Method, system, device and storage medium for predicting yaw angle of tractor and trailer

Abstract

The present invention provides a method, system, device, and storage medium for predicting the yaw angle of a tractor and trailer. The method comprises: articulating the center point of the tractor with the trailer link of the trailer, establishing a plane coordinate system based on the center point of the rear axle; collecting first motion state information of the tractor and a set of driving control signals at the current moment, obtaining second motion state information of the trailer and the angle formed between the trailer and the axle direction; obtaining first motion state information of the tractor at the next moment based on the set of driving control signals, the first motion state information including the plane coordinates and yaw angle of the tractor; and obtaining second motion state information of the trailer at the next moment, the second motion state information including the plane coordinates and yaw angle of the trailer. The present invention can model the motion of the tractor using a single-vehicle kinematic model, derive the trailer yaw angle based on control signals, geometric relationships, and kinematic constraints, thereby improving the accuracy of vehicle posture control and enhancing driving safety.

Description

Technical Field

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

[0002] With the rapid development of autonomous driving technology, unmanned ports have gradually become a key application scenario for this technology. Unmanned operations can significantly improve operational efficiency and reduce costs. In daily port operations, unmanned tractors complete the operation process of transporting containers by carrying trailers. However, there is a perception problem that needs to be solved urgently. To ensure that the tractor body does not collide with the environment during operation, the trailer's yaw angle must be accurately obtained. Since the trailer has no power source and is only a follow-up system for the tractor, how to accurately calculate the trailer's yaw angle through effective modeling becomes the key to ensuring vehicle operation safety in unmanned port scenarios.

[0003] In view of this, the present invention provides a method, system, device and storage medium for predicting the yaw angle of a tractor and a trailer.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0005] In response to the problems in the prior art, the purpose of the present invention is to provide a method, system, device and storage medium for predicting the yaw angle of a tractor and a trailer, which overcomes the difficulties of the prior art. It can use a single-vehicle kinematic model to model the movement of the tractor, and then update the motion state of the tractor according to the control signal. The yaw angle of the trailer is derived through geometric relationships and kinematic constraints, thereby improving the accuracy of vehicle posture control and enhancing driving safety.

[0006] An embodiment of the present invention provides a method for predicting the yaw angle of a tractor and a trailer, comprising the following steps:

[0007] The center point of the tractor is hinged to the trailer link of the towed vehicle, and a plane coordinate system is established based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width;

[0008] Collect the first motion state information of the tractor at the current time t0 and the driving control signal set, obtain the second motion state information of the trailer and the angle formed by the trailer and the axle direction, the driving control signal set includes the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1

[0009] A single vehicle model is established based on the tractor and trailer, and a single vehicle model is established based on the single vehicle model and the current speed v(t0) and angle signal Obtaining first motion state information of the tractor at a next time t1, the first motion state information at least including the plane coordinates and yaw angle of a first reference position of the tractor; and

[0010] According to the acceleration signal a(t1), angle signal and the first motion state information, and obtain the second motion state information of the trailer at the next time t1, wherein the second motion state information at least includes the plane coordinates and the yaw angle of the second reference position of the trailer.

[0011] Preferably, the center point of the tractor is hinged to the towing link of the towing vehicle, and a plane coordinate system is established based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width, including:

[0012] The center point of the tractor and the follower trailer are respectively hinged to the two ends of a rigid trailer link; and

[0013] Based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer.

[0014] Preferably, the tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle.

[0015] Preferably, the first motion state information of the tractor and the driving control signal set at the current time t0 are collected to obtain the second motion state information of the trailer and the angle formed by the trailer and the axle direction. The driving control signal set includes the current speed v(t0), the angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 include:

[0016] Collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the first reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), the yaw angle [yaw] of the tractor body t0 ;

[0017] The driving control signal set collected includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X-axis;

[0018] Assume that the first motion state information at the current time t0 is x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), [yaw] t0 = 0, the second motion state information obtained at the current time t0 includes the plane coordinates of the second reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,

[0019] x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );

[0020] y(t,t0)=-hitcht*sin([tyaw] t0 );

[0021] [tyaw] t0 =myaw;

[0022] Where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle.

[0023] The angle between the trailer and the axle direction is obtained as [tyaw] t0 .

[0024] Preferably, the single vehicle model is established based on the tractor and trailer, and the single vehicle model and the current speed v(t0) and angle signal are used. Obtaining first motion state information of the tractor at a next time t1, the first motion state information including at least the plane coordinates and yaw angle of a first reference position of the tractor, including:

[0025] Establishing a single vehicle model based on the tractor and trailer;

[0026] According to the bicycle model and the current speed v(t0), angle signal The plane coordinates of the first reference position of the tractor in the first motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,

[0027] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0028] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0029] v(c,t1)=v(c,t0)+a(t1)*dt;

[0030] Obtain the yaw angle [yaw] of the tractor body in the first motion state information t1 :

[0031] [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R;

[0032] but

[0033] Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor.

[0034] Preferably, the acceleration signal a(t1), the angle signal and the first motion state information, obtaining second motion state information of the trailer at the next time t1, wherein the second motion state information at least includes the plane coordinates and yaw angle of the second reference position of the trailer, including:

[0035] The plane coordinates of the second reference position of the trailer at the next time t1 are obtained as [x(t, t1), y(t, t1)]:

[0036] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));

[0037] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ));

[0038] Obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point:

[0039]

[0040]

[0041]

[0042]

[0043]

[0044] Wherein, r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point;

[0045] Obtain the yaw angle [tyaw]t1 of the trailer at the next moment t1:

[0046] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw.

[0047] Preferably, the center point of the tractor is located at the center between the center of the front axle of the tractor and the center of the rear axle of the tractor;

[0048] The first reference position of the tractor is the center point of the rear axle of the tractor;

[0049] The second reference position of the trailer is the center point of the rear axle of the trailer.

[0050] An embodiment of the present invention further provides a yaw angle prediction system for a tractor and trailer, for implementing the above-mentioned yaw angle prediction method for a tractor and trailer. The yaw angle prediction system for a tractor and trailer includes:

[0051] A plane coordinate module, wherein the center point of the tractor is hinged to the trailer link of the tow vehicle, and a plane coordinate system is established based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width;

[0052] The control signal module collects the first motion state information of the tractor at the current time t0 and the driving control signal set, obtains the second motion state information of the trailer and the angle formed by the trailer and the axle direction, and the driving control signal set includes the current speed v(t0), the angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1

[0053] The tractor state module establishes a single vehicle model based on the tractor and trailer, and calculates the vehicle state based on the single vehicle model and the current speed v(t0) and angle signal. Obtaining first motion state information of the tractor at a next time t1, the first motion state information at least including the plane coordinates and yaw angle of a first reference position of the tractor; and

[0054] Trailer status module, based on acceleration signal a(t1), angle signal and the first motion state information, and obtain the second motion state information of the trailer at the next time t1, wherein the second motion state information at least includes the plane coordinates and the yaw angle of the second reference position of the trailer.

[0055] An embodiment of the present invention further provides a device for predicting the yaw angle of a tractor and a trailer, comprising:

[0056] processor;

[0057] a memory storing executable instructions for the processor;

[0058] The processor is configured to execute the steps of the above-mentioned method for predicting the yaw angle of the tractor and the trailer by executing executable instructions.

[0059] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the above-mentioned method for predicting the yaw angle of the tractor and the trailer.

[0060] The yaw angle prediction method, system, device and storage medium of the tractor and trailer of the present invention can use a single-vehicle kinematic model to model the movement of the tractor, then update the motion state of the tractor according to the control signal, and derive the yaw angle of the trailer through geometric relationships and kinematic constraints, thereby improving the accuracy of vehicle posture control and enhancing driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0062] Figure 1 It is a flow chart of the method for predicting the yaw angle of a tractor and a trailer of the present invention.

[0063] Figures 2 to 5 The figure is a schematic diagram of an implementation process of the method for predicting the yaw angle of a tractor and a trailer according to the present invention.

[0064] Figure 6 It is a structural schematic diagram of the yaw angle prediction system of the tractor and trailer of the present invention.

[0065] Figure 7 It is a structural diagram of the yaw angle prediction device of the tractor and trailer of the present invention. And

[0066] Figure 8 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0067] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0068] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0069] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0071] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference symbols.

[0072] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0073] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0074] Although in some instances the terms first, second, etc. are used to represent various elements in the present invention, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in the present invention, the singular forms "one", "an", and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise" and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C". An exception to this definition occurs only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0075] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0076] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0077] Figure 1 Flowchart of the method for predicting the yaw angle of the tractor and trailer according to the present invention. Figure 1 As shown, an embodiment of the present invention provides a method for predicting the yaw angle of a tractor and a trailer, comprising the following steps:

[0078] S110. The center point of the tractor is hinged to the trailer link of the trailer, and a plane coordinate system is established based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X-axis is the direction of the vehicle head and the Y-axis is the direction of the vehicle body width.

[0079] S120, collect the first motion state information of the tractor at the current time t0 and the driving control signal set, obtain the second motion state information of the trailer and the angle formed by the trailer and the axle direction, the driving control signal set includes the current speed v(t0), the angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1

[0080] S130, establish a single vehicle model based on the tractor and trailer, and calculate the vehicle model based on the current speed v(t0) and angle signal The first motion state information of the tractor at the next time t1 is obtained, where the first motion state information at least includes the plane coordinates and the yaw angle of the first reference position of the tractor.

[0081] S140, according to the acceleration signal a(t1), the angle signal and the first motion state information, and obtain the second motion state information of the trailer at the next time t1, where the second motion state information at least includes the plane coordinates and the yaw angle of the second reference position of the trailer.

[0082] In a preferred embodiment, step S110 includes:

[0083] S111, the center point of the tractor and the front end of the follower trailer are respectively hinged to the two ends of a rigid trailer link.

[0084] S112. Based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer, but this is not limited to this.

[0085] In a preferred embodiment, the tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle, but the present invention is not limited thereto.

[0086] In a preferred embodiment, step S120 includes:

[0087] S121. Collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the first reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), and the yaw angle [yaw] of the tractor body. t0 .

[0088] S122, collect the driving control signal set including at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis.

[0089] S123. Assume that the first motion state information at the current time t0 is x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), and [yaw]t0 = 0. Then, the second motion state information at the current time t0 is obtained, including the plane coordinates of the second reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,

[0090] x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );

[0091] y(t,t0)=-hitcht*sin([tyaw] t0 );

[0092] [tyaw] t0 =myaw;

[0093] Where myaw is the trailer yaw angle measured by the on-board sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle.

[0094] S124, obtain the angle between the trailer and the axle direction as [tyaw] t0 But it is not limited to this.

[0095] In a preferred embodiment, step S130 includes:

[0096] S131. Establish a single vehicle model based on the tractor and trailer.

[0097] S132, based on the bicycle model and the current speed v(t0), angle signal The plane coordinates of the first reference position of the tractor in the first motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,

[0098] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0099] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0100] v(c,t1)=v(c,t0)+a(t1)*dt;

[0101] S133: Obtain the yaw angle [yaw] of the tractor body in the first motion state information. t1 :

[0102] [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R;

[0103] but

[0104] Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor, but is not limited thereto.

[0105] In a preferred embodiment, step S140 includes:

[0106] S141. Obtain the plane coordinates of the second reference position of the trailer at the next time t1 as [x(t, t1), y(t, t1)]:

[0107] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ));

[0108] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ));

[0109] S142. Obtain the angular acceleration ω2 of the instantaneous rotation center O2 of the trailer based on the rotation of the hinge point:

[0110]

[0111]

[0112]

[0113]

[0114]

[0115] Where r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor based on the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, and ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer based on the hinge point.

[0116] S143, obtain the yaw angle [tyaw] of the trailer at the next moment t1 t1 :

[0117] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw.

[0118] In a preferred embodiment, the center point of the tractor is located centrally between the center of the tractor's front axle and the center of the tractor's rear axle;

[0119] The first reference position of the tractor is the center point of the rear axle of the tractor;

[0120] The second reference position of the trailer is the center point of the rear axle of the trailer.

[0121] like Figures 2 to 5 As shown, the implementation process of the present invention mainly includes:

[0122] In this embodiment, to facilitate the description of the vehicle's motion, the position coordinates, velocity, and yaw angle of the tractor are recorded separately, along with the position coordinates and yaw angle of the trailer. These coordinates are denoted as [xc, yc, vc, yaw, xt, yt, tyaw], where xc, yc, and vc represent the position and velocity of the tractor, the yaw angle of the vehicle is denoted as yaw, xt and yt represent the position of the trailer, and the yaw angle of the trailer is denoted as tyaw. The vehicle's coordinate system is defined as the center of the tractor's rear axle, with the x-axis aligned with the vehicle's front direction and a right-handed coordinate system. The center of the trailer's rear axle is denoted as the trailer position.

[0123] The control signal received at the current time t0 is recorded as Where v(t0), is the velocity and angle signal at the current moment, a(t1), is the control amount applied at the next moment t1, based on which the state at moment t0 can be updated to the motion state at moment t1. myaw is the trailer yaw angle measured by the vehicle-mounted sensor at moment t0, such as Figure 2 、 3As shown, the tractor and trailer are connected together through a hitch. The distance from the hitch 13 to the center of the tractor's rear axle is recorded as hitchv, the distance from the hitch 13 to the trailer's rear axle is recorded as hitcht, and the distance from the center of the tractor's front axle to the center of the rear axle (i.e., the wheelbase) is recorded as WB.

[0124] Figure 2 The full vehicle schematic is shown in the figure. Tractor 1 is rear-wheel drive, with rear wheels 12 responsible for acceleration and front wheels 11 for steering, connected by a hinge point 13. The origin of the red coordinate system is at the center of the tractor's rear axle. The x-axis faces forward, forming a right-hand coordinate system. HitchV represents the distance from hinge point 13 to the center of the tractor's rear axle. Trailer 2 consists solely of a rear axle 21 with a pair of trailing wheels. Hitch is the distance from hinge point 13 to the center of trailer 2's rear axle, and WB is the distance from the center of the tractor's front axle to the center of its rear axle. is the steering control signal applied to the front wheels, v is the current vehicle speed, the vehicle's power source is the tractor, and the trailer is the tractor's follow-up system.

[0125] like Figure 3 As shown, the yaw angle is the deflection angle of the vehicle coordinate system relative to the global coordinate system. The horizontal dashed line represents the x-axis of the global coordinate system. Because the trailer moves with the tractor during a turn, it deviates from the tractor at a certain angle. The yaw angle of the trailer is tyaw, and the yaw angle of the vehicle itself is yaw. The present invention aims to update the tractor's current motion state based on the control variable currently obtained at time t1, and then infer the trailer's yaw angle at time t1 based on the current sensor-measured trailer yaw angle. Assume that the control step length is dt, that is, the motion state of the vehicle body will be updated after dt seconds, that is, t1=t0+dt. At this time, what needs to be done is to update the motion state of the tractor to time t1 under the control information based on the motion state of the vehicle body at time t0 [xc, yc, vc, yaw, xt, yt, tyaw], and then infer the motion state of the trailer at time t1 through geometric relationships. The algorithm flow includes: initializing the current motion state of the tractor and trailer → updating the motion state of the tractor to the next moment through control signals → finally, using kinematic constraints and geometric relationships to predict the yaw angle of the trailer at the next moment.

[0126] Assume that the motion state of the tractor at time t0 is x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), [yaw] t0 =0, the trailer motion state is:

[0127] x(t,t0)=hitchv-hitcht*cos([tyaw] t0 )

[0128] y(t,t0)=-hitcht*sin([tyaw] t0 )

[0129] [tyaw] t0 =myaw

[0130] Continue to refer Figure 3 The angle between the trailer and the axle is (tyaw-yaw). Since yaw = 0, the angle is tyaw. Therefore, the position of the trailer at this time is shown above.

[0131] Assume that the tractor state at time t1 is updated as follows:

[0132] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]

[0133] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]

[0134] v(c,t1)=v(c,t0)+a(t1)*dt

[0135]

[0136] like Figure 4 As shown, the update of the yaw angle needs to be derived in combination with the rotational motion and the bicycle kinematic model. For example, Ackerman Turning Geometry is a geometry that solves the problem that the inner and outer steering wheel paths point to different centers of circles when a vehicle turns. In addition, the present invention assumes that the motion states of the left and right wheels are consistent, so only the motion state of the tire on one side needs to be analyzed. The bicycle kinematic model of the prior art is used in the present invention. The tractor is first simulated as a bicycle kinematic model, and then the motion of the front and rear wheels of the tractor is decomposed into translation and rotation. The translation of the object, i.e., the speed update, can be directly updated through the acceleration update, while the rotation angle is determined by the angular acceleration, i.e., [yaw] t1 =ω*dt+[yaw] t0 , ω=v / R, where R is the radius of rotation, such as Figure 4 As shown, is the control amount applied to the front wheel, O is the center of rotation during the steering process of the front vehicle, and it is easy to deduce the following angles if the speed direction is perpendicular to the rotation radius. The distance between the two wheels is known as WB, and the rotation radius R can be calculated, and thus the angular acceleration can be calculated to update the yaw angle of the tractor.

[0137] like Figure 5As shown, the motion position of the trailer at time t1 is derived as:

[0138] x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 ))

[0139] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ))

[0140] Because the trailer is a follow-up system, its movement has a lag compared to the tractor. That is, the motion state of the trailer can only be deduced based on the kinematic model after the tractor has determined its motion state. Therefore, there is a control step length dt between them. Therefore, the yaw angle at time t0 is used here.

[0141] The yaw angle of the trailer at time t1 needs to be derived using the hinge point 13 as an intermediate variable. The velocity of the hinge point 13 is set to vh at this time. Because this is the connection point of two rigid bodies (the axle and the hitch and trailer link), the linear velocities at the two points are equal. Because the instantaneous center of rotation of the same rigid body is the same point during rotation, the instantaneous center of rotation of the tractor is O1, and the instantaneous center of rotation of the trailer is O2. Therefore, the line connecting the hitch and O2 passes through O1. The rotation radius of the hitch and O1 is recorded as r1, and the rotation radius of the hitch and O2 is recorded as r2. It can be obtained:

[0142] vh=ω1*r1

[0143] vh=ω2*r2

[0144] [tyaw] t1 =ω2*dt+[tyaw] t0

[0145]

[0146]

[0147] Therefore, we only need to obtain ω2 to get the trailer yaw angle at time t1, ω2=ω1*r1 / r2, and the yaw angle of the trailer and the vehicle body is Draw a perpendicular line from point O1 to the hitch and trailer line, with the foot of the perpendicular being T. Since the rotation radius is always perpendicular to the linear velocity direction of the tire (arrow direction), it is easy to get the equal angle Depend on Figure 5 Available And in [yaw] t0= 0, we can get

[0148]

[0149]

[0150]

[0151] Finally, since the angular velocity of each point on a rigid body is the same, and the trailer yaw angle is obtained (because the vehicle yaw angle is assumed to be 0, the vehicle yaw angle needs to be subtracted), and because Therefore, it can be concluded that [tyaw] t1 for:

[0152]

[0153]

[0154] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0

[0155] The method for predicting the yaw angle of a tractor and trailer of the present invention can use a single-vehicle kinematic model to model the motion of the tractor, then update the motion state of the tractor according to the control signal, and derive the yaw angle of the trailer through geometric relationships and kinematic constraints, thereby improving the accuracy of vehicle posture control and enhancing driving safety.

[0156] Figure 6 Schematic diagram of the structure of the yaw angle prediction system of the tractor and trailer of the present invention. Figure 6 As shown, the yaw angle prediction system 5 of the tractor and trailer of the present invention includes:

[0157] A plane coordinate module 51, in which the center point of the tractor is articulated with the trailer link of the tow vehicle, establishes a plane coordinate system based on the center point of the rear axle of the tractor as the coordinate origin, where the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width;

[0158] The control signal module 52 collects the first motion state information of the tractor at the current time t0 and the driving control signal set, obtains the second motion state information of the trailer and the angle formed by the trailer and the axle direction, and the driving control signal set includes the current speed v(t0), the angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1

[0159] The tractor state module 53 establishes a single vehicle model based on the tractor and trailer, and calculates the vehicle state based on the single vehicle model and the current speed v(t0) and angle signal. Obtaining first motion state information of the tractor at a next time t1, the first motion state information at least including the plane coordinates and yaw angle of a first reference position of the tractor; and

[0160] The trailer state module 54, according to the acceleration signal a(t1), the angle signal and the first motion state information, and obtain the second motion state information of the trailer at the next time t1, where the second motion state information at least includes the plane coordinates and the yaw angle of the second reference position of the trailer.

[0161] In a preferred embodiment, the plane coordinate module 51 is configured such that the center point of the tractor and the front end of the trailing trailer are each hinged to the two ends of a rigid trailer link; based on the center point of the rear axle of the tractor as the coordinate origin, wherein the X axis is the direction of the front of the vehicle and the Y axis is the direction of the width of the vehicle body, the center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer.

[0162] In a preferred embodiment, the tractor comprises a steered front axle and a driven rear axle, and the trailer comprises a trailing rear axle.

[0163] In a preferred embodiment, the control signal module 52 is configured to collect the first motion state information of the tractor at the current time t0, including the plane coordinates of the first reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), the yaw angle [yaw] of the tractor body, and the yaw angle [yaw] of the tractor body. t0 ; The collected driving control signal set includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis; let the first motion state information at the current time t0 be x(c, t0) = 0, y(c, t0) = 0, v(c, t0) = v(t0), [yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the second reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,

[0164] x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );

[0165] y(t,t0)=-hitcht*sin([tyaw] t0 );

[0166] [tyaw] t0 =myaw;

[0167] Where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle. The angle between the trailer and the axle direction is [tyaw] t0 .

[0168] In a preferred embodiment, the tractor state module 53 is configured to establish a single vehicle model based on the tractor and the trailer; based on the single vehicle model and the current speed v(t0), the angle signal The plane coordinates of the first reference position of the tractor in the first motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,

[0169] x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0170] y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];

[0171] v(c,t1)=v(c,t0)+a(t1)*dt;

[0172] Obtain the yaw angle [yaw] of the tractor body in the first motion state information t1 :

[0173] [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R;

[0174] but

[0175] Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor.

[0176] In a preferred embodiment, the towing state module 54 is configured to obtain the plane coordinates of the second reference position of the towing at the next time t1 as [x(t, t1), y(t, t1)]:

[0177] x(t,t1)=x(c,t1)-(hitcht*coS([tyaw] t0 )+hitchv*cos([yaw] t0 ));

[0178] y(t,t1)=y(c,t1)-(hitcht*sin([tyaw] t0 )+hitchv*sin([yaw] t0 ));

[0179] Obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point:

[0180]

[0181]

[0182]

[0183]

[0184]

[0185] Where r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point;

[0186] Get the trailer's yaw angle [tyaw]t1 at the next moment t1:

[0187] [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw.

[0188] In a preferred embodiment, the center point of the tractor is located centrally between the center of the tractor's front axle and the center of the tractor's rear axle;

[0189] The first reference position of the tractor is the center point of the rear axle of the tractor;

[0190] The second reference position of the trailer is the center point of the rear axle of the trailer.

[0191] The yaw angle prediction system of the tractor and trailer of the present invention can use the single-vehicle kinematic model to model the movement of the tractor, then update the motion state of the tractor according to the control signal, and deduce the yaw angle of the trailer through geometric relationships and kinematic constraints, thereby improving the accuracy of the vehicle posture control and enhancing driving safety.

[0192] An embodiment of the present invention further provides a device for predicting the yaw angle of a tractor and trailer, comprising a processor and a memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the steps of a method for predicting the yaw angle of a tractor and trailer.

[0193] As described above, the yaw angle prediction device of the tractor and trailer of the present invention can use the single-vehicle kinematic model to model the movement of the tractor, and then update the motion state of the tractor according to the control signal, and deduce the yaw angle of the trailer through geometric relationships and kinematic constraints, thereby improving the accuracy of the vehicle posture control and enhancing driving safety.

[0194] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "platforms."

[0195] Figure 7 This is a schematic diagram of the structure of the yaw angle prediction device of the tractor and trailer of the present invention. Figure 7 An electronic device 600 according to this embodiment of the present invention will be described. Figure 7 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0196] like Figure 7 As shown, electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), and a display unit 640.

[0197] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the electronic prescription circulation processing method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 1 Follow the steps shown in .

[0198] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0199] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0200] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0201] The electronic device 600 can also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0202] An embodiment of the present invention further provides a computer-readable storage medium for storing a program that, when executed, implements the steps of a method for predicting the yaw angle of a tractor and trailer. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the aforementioned electronic prescription circulation processing method section of this specification.

[0203] As shown above, when the program of the computer-readable storage medium of this embodiment is executed, it can use the single-vehicle kinematic model to model the movement of the tractor, and then update the motion state of the tractor according to the control signal, derive the yaw angle of the trailer through geometric relationships and kinematic constraints, thereby improving the accuracy of the vehicle posture control and enhancing driving safety.

[0204] Figure 8 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 8 , a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0205] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0206] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0207] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0208] In summary, the method, system, device, and storage medium for predicting the yaw angle of a tractor and trailer of the present invention can use a single-vehicle kinematic model to model the motion of the tractor, then update the motion state of the tractor according to the control signal, and derive the yaw angle of the trailer through geometric relationships and kinematic constraints, thereby improving the accuracy of vehicle posture control and enhancing driving safety.

[0209] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A method for predicting the yaw angle of a tractor and a trailer, characterized in that: The steps include: The tractor is a rear-wheel drive vehicle, with the rear wheels responsible for acceleration and the front wheels responsible for steering. The center point of the tractor and the trailing trailer are each hinged to the ends of a rigid trailer link. The center point of the tractor's rear axle is used as the coordinate origin, where the X axis is the direction of the vehicle's front end and the Y axis is the vehicle body width direction. The center point of the trailing rear axle of the trailer is used as the coordinate position of the trailer. The first motion state information of the tractor at the current time t0 is collected, including the plane coordinates of the first reference position of the tractor [x(c, t0), y(c, t0)], the velocity v(c, t0), and the yaw angle [yaw] of the tractor body. t0 ; The collected driving control signal set includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis; let the first motion state information at the current time t0 be x(c,t0)=0,y(c,t0)=0,v(c,t0)=v(t0),[yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the second reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );y(t,t0)=-hitcht*sin([tyaw] t0 );[tyaw] t0 = myaw; where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle. The angle between the trailer and the axle direction is [tyaw] t0 ; A single vehicle model is established based on the tractor and trailer; and a single vehicle model is established based on the single vehicle model and the current speed v(t0), angle signal The plane coordinates of the first reference position of the tractor in the first motion state information of the tractor at the next time t1 are [x(c, t1), y(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];y(c,t1)=y(c,t0)+v(c,t0)*cos[([taw] t0 )*dt]; v(c, t1) = v(c, t0) + a(t1)*dt; obtain the yaw angle [yaw] of the tractor body in the first motion state information t1 : [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R; then Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor; and According to the acceleration signal a(t1), angle signal and the first motion state information, and obtain the second motion state information of the trailer at the next time t1, wherein the second motion state information at least includes the plane coordinates and the yaw angle of the second reference position of the trailer.

2. The method for predicting the yaw angle of a tractor and trailer according to claim 1, characterized in that: The tractor includes a steering front axle and a driving rear axle, and the trailer includes a trailing rear axle.

3. The method for predicting the yaw angle of a tractor and trailer according to claim 1, characterized in that: According to the acceleration signal a(t1), the angle signal and the first motion state information, obtaining second motion state information of the trailer at the next time t1, wherein the second motion state information at least includes the plane coordinates and yaw angle of the second reference position of the trailer, including: The plane coordinates of the second reference position of the trailer at the next time t1 are obtained as [x(t, t1), y(t, t1)]: x(t,t1)=x(c,t1)-(hitcht*cos([tyaw] t0 )+hitchv*cos([yaw] t0 )); y(t,t1)=y(c,t1)-(hitchi*sin([tyaw] t0 )+hitchv*sin([yaw] t0 )); Obtain the instantaneous rotation center O2 of the trailer based on the angular acceleration ω2 of the hinge point: Wherein, r1 is the rotation radius between the hinge point and the instantaneous rotation center O1 of the tractor, ω1 is the angular acceleration of the instantaneous rotation center O1 of the tractor relative to the hinge point, r2 is the rotation radius between the hinge point and the instantaneous rotation center O2 of the trailer, ω2 is the angular acceleration of the instantaneous rotation center O2 of the trailer relative to the hinge point; Get the yaw angle [tyaw] of the trailer at the next moment t1 t1 : [tyaw] t1 =ω2*dt+[tyaw] t0 -[yaw] t0 =ω2*dt+myaw。 4. The method for predicting the yaw angle of a tractor and trailer according to claim 1, wherein: The center point of the tractor is located at the center between the center of the front axle of the tractor and the center of the rear axle of the tractor; The first reference position of the tractor is the center point of the rear axle of the tractor; The second reference position of the trailer is the center point of the rear axle of the trailer.

5. A yaw angle prediction system for a tractor and trailer, characterized in that: The system comprises: A plane coordinate module is provided, wherein the center point of the tractor and the following trailer are each hinged to the two ends of a rigid trailer link. The center point of the rear axle of the tractor is used as the coordinate origin, wherein the X axis is the direction of the vehicle head and the Y axis is the direction of the vehicle body width. The center point of the following rear axle of the trailer is used as the coordinate position of the trailer. A control signal module is provided, which collects the first motion state information of the tractor at the current time t0, including the plane coordinates of the first reference position of the tractor [x(c, t0), y(c, t0)], the speed v(c, t0), and the yaw angle [yaw] of the tractor body. t0 ; The collected driving control signal set includes at least the current speed v(t0), angle signal And the acceleration signal a(t1) and angle signal applied at the next moment t1 The angle signal is the angle between the forward direction of the front axle wheel of the tractor and the X axis; let the first motion state information at the current time t0 be x(c,t0)=0,y(c,t0)=0,v(c,t0)=v(t0),[yaw] t0 = 0, the second motion state information at the current time t0 is obtained, including the plane coordinates of the second reference position of the trailer [x(t, t0), y(t, t0)], the yaw angle of the trailer [tyaw] t0 ,x(t,t0)=hitchv-hitcht*cos([tyaw] t0 );y(t,t0)=-hitcht*sin([tyaw] t0 );[tyaw] t0 = myaw; where myaw is the trailer yaw angle measured by the onboard sensor at time t0, hitchv is the distance from the hinge point to the center of the tractor's rear axle, and hitcht is the distance from the hinge point to the trailer's rear axle. The angle between the trailer and the axle direction is [tyaw] t0 ; The tractor state module establishes a single vehicle model based on the tractor and trailer; based on the single vehicle model and the current speed v(t0), angle signal The plane coordinates of the first reference position of the tractor in the first motion state information of the tractor at the next time t1 are [x(c, t1), t(c, t1)], the speed v(c, t1), and the yaw angle [yaw] of the tractor body. t1 ,x(c,t1)=x(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt];y(c,t1)=y(c,t0)+v(c,t0)*cos[([yaw] t0 )*dt]; v(c, t1) = v(c, t0) + a(t1)*dt; obtain the yaw angle [yaw] of the tractor body in the first motion state information t1 : [yaw] t1 =[yaw] t0 +ω*dt,ω=v(c,t0) / R; then Wherein, the control step length dt=t1-t0, ω is the angular acceleration, WB is the wheelbase between the front axle and the rear axle of the tractor, and R is the rotation radius of the rear wheel of the tractor; and Trailer status module, based on acceleration signal a(t1), angle signal and the first motion state information, and obtain the second motion state information of the trailer at the next time t1, wherein the second motion state information at least includes the plane coordinates and the yaw angle of the second reference position of the trailer.

6. A yaw angle prediction device for a tractor and trailer, characterized in that: include: processor; a memory storing executable instructions for the processor; The processor is configured to execute the steps of the method for predicting the yaw angle of a tractor and a trailer according to any one of claims 1 to 4 by executing the executable instructions.

7. A computer-readable storage medium for storing a program, characterized in that: When the program is executed, the steps of the method for predicting the yaw angle of a tractor and a trailer according to any one of claims 1 to 4 are implemented.

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