Vehicle, radius and road passability determination method, device, equipment and medium

Abstract

The present application discloses a method, device, equipment and medium for determining automobile, radius and road passability. The method for determining the turning radius of a semi-trailer train includes: calculating the articulation angle stability threshold when each semi-trailer trailer is in a relatively stable state of motion during the turning process according to the body parameters of each body in the semi-trailer train and the maximum range value of the front wheel deflection angle of the tractor; calculating the articulation angle safety threshold between each semi-trailer trailer without the risk of collision according to each body parameter and the maximum range value of the articulation angle of each semi-trailer trailer; determining the controllable target articulation angle threshold of each semi-trailer trailer during the actual turning process according to the articulation angle stability threshold and the articulation angle safety threshold, and calculating the minimum turning radius of the rear axle of any body according to each body parameter and the target articulation angle threshold. In this way, the accuracy of the minimum turning radius of a semi-trailer train with multiple semi-trailers mounted in actual application scenarios is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, equipment and medium for determining a vehicle, a radius and a road passability. Background Art

[0002] With the development of vehicle technology, more and more semi-trailer trains equipped with intelligent driving systems (such as unmanned driving systems, assisted driving systems, etc.) are now put into practical use. The semi-trailer train refers to an articulated train consisting of a tractor and one or more semi-trailer trailers (also called semi-trailers). In order to ensure the safe driving of the semi-trailer train, the intelligent driving system needs to obtain the minimum turning radius of the semi-trailer train. The minimum turning radius refers to the turning radius corresponding to the maximum steering angle of the vehicle's wheels, and the turning radius refers to the trajectory radius of the outermost wheels of the vehicle.

[0003] In the prior art, there are two ways to calculate the minimum turning radius of a semi-trailer train: one is to query the factory parameters of the vehicle, and the other is to calculate it according to the geometric method. However, the method of querying the factory parameters of the vehicle can only obtain a theoretical value, which is not accurate enough in actual application scenarios; and the method of geometric calculation is usually for a semi-trailer train with one semi-trailer trailer, which is not suitable for calculating the minimum turning radius of a semi-trailer train with multiple semi-trailers, and its accuracy is limited, and its adaptability to actual application scenarios is insufficient. Summary of the invention

[0004] In order to solve the above-mentioned technical problem that the minimum turning radius of a semi-trailer vehicle train carrying multiple semi-trailer trailers cannot be accurately obtained, the present application provides a method, device, equipment and medium for determining a vehicle, radius and road passability.

[0005] In a first aspect, the present application provides a method for determining a turning radius of a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, wherein one of the vehicle bodies at a side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers, the method comprising:

[0006] Based on the body parameters of each of the body and the maximum range value of the front wheel deflection angle of the tractor, the articulation angle stability threshold of each of the semi-trailer trailers is determined; wherein the articulation angle stability threshold is the maximum value of the articulation angle when the change rate of the articulation angle of each of the semi-trailer trailers is 0; the articulation angle is the angle between the central axis of the semi-trailer trailer and the central axis of the previous adjacent body, and the previous adjacent body is the body close to one end of the tractor and articulated with the semi-trailer trailer;

[0007] Based on the parameters of each vehicle body and the maximum range value of the articulation angle of each semi-trailer, the articulation angle safety threshold of each semi-trailer is determined; wherein the articulation angle safety threshold is the maximum value of the articulation angle when two adjacent vehicle bodies are in a safe state; the safe state includes a state where the two adjacent vehicle bodies are in contact but without collision and extrusion force, and the articulation angle is less than or equal to a right angle, or a state where the two adjacent vehicle bodies are not in contact and the articulation angle is equal to a right angle;

[0008] Determining a target articulation angle threshold of each of the semi-trailer trailers based on the articulation angle stability threshold and the articulation angle safety threshold;

[0009] Based on the vehicle body parameters and the target articulation angle threshold, a minimum turning radius of a rear axle of any vehicle body is determined.

[0010] In some embodiments, determining the articulation angle stability threshold of each semi-trailer based on the vehicle body parameters of each vehicle body and the maximum range value of the front wheel deflection angle of the tractor comprises:

[0011] For any of the semi-trailers, when the change rate of the articulation angle of each of the semi-trailers is 0, determining the articulation angle stability threshold value based on the wheelbase of the semi-trailer, the wheelbase and the connecting rod length of each front vehicle body, and the maximum range value of the front wheel deflection angle;

[0012] Among them, the wheelbase is the distance between the hinge point between the previous adjacent car body and the semi-trailer and the center of the rear axle of the semi-trailer; the leading car body is any car body among the car bodies, which is bounded by the semi-trailer but does not include the semi-trailer and is close to one end of the tractor; the connecting rod length is the distance between the center of the rear axle of the semi-trailer and the hinge point between the semi-trailer and the next adjacent car body, and the next adjacent car body is the car body that is far away from one end of the tractor and is hinged with the semi-trailer.

[0013] In some embodiments, the determining the articulation angle safety threshold of each semi-trailer based on each vehicle body parameter and the maximum range value of the articulation angle of each semi-trailer comprises:

[0014] For each of the semi-trailer trailers, when the semi-trailer trailer and the previous adjacent vehicle body are in the safe state, the articulation angle safety threshold is determined based on a first distance from a first vehicle edge of the previous adjacent vehicle body to a target articulation point between the semi-trailer trailer and the previous adjacent vehicle body, a second distance from a second vehicle edge of the semi-trailer trailer to the target articulation point, a first width of the first vehicle edge, a second width of the second vehicle edge, and a maximum range value of the articulation angle of the semi-trailer trailer; wherein the first vehicle edge and the second vehicle edge are both vehicle edges close to the target articulation point.

[0015] Further, the determining the articulation angle safety threshold based on a first distance from a first vehicle edge of the previous adjacent vehicle body to a target articulation point between the semi-trailer and the previous adjacent vehicle body, a second distance from a second vehicle edge of the semi-trailer to the target articulation point, a first width of the first vehicle edge, a second width of the second vehicle edge, and a maximum range value of the articulation angle of the semi-trailer comprises:

[0016] When a third distance between the target hinge point and any vehicle body corner point in the second vehicle edge is greater than or equal to half of the first width:

[0017] If the second distance is greater than or equal to half of the first width, determining that the hinge angle safety threshold is 90°;

[0018] If the second distance is less than half of the first width, determining the articulation angle safety threshold based on the first distance, the second distance and the third distance;

[0019] When the third distance is less than half of the first width:

[0020] If the first distance is greater than or equal to half of the second width, determining that the hinge angle safety threshold is 90°;

[0021] If the first distance is less than half of the second width, determining the articulation angle safety threshold based on the first distance, the second distance, and a fourth distance between the target articulation point and any vehicle body corner point in the first vehicle edge;

[0022] The articulation angle safety threshold is updated based on the articulation angle safety threshold and the maximum articulation angle range value of the semi-trailer.

[0023] In some embodiments, determining the minimum turning radius of the rear axle of any vehicle body based on the vehicle body parameters and the target articulation angle threshold comprises:

[0024] For the last vehicle body away from the tractor, determining the minimum turning radius of the rear axle of the last vehicle body based on the wheelbase of the last vehicle body and the target articulation angle threshold;

[0025] And / or, for any other vehicle body among the vehicle bodies except the last vehicle body, the minimum turning radius of the rear axle of the other vehicle body is determined based on the minimum turning radius of the rear axle of the last vehicle body, the wheelbase of each rear vehicle body, the wheelbase of the last vehicle body, the connecting rod length of the other vehicle bodies, and the connecting rod length of each rear vehicle body; wherein the rear vehicle body is any vehicle body located between the other vehicle bodies and the last vehicle body.

[0026] In some embodiments, the number of the semi-trailer trailers is greater than or equal to two.

[0027] In a second aspect, the present application further provides a method for determining the road passability of a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, wherein one of the vehicle bodies at a side edge is a tractor, and the vehicle bodies other than the tractor are all semi-trailer trailers, and the method comprises:

[0028] Based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train, determining the target channel width corresponding to the semi-trailer vehicle train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method of the vehicle train in any embodiment of the present application;

[0029] Based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road, it is determined whether the semi-trailer vehicle train passes through the target road.

[0030] In some embodiments, determining the target channel width corresponding to the semi-trailer vehicle train based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train comprises:

[0031] Determining the minimum turning radius of the front outer wheel of the tractor based on the minimum turning radius of the rear axle of the tractor and the body parameters of the tractor;

[0032] Determine the minimum turning radius of the rear inner wheel of the last vehicle body based on the minimum turning radius of the rear axle of the last vehicle body away from one end of the tractor and the wheelbase of the last vehicle body;

[0033] The target channel width is determined based on the front outer wheel minimum turning radius and the rear inner wheel minimum turning radius.

[0034] In some embodiments, the determining whether the semi-trailer vehicle train passes through the target road based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road includes:

[0035] If it is determined that the road curve radius is greater than or equal to the minimum turning radius of the rear axle of the tractor, and it is determined that the road width is greater than or equal to the sum of the target channel width and a preset width, it is determined that the semi-trailer train passes through the target road.

[0036] In a third aspect, the present application provides a device for determining the turning radius of a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, wherein one of the vehicle bodies at one side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers, and the device comprises:

[0037] an articulation angle stability threshold determination module, for determining an articulation angle stability threshold of each of the semi-trailer trailers based on the vehicle body parameters of each of the vehicle bodies and the maximum range value of the front wheel deflection angle of the tractor; wherein the articulation angle stability threshold is the maximum value of the articulation angle when the rate of change of the articulation angle of each of the semi-trailer trailers is 0; the articulation angle is the angle between the central axis of the semi-trailer trailer and the central axis of the previous adjacent vehicle body, the previous adjacent vehicle body being the vehicle body close to one end of the tractor trailer and articulated with the semi-trailer trailer;

[0038] an articulation angle safety threshold determination module, for determining an articulation angle safety threshold of each of the semi-trailer trailers based on each of the vehicle body parameters and the maximum range of the articulation angle of each of the semi-trailer trailers; wherein the articulation angle safety threshold is the maximum value of the articulation angle when two adjacent vehicle bodies are in a safe state; the safe state includes a state where the two adjacent vehicle bodies are in contact but without collision squeezing force, and the articulation angle is less than or equal to a right angle, or a state where the two adjacent vehicle bodies are not in contact and the articulation angle is equal to a right angle;

[0039] a target articulation angle threshold determination module, configured to determine a target articulation angle threshold of each of the semi-trailer trailers based on the articulation angle stability threshold and the articulation angle safety threshold;

[0040] The rear axle minimum turning radius determination module is used to determine the rear axle minimum turning radius of any of the vehicle bodies based on the vehicle body parameters and the target articulation angle threshold.

[0041] In a fourth aspect, the present application further provides a road passability determination device for a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, wherein one of the vehicle bodies at one side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers, and the device comprises:

[0042] A target channel width determination module, used to determine the target channel width corresponding to the semi-trailer vehicle train based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method of the semi-trailer vehicle train described in any embodiment of the present application;

[0043] The road passability determination module is used to determine whether the semi-trailer vehicle train passes through the target road based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road.

[0044] In a fifth aspect, the present application provides an electronic device, the electronic device comprising:

[0045] Processor and memory;

[0046] The processor calls the program or instruction stored in the memory to execute the method for determining the turning radius of the semi-trailer vehicle train described in any embodiment of the present application, or executes the method for determining the road passability of the semi-trailer vehicle train described in any embodiment of the present application.

[0047] In a sixth aspect, the present application provides a computer-readable storage medium storing a program or instruction, wherein the program or instruction enables a computer to execute the method for determining the turning radius of a semi-trailer vehicle train described in any embodiment of the present application, or to execute the method for determining the road passability of the semi-trailer vehicle train described in any embodiment of the present application.

[0048] In a seventh aspect, the present application provides a semi-trailer vehicle train, the semi-trailer vehicle train comprising: at least two vehicle bodies and a controller;

[0049] One of the vehicle bodies located at one side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers;

[0050] The controller is used to execute the method for determining the turning radius of the semi-trailer vehicle train described in any embodiment of the present application, or to execute the method for determining the road passability of the semi-trailer vehicle train described in any embodiment of the present application.

[0051] The turning radius determination method, device, equipment and medium of the semi-trailer vehicle train provided in the embodiments of the present application can calculate the articulation angle stability threshold value when each semi-trailer trailer is in a relatively stable state of motion during the turning process according to the body parameters of each body in the semi-trailer vehicle train and the maximum range value of the front wheel deflection angle of the tractor, and calculate the articulation angle safety threshold value between each semi-trailer trailer without the risk of collision according to each body parameter and the maximum range value of the articulation angle of each semi-trailer trailer, and then determine the controllable target articulation angle threshold value of each semi-trailer trailer in the actual turning process according to the articulation angle stability threshold value and the articulation angle safety threshold value, and calculate the minimum turning radius of the rear axle of any vehicle body according to each body parameter and the target articulation angle threshold value; realize the calculation of the minimum turning radius of the rear axle of each vehicle body according to the mutual motion relationship between multiple vehicle bodies in the semi-trailer vehicle train and the limitation of the vehicle body size on the vehicle body collision in the actual application scenario, thereby improving the accuracy of the minimum turning radius of the semi-trailer vehicle train with multiple semi-trailer trailers mounted in the actual application scenario.

[0052] The method, device, equipment and medium for determining the road passability of a semi-trailer vehicle train provided in the embodiments of the present application can calculate the target channel width required for the semi-trailer vehicle train to turn according to the minimum turning radius of the rear axle of each vehicle body, on the premise of accurately obtaining the minimum turning radius of the semi-trailer vehicle train carrying multiple semi-trailer trailers in actual application scenarios, and judge whether the semi-trailer vehicle train can pass the target road according to the above-mentioned minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road; and achieve a more accurate judgment on whether the semi-trailer vehicle train can pass the target road when the minimum turning radius of each vehicle body in the semi-trailer vehicle train is accurately and real-time calculated, thereby improving the driving safety of the semi-trailer vehicle train. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure and operation.

[0054] Figure 1 It is a flow chart of a method for determining a turning radius of a semi-trailer vehicle train provided in an embodiment of the present application;

[0055] Figure 2 It is a schematic diagram of the motion geometric relationship of a semi-trailer vehicle train during a turning process provided by an embodiment of the present application;

[0056] Figure 3It is a schematic diagram of a critical position relationship of a collision between two adjacent vehicle bodies of a semi-trailer vehicle train during a turning process provided by an embodiment of the present application;

[0057] Figure 4 This is a flow chart of a method for determining the road passability of a semi-trailer vehicle train provided in an embodiment of the present application;

[0058] Figure 5 It is a schematic diagram of the motion geometric relationship of a tractor of a semi-trailer vehicle train during a turning process provided by an embodiment of the present application;

[0059] Figure 6 It is a structural schematic diagram of a turning radius determination device for a semi-trailer vehicle train provided in an embodiment of the present application;

[0060] Figure 7 It is a schematic diagram of the structure of a device for determining the road passability of a semi-trailer vehicle train provided in an embodiment of the present application;

[0061] Figure 8 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0062] Fig. 9 It is a structural schematic diagram of a semi-trailer car train provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In the detailed description below, many specific details of the application are set forth by example, so as to provide a thorough understanding of the relevant disclosure. However, for those of ordinary skill in the art, the application can be implemented without these details as is apparent. It should be understood that the use of "system", "device", "unit" and / or "module" terms in the application is a method for distinguishing different parts, elements, parts or assemblies of different levels in a sequential arrangement. However, if other expressions can achieve the same purpose, these terms can be replaced by other expressions.

[0064] It should be understood that when a device, unit or module is referred to as being "on," "connected to," or "coupled to" another device, unit or module, it may be directly on, connected to, coupled to, or communicating with other devices, units or modules, or there may be intermediate devices, units or modules, unless the context clearly indicates an exception. For example, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0065] The terms used in this application are only for describing specific embodiments and are not intended to limit the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates an exception, the words "one", "a", "a kind" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified features, wholes, steps, operations, elements and / or components, and such expressions do not constitute an exclusive list, and other features, wholes, steps, operations, elements and / or components may also be included.

[0066] These and other features and characteristics, methods of operation, functions of related elements of the structure, combinations of parts, and economies of manufacture of the present application may be better understood with reference to the following description and drawings, which form a part of the specification. However, it is to be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of protection of the present application. It is to be understood that the drawings are not drawn to scale.

[0067] Various structural diagrams are used in this application to illustrate various variations of the embodiments of this application. It should be understood that the above or below structures are not intended to limit this application. The scope of protection of this application shall be subject to the claims.

[0068] The method for determining the turning radius of a semi-trailer vehicle train provided in the embodiment of the present application can be applied to the scenario of calculating the minimum turning radius of the rear axle of any vehicle body included in the semi-trailer vehicle train during the actual turning process. For example, it can be applied to the scenario of an unmanned semi-trailer vehicle train autonomously controlling turning, and can also be applied to the scenario of assisting the driver in turning the semi-trailer vehicle train.

[0069] In the embodiment of the present application, the method for determining the turning radius of the semi-trailer vehicle train can be executed by an electronic device with certain computing capabilities. The electronic device may include but is not limited to a controller in the semi-trailer vehicle train and an external device capable of real-time communication with the semi-trailer vehicle train. The external device may be, for example, a dispatching system for dispatching the semi-trailer vehicle train or a laptop, desktop computer or server where the service end of the unmanned driving system is located.

[0070] Figure 1 It is a flow chart of a method for determining the turning radius of a semi-trailer vehicle train provided in an embodiment of the present application.

[0071] like Figure 1 As shown, the method for determining the turning radius of the semi-trailer vehicle train specifically includes:

[0072] S110: Determine an articulation angle stability threshold of each semi-trailer trailer based on the body parameters of each body included in the semi-trailer vehicle train and the maximum range value of the front wheel deflection angle of the tractor.

[0073] Among them, a semi-trailer car train refers to an articulated train consisting of a tractor and one or more semi-trailer trailers (also called semi-trailers). The semi-trailer car train in the embodiment of the present disclosure is composed of multiple car bodies, and one car body at one side edge of each car body is a tractor, and the car bodies other than the tractor are all semi-trailer trailers connected in a semi-trailer manner. In some embodiments, the number of semi-trailer trailers is greater than or equal to 2, that is, the semi-trailer car train is mounted with at least two semi-trailer trailers.

[0074] The vehicle body parameters are parameters related to describing the vehicle body, such as the length, width, wheelbase, track width, etc. of the vehicle body. The maximum range value of the front wheel deflection angle refers to the maximum angle value of the front wheel deflection angle that can be turned, which can be obtained through the vehicle factory parameters or through angle sensor measurement. The articulation angle stability threshold is the maximum value of the articulation angle when the rate of change of the articulation angle of each semi-trailer is 0. The articulation angle here can be the angle between the center axis of the semi-trailer and the center axis of its corresponding previous adjacent vehicle body. The previous adjacent vehicle body is a vehicle body close to one end of the tractor and articulated with the semi-trailer.

[0075] Specifically, in the process of using geometric methods to calculate the minimum turning radius of a semi-trailer car train with a semi-trailer trailer in the related art, the mutual movement between the car bodies and the collision risk between the car bodies caused by the car body width are ignored, resulting in the calculated minimum turning radius being more biased towards a theoretical value, and not being well matched with the actual movement of the car train, thereby reducing the accuracy of the minimum turning radius. Based on this, in this application, the minimum turning radius will be calculated based on the mutual movement between the car bodies and the collision risk.

[0076] In order to simplify the processing process, in this application, the mutual movement between the vehicle bodies and the collision risk between the vehicle bodies can be considered separately to obtain the maximum articulation angle in the corresponding situation, and then the maximum articulation angles in the two situations can be combined to obtain the controllable maximum articulation angle (i.e., the target articulation angle threshold) during the actual turning movement. Finally, the target articulation angle threshold is used to calculate the minimum turning radius of each vehicle body.

[0077] In specific implementation, the electronic device can simplify the motion model of the semi-trailer vehicle train into a kinematic model that does not consider the vehicle width, such as a single-axle bicycle model, so as to only consider the mutual motion between the vehicle bodies and ignore the vehicle body collision problem caused by the vehicle body width. Then, based on the body parameters of each vehicle body (ignoring the body parameters of the vehicle body width) and the articulation angle of each semi-trailer, combined with the kinematic model that does not consider the vehicle width, the relative stability state of each vehicle body during the turning process is analyzed, that is, the mutual motion state in which the change rate of the articulation angle corresponding to each semi-trailer remains 0. Afterwards, the maximum range value of the front wheel deflection angle of the tractor is combined to deduce the maximum value of the articulation angle of each semi-trailer under the above relatively stable state, as the articulation angle stability threshold of the corresponding semi-trailer.

[0078] S120: Determine a safety threshold of the articulation angle of each semi-trailer based on the vehicle body parameters and the maximum range of the articulation angle of each semi-trailer.

[0079] Among them, the maximum range value of the articulation angle is the maximum value of the articulation angle between two adjacent vehicle bodies, which can be obtained by querying the vehicle factory parameters or by measurement. The articulation angle safety threshold is the maximum value of the articulation angle when the two adjacent vehicle bodies are in a safe state. The safe state includes the state where the two adjacent vehicle bodies are in contact but there is no collision squeezing force, and the articulation angle is less than or equal to a right angle, or the state where there is no contact between the two adjacent vehicle bodies and the articulation angle is equal to a right angle.

[0080] Specifically, in consideration of the collision risk between the vehicles, the electronic device can calculate the articulation angle of each vehicle in a safe state during the turning movement according to the vehicle parameters (including the vehicle width) of each vehicle. Then, according to the articulation angle of each vehicle in a safe state and the maximum range of the articulation angle corresponding to the corresponding vehicle, the final articulation angle safety threshold of each vehicle is determined.

[0081] In this way, even if the semi-trailer vehicle train is equipped with multiple semi-trailer trailers of different sizes, the articulation angle safety threshold of each semi-trailer trailer can be calculated, and then the minimum turning radius of the semi-trailer trailers of different sizes can be calculated according to the subsequent process.

[0082] S130: Determine a target articulation angle threshold of each semi-trailer based on the articulation angle stability threshold and the articulation angle safety threshold.

[0083] Specifically, the articulation angle stability threshold is the maximum value of the articulation angle of each semi-trailer obtained by considering the mutual movement between each vehicle body separately. Therefore, in the actual turning process, as long as the articulation angle of the semi-trailer is less than or equal to the articulation angle stability threshold, it can be ensured that the mutual movement between each vehicle body is in a normal state. The articulation angle safety threshold is the maximum value of the articulation angle of each semi-trailer obtained by considering the size specifications and collision risk of each vehicle body separately. Therefore, in the actual turning process, as long as the articulation angle of the semi-trailer is less than or equal to the articulation angle safety threshold, it can be ensured that there is no collision risk between the vehicle bodies. Based on these situations, in order to comprehensively consider the turning movement process of the semi-trailer train and obtain an actually controllable target articulation angle threshold, for each semi-trailer, the electronic device can take the smaller value of the articulation angle stability threshold and the articulation angle safety threshold corresponding to the semi-trailer as the target articulation angle threshold. That is, the target articulation angle threshold where β s,i represents the hinge angle stability threshold, Indicates the articulation angle safety threshold.

[0084] S140: Determine the minimum turning radius of the rear axle of any vehicle body based on the vehicle body parameters and the target articulation angle threshold.

[0085] The rear axle minimum turning radius is the minimum turning radius corresponding to the rear axle of the vehicle body.

[0086] Specifically, the electronic device can calculate the minimum turning radius of the rear axle of each vehicle body according to the geometric relationship between the vehicle bodies of the semi-trailer train during the turning process, using the target articulation angle threshold corresponding to each semi-trailer trailer and the vehicle body parameters of each vehicle body.

[0087] The method for determining the turning radius of the above-mentioned semi-trailer vehicle train provided in the embodiment of the present application can calculate the articulation angle stability threshold when each semi-trailer trailer is in a relatively stable state of motion during the turning process according to the body parameters of each vehicle body in the semi-trailer vehicle train and the maximum range value of the front wheel deflection angle of the tractor, and calculate the articulation angle safety threshold without the risk of collision between each semi-trailer trailer according to each vehicle body parameter and the maximum range value of the articulation angle of each semi-trailer trailer, and then determine the controllable target articulation angle threshold of each semi-trailer trailer in the actual turning process according to the articulation angle stability threshold and the articulation angle safety threshold, and calculate the minimum turning radius of the rear axle of any vehicle body according to each vehicle body parameter and the target articulation angle threshold; realize the calculation of the minimum turning radius of the rear axle of each vehicle body according to the mutual motion relationship between multiple vehicle bodies in the semi-trailer vehicle train and the limitation of the vehicle body size on the vehicle body collision in the actual application scenario, thereby improving the accuracy of the minimum turning radius of the semi-trailer vehicle train with multiple semi-trailers mounted in the actual application scenario.

[0088] In some embodiments, S110 includes: for any semi-trailer, when the rate of change of the articulation angle of each semi-trailer is 0, determining the articulation angle stability threshold based on the wheelbase of the semi-trailer, the wheelbase and connecting rod length of each front vehicle body, and the maximum range value of the front wheel deflection angle.

[0089] The wheelbase is the distance between the hinge point between the previous adjacent vehicle body and the semi-trailer for which the articulation angle stability threshold is currently calculated and the center of the rear axle of the semi-trailer. The front vehicle body is any vehicle body among the vehicle bodies that is bounded by the semi-trailer but does not include the semi-trailer and is close to one end of the tractor. The connecting rod length is the distance between the center of the rear axle of the semi-trailer and the hinge point between the semi-trailer and the next adjacent vehicle body. The next adjacent vehicle body is the vehicle body that is far from one end of the tractor and is articulated with the previous semi-trailer for which the articulation angle stability threshold is currently calculated.

[0090] Specifically, assuming that the semi-trailer train moves in a horizontal plane, and ignoring the relative sliding between the wheels and the ground, and in order to simplify the analysis of the mutual motion relationship between the vehicle bodies, the semi-trailer train with multiple semi-trailers is simplified to a single-axle bicycle model, and the following can be obtained: Figure 2 Schematic diagram of the turning process of a semi-trailer train shown.

[0091] according to Figure 2 The geometric relationship shown in the figure can be obtained as shown in the following formula (1): the turning radius R0 at the center of the rear axle of the tractor and the turning radius R at the center of the front axle of the tractor f,0 and the turning radius R at the articulation point H0 between the tractor and the first semi-trailer h,0 :

[0092]

[0093] Wherein, L0 represents the wheelbase of the tractor, i.e., the distance between the center of the front axle of the tractor and the hinge point H0 between the tractor and the first semi-trailer; δ f L is the front wheel deflection angle of the tractor, which is used to control the turning movement of the entire semi-trailer train; h,0 It is the length of the connecting rod of the tractor, that is, the distance between the center of the rear axle of the tractor and the hinge point H0.

[0094] according to Figure 2 The geometric relationship shown in the figure can also be used to obtain the turning radius R1 at the center of the rear axle of the first semi-trailer articulated with the tractor, the turning radius R1 at the articulation point H1 between the first semi-trailer and the second semi-trailer as shown in the following formula (2): h,1 :

[0095]

[0096] Wherein, L1 represents the wheelbase of the first semi-trailer, that is, the distance from the hinge point H1 to the center of the rear axle of the first semi-trailer; the hinge angle β1 is the angle between the center axis of the first semi-trailer and the center axis of the tractor, which is positive clockwise; α1 is the angle between the speed at the hinge point H1 and the center axis of the first semi-trailer; L h,1 It is the length of the connecting rod of the first semi-trailer, that is, the distance from the center of the rear axle of the first semi-trailer to the hinge point H1.

[0097] In addition, according to Figure 2 , the change rate of the articulation angle of the first semi-trailer can be obtained as shown in the following formula (3):

[0098]

[0099] Where v0 is the speed at the center of the rear axle of the tractor.

[0100] According to the above formulas (1) to (3), the change rate of the articulation angle between the i-1th (i=2,...,n)th vehicle body and the i-th vehicle body can be obtained: As shown in formula (4):

[0101]

[0102] in, is the rate of change of the articulation angle between the i-1th vehicle body and the i-th vehicle body, R h,i-1 H is the hinge point i-1 The turning radius at i is the articulation angle of the i-th semi-trailer, α i H is the hinge point i The angle between the velocity at and the central axis of the i-th semi-trailer, L i is the wheelbase of the ith semi-trailer, L h,i-1 is the length of the connecting rod of the i-1th vehicle body.

[0103] Combining formula (3) and formula (4), the turning process of the semi-trailer train is analyzed as follows:

[0104] When R h,i-1 <L i When the articulation angle β of the semi-trailer train is i How to change, Always holds true. At this time, the hinge angle β i As R increases, two adjacent vehicles in the semi-trailer train will eventually collide. j,i-1 ≥L i When the hinge angle β i Increase to a certain extent, it can make At this time, the semi-trailer train enters a state of relative stable movement of each car body, and no collision occurs between two adjacent car bodies in the semi-trailer train.

[0105] Depend on The articulation angle of the semi-trailer train when it enters a relatively stable state of motion during a turn can be obtained, as shown in formula (5):

[0106]

[0107] According to the prior information, the range of the front wheel deflection angle of the tractor can be obtained, which is set as δ f ∈[-δ max ,δ max ],δ max is the maximum range of the front wheel deflection angle. Then, according to formula (1), the range of the turning radius at the center of the rear axle of the tractor can be obtained as shown in formula (6):

[0108]

[0109] By R h,i-1 ≥L i Combining formula (4) and formula (6), the hinge point H can be obtained as shown in formula (7): i-1 The value range of the turning radius at is:

[0110]

[0111] Further combining formula (5) and formula (7), the articulation angle stability threshold of the i-th semi-trailer train in the semi-trailer train can be obtained, as shown in formula (8):

[0112]

[0113] In some embodiments, S120 includes: for each semi-trailer, when the semi-trailer and the previous adjacent vehicle body are in a safe state, determining the articulation angle safety threshold based on a first distance between a first vehicle edge of the previous adjacent vehicle body and a target articulation point between the semi-trailer and the previous adjacent vehicle body, a second distance between a second vehicle edge of the semi-trailer and the target articulation point, a first width of the first vehicle edge, a second width of the second vehicle edge, and a maximum range value of the articulation angle of the semi-trailer.

[0114] The first vehicle edge and the second vehicle edge are both vehicle edges close to the target hinge point.

[0115] Specifically, for a semi-trailer vehicle train carrying a plurality of semi-trailer trailers of different sizes, a schematic diagram of any two adjacent vehicle bodies colliding during a turn can be shown as follows: Figure 3 As shown in (a) to (d) in the figure.

[0116] According to the width of two adjacent vehicles, the critical position relationship of two adjacent vehicles in a safe state can be obtained as follows: Figure 3 As shown in (a) and (b) in the figure, the corners of the two car bodies just touch each other but there is no collision pressure. Figure 3 As shown in (c) and (d) in the figure, the two car bodies are not in contact but folded 90° to each other. Figure 3 The critical position geometric relationship between the two vehicle bodies is shown, and the articulation angle safety threshold of the semi-trailer is calculated.

[0117] by Figure 3 Taking (a) in FIG. 1 as an example, the vehicle body parameters related to the calculation of the articulation angle safety threshold may include the vertical distance (i.e., the first distance l ) from the target articulation point H to the first vehicle edge 301 of the previous adjacent vehicle body (shown as dotted filling) k ), the vertical distance (i.e., the second distance l) from the target articulation point H to the second vehicle edge 302 of the semi-trailer (illustrated by white filling) t ), a first width b of the first vehicle edge 301 i-1 , the second width b of the second vehicle edge 302 i According to these vehicle parameters, Figure 3 The geometric relationship shown is used to calculate the maximum articulation angle in the safety state. Afterwards, in order to ensure that the articulation angle meets the vehicle driving requirements, the smaller value between the calculated maximum articulation angle value and the maximum articulation angle range value corresponding to the semi-trailer can be used as the articulation angle safety threshold of the semi-trailer.

[0118] In some embodiments, the calculation of the articulation angle safety threshold may be specifically implemented as the following steps 121 to 123:

[0119] Step 121: Determine a third distance d1 between the target hinge point H and any vehicle body corner point A1 on the second vehicle edge 302. Greater than or equal to the first width b i-1 When the body parameters of two adjacent bodies meet When comparing the second distance l t With the first width b i-1 The articulation angle safety threshold is calculated according to the comparison results of A and B as follows.

[0120] A. If the second distance is greater than or equal to half of the first width, the hinge angle safety threshold is determined to be 90°.

[0121] Specifically, if the comparison result is Then see Figure 3 (d) in the figure, the calculated hinge angle safety threshold Determined to be 90°, that is

[0122] B. if the second distance is less than half of the first width, determining a hinge angle safety threshold based on the first distance, the second distance and the third distance;

[0123] Specifically, if the comparison result is Then see Figure 3 (b) in the figure, the hinge angle safety threshold is calculated according to the following formula (9):

[0124]

[0125] Step 122: after determining that the third distance d1 between the target hinge point H and any vehicle body corner point A1 in the second vehicle edge 302 is less than the first width b i-1 When the body parameters of two adjacent bodies meet When comparing the first distance l k With the second width b i The articulation angle safety threshold is calculated according to the comparison results of C and D as follows.

[0126] C. If the first distance is greater than or equal to half of the second width, the hinge angle safety threshold is determined to be 90°.

[0127] Specifically, if the comparison result is Then see Figure 3 (c) in the figure, the calculated hinge angle safety threshold Determined to be 90°, that is

[0128] D. If the first distance is less than half of the second width, determine the articulation angle safety threshold based on the first distance, the second distance, and a fourth distance d2 between the target articulation point H and any vehicle body corner point A2 in the first vehicle edge 301 .

[0129] Specifically, if the comparison result is Then see Figure 3 (a) in the figure, the hinge angle safety threshold is calculated according to the following formula (10):

[0130]

[0131] Among them, the fourth distance

[0132] Step 123: Update the articulation angle safety threshold based on the articulation angle safety threshold and the maximum range value of the articulation angle of the semi-trailer.

[0133] Specifically, compare the hinge angle safety threshold calculated in (1) or (2) above and the maximum range of the articulation angle obtained from the prior information The smaller value of the two is used as the new hinge angle safety threshold to update the hinge angle safety threshold, that is:

[0134]

[0135] In some embodiments, for the last vehicle body away from the tractor, S140 may be implemented as follows: based on the wheelbase L of the last vehicle body n and the target articulation angle threshold β n,max , determine the minimum turning radius of the rear axle of the last vehicle body.

[0136] Specifically, for a semi-trailer car train with multiple semi-trailers, its running speed when turning is usually low (v0≤30km / h), so α can be ignored. s,i-1 Based on this, the turning radius R at the rear axle center of the nth semi-trailer can be obtained according to formula (2): n , as shown in formula (12):

[0137]

[0138] Combining formula (8) and formula (11), the target articulation angle threshold corresponding to the nth semi-trailer can be obtained: Then, combined with formula (12), the minimum turning radius of the rear axle of the nth semi-trailer can be obtained: As shown in formula (13):

[0139]

[0140] In other embodiments, for any other vehicle body among the vehicle bodies except the last vehicle body, S140 can be implemented as: determining the minimum turning radius of the rear axle of the other vehicle bodies based on the minimum turning radius of the rear axle of the last vehicle body, the wheelbase of each rear vehicle body, the wheelbase of the last vehicle body, the connecting rod length of the other vehicle bodies, and the connecting rod length of each rear vehicle body.

[0141] The rear vehicle body is any vehicle body between the other vehicle bodies and the last vehicle body.

[0142] Specifically, when the semi-trailer train is in a relatively stable state of motion, Figure 2 The turning centers of the turning radii corresponding to each vehicle body coincide with one. At this time, according to the geometric relationship corresponding to each vehicle body, the minimum turning radius of the rear axle of any other vehicle body can be calculated from the minimum turning radius of the rear axle of the nth semi-trailer trailer calculated above, one vehicle body at a time, toward the tractor, as shown in formula (14):

[0143]

[0144] in, is the minimum turning radius of the rear axle of the i-1th vehicle body, L j is the wheelbase of the jth (j=i,…,n) vehicle body, L h,j is the length of the connecting rod of the jth vehicle body.

[0145] In some other embodiments, the electronic device can calculate the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train according to formula (13) and formula (14).

[0146] The embodiment of the present application also provides a method for determining the road passability of a semi-trailer vehicle train, which can be applied to the scenario of real-time calculation and judgment of whether a semi-trailer vehicle train can pass through a certain road during an actual turning process.

[0147] In the embodiment of the present application, the method for determining the road passability of the semi-trailer vehicle train can be performed by an electronic device with certain computing capabilities. The electronic device may include but is not limited to a controller in the semi-trailer vehicle train and an external device capable of real-time communication with the semi-trailer vehicle train. The external device may be, for example, a dispatching system for dispatching the semi-trailer vehicle train or a laptop, desktop computer or server where the service end of the unmanned driving system is located.

[0148] Figure 4 1 is a flow chart of a method for determining the road passability of a semi-trailer vehicle train provided in an embodiment of the present application. Figure 4 As shown, the method for determining the road passability of the semi-trailer vehicle train specifically includes:

[0149] S410: Determine a target channel width corresponding to the semi-trailer train based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer train.

[0150] Among them, the target channel width refers to the minimum channel width required during the driving process of the semi-trailer train.

[0151] Specifically, based on the minimum turning radius of the rear axle of each vehicle body calculated according to the turning radius determination method of the semi-trailer vehicle train provided in any of the above embodiments, the electronic device can calculate the target channel width of the semi-trailer vehicle train according to the definition of the channel width of the semi-trailer vehicle train, the minimum turning radius of the outer front wheel of the tractor in the semi-trailer vehicle train and the minimum turning radius of the inner rear wheel of the last semi-trailer trailer.

[0152] In some embodiments, S410 includes the following steps 411 to 413:

[0153] Step 411: Determine the minimum turning radius of the front outer wheel of the tractor based on the minimum turning radius of the rear axle of the tractor and the body parameters of the tractor.

[0154] In one example, according to the turning radius R at the center of the front axle of the tractor in formula (1), f,0 It can be seen that it is only necessary to obtain the estimated value of the maximum front wheel deflection angle δ of the tractor when the semi-trailer train is in a relatively stable state and a safe state. e,max , we can get the minimum turning radius R of the front outer wheel of the tractor 0,f,min .

[0155] See also Figure 5 According to the geometric relationship formed by the tractor during the turning process, the minimum turning radius of the rear axle can be calculated by the wheelbase L0 of the tractor, the wheelbase b0 of the tractor and the minimum turning radius of the rear axle. The maximum front wheel slip angle estimate is calculated as shown in formula (15).

[0156]

[0157] Then, combining formula (1) and formula (15), the minimum turning radius R of the front outer wheel of the tractor can be calculated according to formula (16): 0,f,min .

[0158]

[0159] In another example, the minimum turning radius of the rear axle can be calculated based on the wheelbase L0 of the tractor, the track width b0 of the tractor, and the minimum turning radius of the rear axle. according to Figure 5 The right-angle geometric relationship corresponding to the tractor of the semi-trailer train in a relatively stable state of motion is shown in the figure, and the minimum turning radius R of the front outer wheel of the tractor is calculated 0,f,min , as shown in formula (17):

[0160]

[0161] Step 412: Determine the minimum turning radius of the rear inner wheel of the last vehicle body based on the minimum turning radius of the rear axle of the last vehicle body far from one end of the tractor and the wheelbase of the last vehicle body.

[0162] Specifically, the minimum turning radius of the rear axle of the last semi-trailer in the semi-trailer train is and the wheelbase of the last semi-trailer n , the minimum turning radius R of the rear inner wheel of the last semi-trailer is calculated according to the following formula (18): n,r,min .

[0163]

[0164] Step 413: Determine the target channel width based on the minimum turning radius of the front outer wheel and the minimum turning radius of the rear inner wheel.

[0165] Specifically, according to the following formula (19), the minimum turning radius R of the front outer wheel of the tractor is 0,f,min The minimum turning radius R of the rear inner wheel of the last semi-trailer n,r,min , calculate the target channel width W n .

[0166]

[0167] S420: Determine whether the semi-trailer train passes through the target road based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road.

[0168] Specifically, the road passability verification index refers to the road curve radius (the radius of the arc at the outer edge of the road R p ) should be greater than the minimum turning radius of the rear axle of the tractor in the semi-trailer train, and the road width W p The target passage width of the semi-trailer train should be greater than the turning radius of the semi-trailer train when the turning radius is equal to the road curve radius. Therefore, the electronic device can judge whether the semi-trailer train can pass the target road according to the verification index.

[0169] In some embodiments, S420 includes: if it is determined that the road curve radius is greater than or equal to the minimum turning radius of the rear axle of the tractor, and the road width is determined to be greater than or equal to the sum of the target channel width and the preset width, then it is determined that the semi-trailer train passes through the target road.

[0170] The preset width is a preset distance value, which can be set empirically, for example, a value of about 0.3 m.

[0171] Specifically, the electronic device determines the road curve radius and the minimum turning radius of the rear axle of the tractor. The following formula (20) is satisfied, and the road width W p 、Target channel width W n When the preset width satisfies formula (21), it can be determined that the semi-trailer train can pass through the target road.

[0172]

[0173] W p ≥W n +W d (twenty one)

[0174] The method for determining the road passability of the above-mentioned semi-trailer vehicle train provided in the embodiment of the present application can calculate the target channel width required for the semi-trailer vehicle train to turn according to the minimum turning radius of the rear axle of each vehicle body, on the premise of accurately obtaining the minimum turning radius of the semi-trailer vehicle train carrying multiple semi-trailer trailers in actual application scenarios, and judge whether the semi-trailer vehicle train can pass through the target road according to the above-mentioned minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road; it is achieved that when the minimum turning radius of each vehicle body in the semi-trailer vehicle train is accurately and real-time calculated, it is possible to more accurately judge whether the semi-trailer vehicle train can pass through the target road, thereby improving the driving safety of the semi-trailer vehicle train.

[0175] The following is an embodiment of a device for determining a turning radius of a semi-trailer vehicle train provided in an embodiment of the present application. The device and the method for determining a turning radius of a semi-trailer vehicle train in the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the device for determining a turning radius of a semi-trailer vehicle train, reference can be made to the embodiment of the method for determining a turning radius of a semi-trailer vehicle train in the above-mentioned embodiment.

[0176] Figure 6 The schematic diagram of the structure of a turning radius determination device for a semi-trailer vehicle train provided in an embodiment of the present application is shown. The semi-trailer vehicle train is composed of multiple vehicle bodies, one of the vehicle bodies at one side edge of each vehicle body is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers. Figure 6 As shown, the turning radius determination device 600 of the semi-trailer vehicle train specifically includes:

[0177] The articulation angle stability threshold determination module 610 is used to determine the articulation angle stability threshold of each semi-trailer based on the body parameters of each body and the maximum range value of the front wheel deflection angle of the tractor; wherein the articulation angle stability threshold is the maximum value of the articulation angle when the change rate of the articulation angle of each semi-trailer is 0; the articulation angle is the angle between the central axis of the semi-trailer and the central axis of the previous adjacent body, and the previous adjacent body is the body close to one end of the tractor and articulated with the semi-trailer;

[0178] The articulation angle safety threshold determination module 620 is used to determine the articulation angle safety threshold of each semi-trailer trailer based on the parameters of each vehicle body and the maximum range value of the articulation angle of each semi-trailer trailer; wherein the articulation angle safety threshold is the maximum value of the articulation angle when two adjacent vehicle bodies are in a safe state; the safe state includes a state where the two adjacent vehicle bodies are in contact but there is no collision squeezing force, and the articulation angle is less than or equal to a right angle, or a state where the two adjacent vehicle bodies are not in contact and the articulation angle is equal to a right angle;

[0179] A target articulation angle threshold determination module 630 is used to determine a target articulation angle threshold of each semi-trailer based on an articulation angle stability threshold and an articulation angle safety threshold;

[0180] The rear axle minimum turning radius determination module 640 is used to determine the rear axle minimum turning radius of any vehicle body based on various vehicle body parameters and a target articulation angle threshold.

[0181] The turning radius determination device of the above-mentioned semi-trailer vehicle train provided in the embodiment of the present application can calculate the articulation angle stability threshold when each semi-trailer trailer is in a relatively stable state of motion during the turning process according to the body parameters of each vehicle body in the semi-trailer vehicle train and the maximum range value of the front wheel deflection angle of the tractor, and calculate the articulation angle safety threshold without collision risk between each semi-trailer trailer according to each vehicle body parameter and the maximum range value of the articulation angle of each semi-trailer trailer, and then determine the controllable target articulation angle threshold of each semi-trailer trailer in the actual turning process according to the articulation angle stability threshold and the articulation angle safety threshold, and calculate the minimum turning radius of the rear axle of any vehicle body according to each vehicle body parameter and the target articulation angle threshold; realize the calculation of the minimum turning radius of the rear axle of each vehicle body according to the mutual motion relationship between multiple vehicle bodies in the semi-trailer vehicle train and the limitation of the vehicle body size on the vehicle body collision in the actual application scenario, thereby improving the accuracy of the minimum turning radius of the semi-trailer vehicle train with multiple semi-trailers mounted in the actual application scenario.

[0182] In some embodiments, the hinge angle stability threshold determination module 610 is specifically configured to:

[0183] For any half-trailer, when the change rate of the articulation angle of each half-trailer is 0, the articulation angle stability threshold is determined based on the wheelbase of the half-trailer, the wheelbase and the connecting rod length of each front vehicle body, and the maximum range value of the front wheel deflection angle;

[0184] Among them, the wheelbase is the distance between the hinge point between the previous adjacent car body and the semi-trailer to the center of the rear axle of the semi-trailer; the front car body is any car body among the car bodies, which is bounded by the semi-trailer but does not include the semi-trailer and is close to one end of the tractor; the connecting rod length is the distance between the center of the rear axle of the semi-trailer and the hinge point between the semi-trailer and the next adjacent car body. The next adjacent car body is the car body far away from one end of the tractor and articulated with the semi-trailer.

[0185] In some embodiments, the articulation angle safety threshold determination module 620 is specifically configured to:

[0186] For each semi-trailer, when the semi-trailer and the previous adjacent vehicle body are in a safe state, the articulation angle safety threshold is determined based on a first distance from a first vehicle edge of the previous adjacent vehicle body to a target articulation point between the semi-trailer and the previous adjacent vehicle body, a second distance from a second vehicle edge of the semi-trailer to the target articulation point, a first width of the first vehicle edge, a second width of the second vehicle edge, and a maximum range value of the articulation angle of the semi-trailer; wherein the first vehicle edge and the second vehicle edge are both vehicle edges close to the target articulation point.

[0187] Furthermore, the articulation angle safety threshold determination module 620 is specifically configured to:

[0188] When the third distance between the target hinge point and any vehicle body corner point in the second vehicle edge is greater than or equal to half of the first width:

[0189] If the second distance is greater than or equal to half of the first width, the hinge angle safety threshold is determined to be 90°;

[0190] If the second distance is less than half of the first width, determining a hinge angle safety threshold based on the first distance, the second distance and the third distance;

[0191] When the third distance is less than half of the first width:

[0192] If the first distance is greater than or equal to half of the second width, the hinge angle safety threshold is determined to be 90°;

[0193] If the first distance is less than half of the second width, determining an articulation angle safety threshold based on the first distance, the second distance, and a fourth distance between the target articulation point and any vehicle body corner point in the first vehicle edge;

[0194] The articulation angle safety threshold is updated based on the articulation angle safety threshold and the maximum range value of the articulation angle of the semi-trailer.

[0195] In some embodiments, the rear axle minimum turning radius determination module 640 is specifically used to:

[0196] For the last vehicle body away from the tractor, determining the minimum turning radius of the rear axle of the last vehicle body based on the wheelbase of the last vehicle body and the target articulation angle threshold;

[0197] And / or, for any other vehicle body among the vehicle bodies except the last vehicle body, the minimum turning radius of the rear axle of the other vehicle bodies is determined based on the minimum turning radius of the rear axle of the last vehicle body, the wheelbase of each rear vehicle body, the wheelbase of the last vehicle body, the connecting rod length of the other vehicle bodies, and the connecting rod length of each rear vehicle body; wherein the rear vehicle body is any vehicle body located between the other vehicle bodies and the last vehicle body.

[0198] In some embodiments, the number of semi-trailer trailers is greater than or equal to two.

[0199] The turning radius determination device for a semi-trailer vehicle train provided in an embodiment of the present application can execute the turning radius determination method for a semi-trailer vehicle train provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0200] It is worth noting that in the embodiment of the turning radius determination device for the above-mentioned semi-trailer vehicle train, the various modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0201] The following is an embodiment of a device for determining the road passability of a semi-trailer vehicle train provided in an embodiment of the present application. The device and the method for determining the road passability of a semi-trailer vehicle train in the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the device for determining the road passability of a semi-trailer vehicle train, reference can be made to the embodiment of the method for determining the road passability of a semi-trailer vehicle train in the above-mentioned embodiments.

[0202] Figure 7 The schematic diagram of the structure of a road passability determination device for a semi-trailer vehicle train provided by an embodiment of the present application is shown. The semi-trailer vehicle train is composed of multiple vehicle bodies, one of the vehicle bodies at one side edge of each vehicle body is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers. Figure 7 As shown, the road passability determination device 700 of the semi-trailer vehicle train specifically includes:

[0203] The target channel width determination module 710 is used to determine the target channel width corresponding to the semi-trailer vehicle train based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method of the semi-trailer vehicle train described in any embodiment of the present application;

[0204] The road passability determination module 720 is used to determine whether the semi-trailer train passes through the target road based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road.

[0205] The road passability determination device of the above-mentioned semi-trailer vehicle train provided in the embodiment of the present application can calculate the target channel width required for the semi-trailer vehicle train to turn according to the minimum turning radius of the rear axle of each vehicle body, on the premise of accurately obtaining the minimum turning radius of the semi-trailer vehicle train carrying multiple semi-trailer trailers in actual application scenarios, and judge whether the semi-trailer vehicle train can pass through the target road according to the above-mentioned minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road; it is achieved that when the minimum turning radius of each vehicle body in the semi-trailer vehicle train is accurately and real-time calculated, it is possible to more accurately judge whether the semi-trailer vehicle train can pass through the target road, thereby improving the driving safety of the semi-trailer vehicle train.

[0206] In some embodiments, the target channel width determination module 710 is specifically used to:

[0207] Determine the minimum turning radius of the front outer wheel of the tractor based on the minimum turning radius of the rear axle of the tractor and the body parameters of the tractor;

[0208] Determine the minimum turning radius of the rear inner wheel of the last vehicle body based on the minimum turning radius of the rear axle of the last vehicle body away from one end of the tractor and the wheelbase of the last vehicle body;

[0209] The target channel width is determined based on the minimum turning radius of the front outer wheel and the minimum turning radius of the rear inner wheel.

[0210] In some embodiments, the road passability determination module 720 is specifically used to:

[0211] If it is determined that the road curve radius is greater than or equal to the minimum turning radius of the rear axle of the tractor, and the road width is determined to be greater than or equal to the sum of the target channel width and the preset width, it is determined that the semi-trailer train passes through the target road.

[0212] The turning radius determination device for a semi-trailer vehicle train provided in an embodiment of the present application can execute the turning radius determination method for a semi-trailer vehicle train provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

[0213] It is worth noting that in the embodiment of the road passability determination device of the above-mentioned semi-trailer vehicle train, the various modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0214] Figure 8 It is a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic device may include but is not limited to a controller in a semi-trailer train and an external device capable of real-time communication with the semi-trailer train. The external device may be, for example, a dispatching system for dispatching semi-trailer trains or a laptop, desktop computer or server where the service end of an unmanned driving system is located.

[0215] like Figure 8As shown, the electronic device 800 includes a central processing unit (CPU) 801, which can perform various processes in the turning radius determination method of the semi-trailer vehicle train or the road passability determination method of the semi-trailer vehicle train in any of the above-mentioned embodiments according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 to the random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic device 800 are also stored. The CPU 801, the ROM 802, and the RAM 803 are connected to each other through the bus 804. The input / output (I / O) interface 805 is also connected to the bus 804.

[0216] Optionally, the following components are connected to the I / O interface 805: an input section 808 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed.

[0217] In particular, according to the embodiment of the present application, the method described in any of the embodiments above can be implemented as a computer software program. For example, the embodiment of the present application includes a computer program product, which includes a computer program tangibly contained in a readable medium thereof, and the computer program includes a program code for executing the turning radius determination method of the semi-trailer vehicle train or the road passability determination method of the semi-trailer vehicle train in any embodiment of the present application. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811.

[0218] The present application also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device described in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled in the electronic device.

[0219] The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the method for determining the turning radius of a semi-trailer vehicle train or the method for determining the road passability of a semi-trailer vehicle train described in any embodiment of the present application.

[0220] Fig. 9The structure diagram of a semi-trailer vehicle train provided by the embodiment of the present application is shown. Fig. 9 As shown, the semi-trailer vehicle train includes at least two vehicle bodies ( Fig. 9 not shown) and controller 910.

[0221] One of the vehicle bodies at one side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers;

[0222] The controller 910 is used to execute the method for determining the turning radius of a semi-trailer vehicle train or the method for determining the road passability of a semi-trailer vehicle train described in any of the above embodiments.

[0223] The controller 910 may be a software system, a hardware system, or a system combining software and hardware. For example, the controller 910 is a software system running on an operating system, and the vehicle-mounted hardware system is a hardware system supporting the operation of the operating system.

[0224] although Fig. 9 It is not shown in the figure, but it is understandable that the semi-trailer vehicle train 900 also includes at least a plurality of sensors and an underlying execution system.

[0225] The multiple sensors are used at least to obtain environmental data and driving status-related data of the tractor in the semi-trailer train, as well as driving status-related data of the semi-trailer trailer, and send the environmental data and driving status-related data to the controller 910 to provide a data basis for the controller 910.

[0226] In some embodiments, multiple sensors include but are not limited to wheel speed sensors, speed sensors, acceleration sensors, steering wheel angle sensors, front wheel angle sensors, etc., for obtaining vehicle driving data; and include but are not limited to cameras, laser radars, and millimeter wave radars, etc., for sensing the vehicle's surrounding environment. In addition, sensors for measuring posture may include, for example, GNSS sensors and INS sensors.

[0227] The bottom-level execution system is at least used to receive information from the controller 910 and control the driving of the semi-trailer train. The bottom-level execution system includes but is not limited to a chassis system, a drive system, a steering system, a braking system, and the like.

[0228] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the methods, devices, equipment and computer program products according to various embodiments of the present application. In this regard, each box in the road map or block diagram can represent a module, a program segment or a part of the code, and the above-mentioned module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0229] The units or modules involved in the embodiments described in this application may be implemented by software or hardware. The units or modules described may also be set in a processor, and the names of these units or modules do not constitute limitations on the units or modules themselves in some cases.

[0230] It should be understood that the above specific embodiments of the present application are only used to illustrate or explain the principles of the present application, and do not constitute a limitation to the present application. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present application should be included in the protection scope of the present application. In addition, the claims attached to the present application are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or the equivalent forms of such scope and boundaries.

Claims

1. A method for determining the turning radius of a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, one of the vehicle bodies at one side edge of each of the vehicle bodies is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers, characterized in that: include: Based on the body parameters of each of the body and the maximum range value of the front wheel deflection angle of the tractor, the articulation angle stability threshold of each of the semi-trailer trailers is determined; wherein the articulation angle stability threshold is the maximum value of the articulation angle when the change rate of the articulation angle of each of the semi-trailer trailers is 0; the articulation angle is the angle between the central axis of the semi-trailer trailer and the central axis of the previous adjacent body, and the previous adjacent body is the body close to one end of the tractor and articulated with the semi-trailer trailer; Based on the parameters of each vehicle body and the maximum range value of the articulation angle of each semi-trailer, the articulation angle safety threshold of each semi-trailer is determined; wherein the articulation angle safety threshold is the maximum value of the articulation angle when two adjacent vehicle bodies are in a safe state; the safe state includes a state where the two adjacent vehicle bodies are in contact but without collision and extrusion force, and the articulation angle is less than or equal to a right angle, or a state where the two adjacent vehicle bodies are not in contact and the articulation angle is equal to a right angle; Determining a target articulation angle threshold of each of the semi-trailer trailers based on the articulation angle stability threshold and the articulation angle safety threshold; Based on the vehicle body parameters and the target articulation angle threshold, a minimum turning radius of a rear axle of any vehicle body is determined.

2. The method according to claim 1, characterized in that Determining the articulation angle stability threshold of each semi-trailer based on the vehicle body parameters of each vehicle body and the maximum range value of the front wheel deflection angle of the tractor comprises: For any of the semi-trailers, when the change rate of the articulation angle of each of the semi-trailers is 0, determining the articulation angle stability threshold value based on the wheelbase of the semi-trailer, the wheelbase and the connecting rod length of each front vehicle body, and the maximum range value of the front wheel deflection angle; Among them, the wheelbase is the distance between the hinge point between the previous adjacent car body and the semi-trailer and the center of the rear axle of the semi-trailer; the leading car body is any car body among the car bodies, which is bounded by the semi-trailer but does not include the semi-trailer and is close to one end of the tractor; the connecting rod length is the distance between the center of the rear axle of the semi-trailer and the hinge point between the semi-trailer and the next adjacent car body, and the next adjacent car body is the car body that is far away from one end of the tractor and is hinged with the semi-trailer.

3. The method according to claim 1, characterized in that The determining of the articulation angle safety threshold of each semi-trailer based on each of the vehicle body parameters and the maximum range of the articulation angle of each semi-trailer comprises: For each of the semi-trailer trailers, when the semi-trailer trailer and the previous adjacent vehicle body are in the safe state, the articulation angle safety threshold is determined based on a first distance from a first vehicle edge of the previous adjacent vehicle body to a target articulation point between the semi-trailer trailer and the previous adjacent vehicle body, a second distance from a second vehicle edge of the semi-trailer trailer to the target articulation point, a first width of the first vehicle edge, a second width of the second vehicle edge, and a maximum range value of the articulation angle of the semi-trailer trailer; wherein the first vehicle edge and the second vehicle edge are both vehicle edges close to the target articulation point.

4. The method according to claim 3, characterized in that The determining of the articulation angle safety threshold based on a first distance between a first vehicle edge of the previous adjacent vehicle body and a target articulation point between the semi-trailer and the previous adjacent vehicle body, a second distance between a second vehicle edge of the semi-trailer and the target articulation point, a first width of the first vehicle edge, a second width of the second vehicle edge, and a maximum range value of the articulation angle of the semi-trailer comprises: When a third distance between the target hinge point and any vehicle body corner point in the second vehicle edge is greater than or equal to half of the first width: If the second distance is greater than or equal to half of the first width, determining that the hinge angle safety threshold is 90°; If the second distance is less than half of the first width, determining the articulation angle safety threshold based on the first distance, the second distance and the third distance; When the third distance is less than half of the first width: If the first distance is greater than or equal to half of the second width, determining that the hinge angle safety threshold is 90°; If the first distance is less than half of the second width, determining the articulation angle safety threshold based on the first distance, the second distance, and a fourth distance between the target articulation point and any vehicle body corner point in the first vehicle edge; The articulation angle safety threshold is updated based on the articulation angle safety threshold and the maximum articulation angle range value of the semi-trailer.

5. The method according to claim 1, characterized in that The determining, based on the vehicle body parameters and the target articulation angle threshold, of the minimum turning radius of the rear axle of any vehicle body comprises: For the last vehicle body away from the tractor, determining the minimum turning radius of the rear axle of the last vehicle body based on the wheelbase of the last vehicle body and the target articulation angle threshold; And / or, for any other vehicle body among the vehicle bodies except the last vehicle body, the minimum turning radius of the rear axle of the other vehicle body is determined based on the minimum turning radius of the rear axle of the last vehicle body, the wheelbase of each rear vehicle body, the wheelbase of the last vehicle body, the connecting rod length of the other vehicle bodies, and the connecting rod length of each rear vehicle body; wherein the rear vehicle body is any vehicle body located between the other vehicle bodies and the last vehicle body.

6. The method according to claim 1, characterized in that The number of the semi-trailer trailers is greater than or equal to 2.

7. A method for determining the road passability of a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, one of the vehicle bodies at one side edge of each of the vehicle bodies is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers, characterized in that: include: Based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train, determining the target channel width corresponding to the semi-trailer vehicle train; wherein the minimum turning radius of the rear axle is determined by the method for determining the turning radius of the semi-trailer vehicle train according to any one of claims 1 to 6; Based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road, it is determined whether the semi-trailer vehicle train passes through the target road.

8. The method according to claim 7, characterized in that The determining of the target channel width corresponding to the semi-trailer vehicle train based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train comprises: Determining the minimum turning radius of the front outer wheel of the tractor based on the minimum turning radius of the rear axle of the tractor and the body parameters of the tractor; Determine the minimum turning radius of the rear inner wheel of the last vehicle body based on the minimum turning radius of the rear axle of the last vehicle body away from one end of the tractor and the wheelbase of the last vehicle body; The target channel width is determined based on the front outer wheel minimum turning radius and the rear inner wheel minimum turning radius.

9. The method according to claim 7 or 8, characterized in that: The determining whether the semi-trailer vehicle train passes through the target road based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road comprises: If it is determined that the road curve radius is greater than or equal to the minimum turning radius of the rear axle of the tractor, and it is determined that the road width is greater than or equal to the sum of the target channel width and a preset width, it is determined that the semi-trailer train passes through the target road.

10. A device for determining the turning radius of a semitrailer vehicle train, wherein the semitrailer vehicle train is composed of a plurality of vehicle bodies, one of the vehicle bodies at one side edge of each of the vehicle bodies is a tractor, and the vehicle bodies other than the tractor are all semitrailer trailers, characterized in that: include: an articulation angle stability threshold determination module, for determining an articulation angle stability threshold of each of the semi-trailer trailers based on the vehicle body parameters of each of the vehicle bodies and the maximum range value of the front wheel deflection angle of the tractor; wherein the articulation angle stability threshold is the maximum value of the articulation angle when the rate of change of the articulation angle of each of the semi-trailer trailers is 0; the articulation angle is the angle between the central axis of the semi-trailer trailer and the central axis of the previous adjacent vehicle body, the previous adjacent vehicle body being the vehicle body close to one end of the tractor trailer and articulated with the semi-trailer trailer; an articulation angle safety threshold determination module, for determining an articulation angle safety threshold of each of the semi-trailer trailers based on each of the vehicle body parameters and the maximum range of the articulation angle of each of the semi-trailer trailers; wherein the articulation angle safety threshold is the maximum value of the articulation angle when two adjacent vehicle bodies are in a safe state; the safe state includes a state where the two adjacent vehicle bodies are in contact but without collision squeezing force, and the articulation angle is less than or equal to a right angle, or a state where the two adjacent vehicle bodies are not in contact and the articulation angle is equal to a right angle; a target articulation angle threshold determination module, configured to determine a target articulation angle threshold of each of the semi-trailer trailers based on the articulation angle stability threshold and the articulation angle safety threshold; The rear axle minimum turning radius determination module is used to determine the rear axle minimum turning radius of any of the vehicle bodies based on the vehicle body parameters and the target articulation angle threshold.

11. A device for determining the road passability of a semi-trailer vehicle train, wherein the semi-trailer vehicle train is composed of a plurality of vehicle bodies, wherein one of the vehicle bodies at one side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers, wherein: include: A target channel width determination module, used to determine the target channel width corresponding to the semi-trailer vehicle train based on the minimum turning radius of the rear axle of each vehicle body in the semi-trailer vehicle train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method of the semi-trailer vehicle train according to any one of claims 1 to 6; The road passability determination module is used to determine whether the semi-trailer vehicle train passes through the target road based on the minimum turning radius of the rear axle, the target channel width, and the road curve radius and road width of the target road.

12. An electronic device, characterized in that: include: Processor and memory; The processor is used to execute the method for determining the turning radius of a semi-trailer vehicle train as described in any one of claims 1 to 6, or the method for determining the road passability of a semi-trailer vehicle train as described in any one of claims 7 to 9 by calling the program or instruction stored in the memory.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, which enables a computer to execute the method for determining the turning radius of a semi-trailer vehicle train as described in any one of claims 1 to 6, or the method for determining the road passability of a semi-trailer vehicle train as described in any one of claims 7 to 9.

14. A semi-trailer car train, characterized in that: include: At least two vehicles and controllers; One of the vehicle bodies located at one side edge is a tractor, and the vehicle bodies other than the tractor are semi-trailer trailers; The controller is used to execute the method for determining the turning radius of a semi-trailer vehicle train as described in any one of claims 1 to 6, or the method for determining the road passability of a semi-trailer vehicle train as described in any one of claims 7 to 9.

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