can realize the traction of the trailer through traction pins and other parts. When the truck turns or backs up during driving, the tractor head and the trailer will move relatively, resulting in inconsistent movement directions and a certain included angle. For the automatic driving technology of the truck, the degree of the included angle between the tractor head and the trailer is an important parameter in the driving algorithm decision. Therefore, the truck usually installs a trailer included angle sensor to detect the degree of the included angle between the tractor head and the trailer.

[0044] The trailer included angle sensor needs to be detected for its accuracy before being installed to the truck, or is calibrated for its angle measurement. However, the calibration of the trailer included angle sensor at present can basically only rely on the real vehicle, in other words, must be installed on the trailer included angle sensor on the truck, can be calibrated according to the actual situation. However, in this case, since there is no certain true value for detecting the accuracy of the trailer included angle sensor, the verification of the trailer included angle sensor is very limited.

[0045] In view of this, the application provides a kind of trailer included angle sensor's verification device, to improve the verification ability of trailer included angle sensor.

[0046] Reference Figure 1 The structure block diagram of the trailer included angle sensor's verification device provided by the application is shown in Figure 1, in the verification device 100 as shown, including control device 110, drive device 120, transmission device 130, traction pin replacement device 140 and trailer included angle sensor 150. Figure 1

[0047] Specifically, the control device 110 is connected with the drive device 120, wherein the control device 110 is used to control the drive device 120 to rotate, and the specific rotation angle of the drive device 120 can be controlled by the command transmitted by the control device 110.

[0048] The drive device 120 is connected with the transmission device 130, and the transmission device 130 is connected with the traction pin replacement device 140. Wherein the rotation of the drive device 120 can drive the transmission device 130 to rotate, and the rotation of the transmission device 130 can drive the rotation of the traction pin replacement device 140.

[0049] Exemplarily, the drive device 120 can realize the effect of driving the transmission device to rotate through the stepping motor.

[0050] Finally, the trailer included angle sensor 150 is used to detect the rotation angle of the traction pin replacement device 140, and the specific test method is determined by the specific model of the trailer included angle sensor 150. For example, its test method can be that the trailer included angle sensor 150 is placed tangent to the traction pin replacement device 140, and the sliding friction force brought to the trailer included angle sensor 150 by the traction pin replacement device 140 when rotating is used to detect the rotation angle of the traction pin replacement device 140. For the convenience of description, the trailer included angle sensor described in the following embodiments of the application is taken as an example to introduce the model of the trailer included angle sensor in this paragraph.

[0051] ​The control device 110 is specifically configured to control the driving device 120 to rotate by a first angle, and after the driving device 120 drives the drawbar replacement device 140 to rotate through the transmission device 130, the drawbar angle sensor 150 is configured to detect a second angle value of the rotation of the drawbar replacement device 140. In this process, the first angle and the second angle are used to verify the accuracy of the drawbar angle.

[0052] In this scheme, through the simulation of the actual use of the drawbar angle sensor, the dependence of the verification work of the drawbar angle sensor on the real vehicle environment is eliminated, the process of the verification of the drawbar angle sensor is simplified, the difficulty of the verification work of the drawbar angle sensor is reduced, and the efficiency of the verification of the drawbar angle sensor is improved. At the same time, through the joint action of the control device and the driving device in this scheme, the rotation true value of the drawbar replacement device is provided for reference for the verification work of the drawbar angle sensor, and the accuracy of the verification of the drawbar angle sensor is effectively improved.

[0053] In a possible design, the verification device 100 can further include a processing device 160, as shown in Figure 1 , the processing device 160 is optional. Figure 1 In the verification device 100 shown in

[0054] The processing device 160 is in communication connection with the drawbar angle sensor 150, and the processing device 160 is configured to determine the accuracy of the drawbar angle sensor according to the first angle and the second angle.

[0055] For example, the processing device 160 can obtain the specific value of the first angle sent by the control device 110 to the driving device 120, and can also obtain the value of the second angle detected by the drawbar angle sensor 150 through the drawbar angle sensor 150.

[0056] In this way, by comparing the true value of the angle rotated by the driving device with the measured value detected by the drawbar angle sensor, the processing device can efficiently determine the accuracy of the drawbar angle sensor, thereby further calibrating the drawbar angle sensor. In this way, the verification work of the drawbar angle sensor through the processing device is simple to implement and can effectively reduce the labor cost and improve the user experience.

[0057] Optionally, when the driving device 120 drives the drawbar replacement device 140 to rotate through the transmission device 130, the ratio of the rotation angle of the driving device 120 to the rotation angle of the drawbar replacement device 140 is 3:1.

[0058] In the present mode, the ratio of the rotation angle of the driving device to the rotation angle of the draw pin replacement device is set to 3:1, which avoids the problem that the rotation angle of the draw pin replacement device is difficult to accurately control due to the low ratio, resulting in inaccurate true value acquisition. At the same time, it also avoids the problem that the driving device drives the transmission device to rotate, which is too slow in the implementation process, thereby reducing the efficiency of the trailer angle sensor calibration. At the same time, by using the above high-precision transmission device, the influence of structural interference and direct driving vibration can be effectively solved.

[0059] In a possible design, referring to Figure 2 The transmission device 130 includes a driving shaft 131 and a driven shaft 132.

[0060] As shown in Figure 2 The driving device 120 is connected to the transmission device 130 through the driving shaft 131, so that the driving device 120 can drive the transmission device 130 to rotate through the driving shaft 131. Correspondingly, the transmission device 130 is connected to the draw pin replacement device 140 through the driven shaft 132, so that the transmission device 130 can drive the draw pin replacement device 140 to rotate through the driven shaft 132.

[0061] It should be noted that the specific implementation form of the driving shaft 131 driving the driven shaft 132 to rotate is not limited in the present application. For example, the driving shaft can drive the driven shaft to rotate through a belt, or through a gear, a chain, etc. The present application is not limited.

[0062] In a possible design, the calibration device 100 further includes a mounting base for fixing the driving device, the transmission device, the draw pin replacement device, the trailer angle sensor, etc.

[0063] As shown in Figure 3a The calibration device 100 further includes a first type of mounting base 310, which includes a first sub-mounting base 311 and a second sub-mounting base 312. The first sub-mounting base 311 and the second sub-mounting base 312 can move towards each other in the same direction, and the first sub-mounting base 311 and the second sub-mounting base 312 can rotate around their own rotation axes.

[0064] Further, as shown in Figure 3aAs shown, the draw pin replacement device 140 can be arranged on the first sub-mounting base 311, and the trailer included angle sensor 150 can be arranged on the second sub-mounting base 312, so that the relative positions of the draw pin replacement device 140 and the trailer included angle sensor 150 arranged on the mounting base can be changed along with the relative positions of the first sub-mounting base 311 and the second sub-mounting base 312. It should be noted that no matter how the relative positions of the draw pin replacement device 140 and the trailer included angle sensor 150 change, the draw pin replacement device 140 and the trailer included angle sensor 150 are always in tangential contact, so that the trailer included angle sensor 150 can detect the rotation angle of the draw pin replacement device 140.

[0065] Optionally, the trailer included angle sensor 150 arranged on the second sub-mounting base 312 can also slide on the second sub-mounting base 312. Thus, referring to Figure 3b , the trailer included angle sensor 150 can realize multi-directional precision detection relative to the draw pin replacement device through the movement of the trailer included angle sensor 150 and the second sub-mounting base, and the detection capability of the trailer included angle sensor is improved.

[0066] Optionally, referring to Figure 4 , the driving device 120 can also be arranged on the first sub-mounting base 311, so that the relative positions of the driving device 120 and the draw pin replacement device 140 can be fixed, so that the driving device 120 can stably drive the draw pin replacement device 140 to rotate.

[0067] In the design, through the arrangement of the first type of mounting base, the spatial relative positions of the draw pin replacement device and the trailer included angle sensor can be freely adjusted, so that the calibration capability of the trailer included angle sensor is more comprehensive, and the simulation of the real vehicle environment can be realized without other truck devices (such as a saddle), and the calibration process of the trailer included angle sensor is simplified.

[0068] In a possible design, the above-mentioned calibration device 100 further comprises a second type of mounting base. Unlike the first type of mounting base 310, referring to Figure 5 , the second type of mounting base 510 (including a third sub-mounting base 511 and a fourth sub-mounting base 512) is used to fix the first type of mounting base 310 rather than the above-mentioned other devices.

[0069] Specifically, as shown in Figure 5As shown, the first type of mounting base 310 is arranged on the second type of mounting base 510 along a first direction, and the second type of mounting base 510 is fixed along a second direction, wherein the first direction and the second direction are in the same horizontal plane and perpendicular to each other. Moreover, the first type of mounting base 310 can slide on the second type of mounting base 510 along the second direction, so that when the first type of mounting base 310 slides on the second type of mounting base, the relative position of the draw pin replacement device and the trailer included angle sensor fixed on the first type of mounting base 310 changes. It should be understood that Figure 5 The first direction and the second direction shown are only examples of the embodiments of the present application, and in actual production, the first direction and the second direction are not necessarily perpendicular to each other. Figure 5 The horizontal and vertical directions shown can be set according to specific use requirements, which are not limited by the present application.

[0070] It should be noted that the second type of mounting base can be divided into a third sub-mounting base 511 and a fourth sub-mounting base 512, like the first type of mounting base, so that the first sub-mounting base 311 and the second sub-mounting base 312 are arranged at the first end and the second end of the third sub-mounting base 511 and the fourth sub-mounting base 512, respectively, forming a rectangular frame as shown. Figure 5 However, the second type of mounting base can also only include a third sub-mounting base, so that only one end of the first sub-mounting base and the second sub-mounting base is arranged on the third sub-mounting base to achieve the limitation of the sliding direction of the first sub-mounting base and the second sub-mounting base.

[0071] In the present design, the second type of mounting base is used to fix the sliding direction of the first type of mounting base, and the first type of mounting base and the second type of mounting base are fixed as a rectangular structure, which improves the stability of the device installation on the base. At the same time, the miniaturization design of the above-mentioned rectangular structure makes the replacement work of each component more convenient, which can effectively adapt to the use of laboratory and production environment.

[0072] In a possible design, the control device 110 includes a driver 111 and an encoder 112.

[0073] Specifically, the driver 111 is in communication connection with the driving device 120, for transmitting the value of the first angle to the driving device 120, so as to make the driving device 120 rotate; the encoder 112 is used for detecting the real-time rotation angle of the driving device 120, and transmitting the real-time rotation angle to the driver 111. Correspondingly, the driver 111 will determine whether the rotation angle of the driving device 120 reaches the value of the first angle according to the received real-time rotation angle of the driving device 120. If the rotation angle of the driving device 120 reaches the value of the first angle, the driver 111 determines that it reaches, and does not do other processing; if the rotation angle of the driving device 120 fails to reach the value of the first angle, then the driver 111 will determine the third angle according to the received real-time rotation angle and the first angle, and transmit the third angle to the driving device 120, so as to make the driving device 120 reach the first angle after two times of rotation.

[0074] It should be noted that the above is an example of adjusting the driving device 120 to the first angle by the driver 111 once, but in actual, there may be a requirement that the driving device 120 can complete the rotation of the first angle after the driver 111 adjusts the rotation angle of the driving device 120 for multiple times, which is not limited by the present application.

[0075] In the design, the closed-loop control of the driving device is realized through the control of the driver and the real-time feedback of the encoder, which effectively improves the accuracy of the control of the driving device, and further improves the accuracy of the calibration of the trailer included angle sensor.

[0076] It can be understood that the above-mentioned embodiments can be combined with each other to achieve different technical effects.

[0077] In the following, several possible combinations will be introduced through a specific example.

[0078] Referring to Figure 6 , the structural block diagram of the example device 600 provided by the embodiment of the present application, and referring to Figure 7 , the structural schematic diagram of the example device 600 provided by the embodiment of the present application.

[0079] In Figure 6 , the structural block diagram is shown, which includes a driver 601, an encoder 602, a driving device 603, a driving shaft 604, a transmission device 605, a driven shaft 606, a towing pin replacement device 607, a trailer included angle sensor 608 and a processing device 609.

[0080] In this process, the driver 601 transmits the value of the first angle to the drive device 602 to make the drive device rotate, while the encoder 602 is used to detect the rotation angle of the drive device 603 and feeds back the rotation angle of the drive device 603 to the driver 601. The driver 601 then judges the rotation angle of the drive device 603 and confirms that it has reached the first angle; if it has not reached the first angle, it transmits the value of the third angle to the drive device 603 so that the total rotation angle of the drive device 603 reaches the first angle.

[0081] The drive unit 603 drives the transmission unit 605 to rotate via the drive shaft 604. The transmission unit 605 drives the towing pin replacement device 607 to rotate via the driven shaft 606. The trailer angle sensor 608 detects the rotation angle of the towing pin replacement device 607 and obtains the measured value of the second angle of the rotation angle of the towing pin replacement device 607.

[0082] The processing device 609 detects the accuracy of the trailer angle sensor 608 based on the measured values ​​of the rotation angle of the drive device 603 (i.e., the first angle) and the rotation angle of the towing pin replacement device 607 (i.e., the second angle).

[0083] exist Figure 7 The structural diagram shown illustrates a top view (a) and a bottom view (b) of the aforementioned example device 600. Figure 7 The device includes a first type of mounting base (first sub-mounting base 711 and second sub-mounting base 712), a second type of mounting base (third sub-mounting base 721 and fourth sub-mounting base 722), a drive unit 730, a transmission unit 740, a towing pin replacement device 750, and a trailer angle sensor 760.

[0084] The drive unit 730 and the towing pin replacement device 750 are mounted on the first sub-mounting base 711, and the trailer angle sensor 760 is mounted on the second sub-mounting base 712. The first sub-mounting base 711 and the second sub-mounting base 712 are respectively located at the beginning and end of the third sub-mounting base 721 and the fourth sub-mounting base 722, forming a rectangular shape. Furthermore, the first sub-mounting base 711 and the second sub-mounting base 712 can slide on the second type of mounting base, thereby causing changes in the relative position of the towing pin replacement device 750 and the trailer angle sensor 760. However, it should be noted that regardless of the change in the relative position of the towing pin replacement device 750 and the trailer angle sensor 760, the towing pin replacement device 750 and the trailer angle sensor 760 are always in tangential contact.

[0085] And, as Figure 7As shown in the top view b, the driving shaft 741 of the transmission device 740 and the driven shaft 742 are arranged on the driving device 730 and the draw pin replacement device 750 respectively, and the driving shaft 741 and the driven shaft 742 are connected through a belt, so that the driving device 730 drives the draw pin replacement device 750 to rotate.

[0086] Based on the same inventive concept, the embodiment of the present application also provides a trailer included angle sensor calibration method, which is applied to the above-mentioned Figure 1 any device, see Figure 8 A flow chart of a trailer included angle sensor calibration method provided by the embodiment of the present application is shown, and the specific steps of the method are as follows:

[0087] Step S801: the control device 110 controls the driving device 120 to rotate by a first angle;

[0088] Step S802: the driving device 120 rotates and drives the transmission device 130 to rotate;

[0089] Step S803: the transmission device 130 drives the draw pin replacement device 140 to rotate;

[0090] Step S804: the trailer included angle sensor 150 detects the value of the second angle of the draw pin replacement device 140 driven by the driving device 120 rotating by the first angle;

[0091] The first angle and the second angle are used to verify the accuracy of the trailer included angle sensor 150.

[0092] Optionally, the method can further include step S805: the processing device 160 determines the accuracy of the trailer included angle sensor 150 according to the first angle and the second angle.

[0093] Optionally, the process of the control device 110 controlling the driving device 120 to rotate by the first angle in step S801 can include: the control device 110 transmits the value of the first angle to the driving device 120 through the driver, so that the driving device 120 rotates; then the control device 110 detects the real-time rotation angle of the driving device 120 through the encoder and transmits the real-time rotation angle to the driver; then the driver determines whether the rotation angle of the driving device 120 reaches the first angle according to the real-time rotation angle, and if not, transmits a third angle to the driving device 120, so that the total rotation angle of the driving device 120 reaches the first angle; wherein the third angle is determined by the difference between the first angle and the real-time rotation angle.

[0094] Based on the same inventive concept, the embodiment of the present application also provides a trailer included angle sensor calibration method, which is applied to the above-mentioned Figure 1 control device 110. The specific steps of the method are as follows:

[0095] The control device 110 acquires the value of the first angle; and transmits the value of the first angle to the driving device 120 to make the driving device 120 rotate the first angle.

[0096] Based on the same inventive concept, the embodiment of the present application also provides a method for calibrating a trailer included angle sensor, which is applied to the processing device 160 as shown in the figure. Figure 1 The specific steps of the method are as follows:

[0097] The processing device 160 acquires the first angle and the second angle, wherein the first angle is the angle of rotation of the driving device 120, and the second angle is the angle of rotation of the kingpin replacement device 140 detected by the trailer included angle sensor 150; and the accuracy of the trailer included angle sensor 150 is determined according to the first angle and the second angle.

[0098] As a possible product form of the above device, referring to Figure 9 The embodiment of the present application also provides an electronic device 900, which comprises:

[0099] At least one processor 901; and a communication interface 903 connected with the at least one processor 901; the at least one processor 901 executes the instructions stored in the memory 902, so that the electronic device 900 executes the method steps executed by any device in the above method embodiments through the communication interface 903.

[0100] Optionally, the memory 902 is located outside the electronic device 900.

[0101] Optionally, the electronic device 900 comprises the memory 902, the memory 902 is connected with the at least one processor 901, and the memory 902 stores instructions executable by the at least one processor 901. Figure 9 The memory 902 is optional for the electronic device 900, which is indicated by a dashed line.

[0102] The processor 901 and the memory 902 can be coupled through an interface circuit or integrated together, which is not limited here.

[0103] The specific connection medium between the processor 901, the memory 902 and the communication interface 903 is not limited in the embodiment of the present application. Figure 9 In the embodiment of the present application, the processor 901, the memory 902 and the communication interface 903 are connected through a bus 904, and the bus is indicated by a thick line in the figure. Figure 9 The connection mode between other components is only schematically illustrated, and is not limited. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation,Figure 9 In the drawings, which are not necessarily to scale, like numerals describe similar components throughout the several views. Like numerals

[0104] By way of example, a processor can be a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0105] It should be understood that the memory as mentioned in the embodiments of the present application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. Nonvolatile memory can be, for example, read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically EPROM (EEPROM), or flash memory. Volatile memory can be, for example, random access memory (RAM), which acts as external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), SynchBurst DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0106] It should be noted that when the processor is a general processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated in the processor.

[0107] It should be noted that the memory described herein is intended to include, but not limited to, these and any other suitable type of memory.

[0108] As another possible product form, the embodiment of the application further provides a computer readable storage medium for storing instructions, when the instructions are executed, causing the computer to execute the method steps performed by any of the devices in the above method embodiments.

[0109] As another possible product form, the embodiment of the application provides a computer program product, which comprises computer program code, when the computer program code runs on the computer, causes the method as in the above method embodiments to be implemented.

[0110] As another possible product form, the embodiment of the application provides a chip, which comprises a processor, and the processor is used to execute computer program instructions to realize the steps of any of the above methods.

[0111] Optionally, it further comprises a memory, and the memory stores computer program instructions executable on the processor.

[0112] Optionally, it further comprises a transceiver, and the transceiver is used to receive the trailer image collected by the image collection device.

[0113] Those skilled in the art should understand that the embodiments of the application can be provided as a method, system or computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0114] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0115] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0116] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0117] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A device for calibrating a trailer corner sensor, characterized in that The device comprises: a control device, a driving device, a transmission device, a draw pin replacement device, and a trailer included angle sensor; wherein the driving device is used to simulate the draw head in a truck; the draw pin replacement device is used to simulate the draw pin used when the draw head in a truck draws a trailer; the driving device is connected with the transmission device, and the transmission device is connected with the draw pin replacement device; when the driving device rotates, the driving device drives the transmission device to rotate, and when the transmission device rotates, the transmission device drives the draw pin replacement device to rotate; the control device is used to control the driving device to rotate by a first angle; the trailer included angle sensor is used to detect the value of a second angle rotated by the draw pin replacement device when the driving device rotates by the first angle; wherein the first angle and the second angle are used to verify the accuracy of the trailer included angle sensor.

2. The apparatus of claim 1, wherein, The device further comprises a processing device; the processing device is used to determine the accuracy of the trailer included angle sensor according to the first angle and the second angle.

3. The apparatus of claim 1, wherein, The transmission device comprises: a driving shaft, the driving device is connected with the transmission device through the driving shaft, and the driving device drives the transmission device to rotate through the driving shaft; a driven shaft, the transmission device is connected with the draw pin replacement device through the driven shaft, and the transmission device drives the draw pin replacement device to rotate through the driven shaft.

4. The apparatus of claim 1, wherein, The device further comprises a first type of mounting base; the first type of mounting base comprises a first sub-mounting base and a second sub-mounting base, and the relative positions of the first sub-mounting base and the second sub-mounting base can be changed; the draw pin replacement device is arranged on the first sub-mounting base, and the trailer included angle sensor is arranged on the second sub-mounting base; when the relative positions of the first sub-mounting base and the second sub-mounting base change, the relative positions of the draw pin replacement device and the trailer included angle sensor change along with the first sub-mounting base and the second sub-mounting base.

5. The apparatus of claim 4, wherein, The device further comprises a second type of mounting base; the first type of mounting base is arranged on the second type of mounting base along a first direction, and the second type of mounting base is fixed along a second direction; wherein the first direction and the second direction are in the same horizontal plane and perpendicular to each other; the first type of mounting base can slide on the second type of mounting base along the second direction, and when the first type of mounting base slides on the second type of mounting base, the relative positions of the draw pin replacement device and the trailer included angle sensor change along with the first type of mounting base.

6. The apparatus of claim 1, wherein, The control device comprises: a driver, used to transmit the value of the first angle to the driving device to make the driving device rotate; an encoder, used to detect the real-time rotation angle of the driving device and transmit the real-time rotation angle to the driver; The driver is further configured to determine whether the rotation angle of the driving device reaches the first angle according to the real-time rotation angle, and transmit a third angle to the driving device if the first angle is not reached, so that the total rotation angle of the driving device reaches the first angle, wherein the third angle is determined by the difference between the first angle and the real-time rotation angle.

7. The apparatus of claim 1, wherein, The ratio of the rotation angle of the driving device to the rotation angle of the draw pin replacement device is 3:

1.

8. A method of calibrating a trailer corner sensor, the method comprising: The method comprises: The control device controls the driving device to rotate a first angle, and the driving device is configured to simulate a draw head in a truck; The driving device drives the transmission device to rotate; The transmission device drives the draw pin replacement device to rotate, and the draw pin replacement device is configured to simulate a draw pin used when the draw head in the truck pulls a trailer; The trailer included angle sensor detects a value of a second angle rotated by the draw pin replacement device when the driving device rotates the first angle; The first angle and the second angle are configured to verify the accuracy of the trailer included angle sensor.

9. The method of claim 8, wherein, The method further comprises: The processing device determines the accuracy of the trailer included angle sensor according to the first angle and the second angle.

10. The method of claim 8, wherein, The control device controls the driving device to rotate a first angle, and the driving device is configured to simulate a draw head in a truck; The driving device is configured to transmit the value of the first angle to the driving device, so that the driving device rotates; The encoder is configured to detect a real-time rotation angle of the driving device and transmit the real-time rotation angle to the driver; The driver is further configured to determine whether the rotation angle of the driving device reaches the first angle according to the real-time rotation angle, and transmit a third angle to the driving device if the first angle is not reached, so that the total rotation angle of the driving device reaches the first angle, wherein the third angle is determined by the difference between the first angle and the real-time rotation angle.

11. An electronic device, comprising: The method comprises: At least one processor; and a memory connected in communication with the at least one processor; The memory stores instructions executable by the at least one processor, and the at least one processor executes the instructions stored in the memory, so that the at least one processor executes the method of any one of claims 8-10.

12. A computer-readable storage medium, characterized in that, The computer readable storage medium is configured to store instructions, which when executed, cause the method of any one of claims 8-10 to be implemented.

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