Method, device, apparatus and medium for determining vehicle, radius and road passability

Abstract

The present application discloses a method, device, equipment, and medium for determining a vehicle, radius, and road passability. The method for determining the turning radius of a full-trailer train includes: determining a maximum constraint value for the front wheel angle of the tractor based on the first distance, first wheelbase, and second distance of each full-trailer trailer, as well as the second wheelbase and maximum allowable value of the front wheel angle of the tractor; the first distance is the distance from the connection point with the preceding adjacent vehicle body to the center point of the front axle; the second distance is the distance from the center point of the rear axle to the connection point with the following adjacent vehicle body; the maximum constraint value for the front wheel angle is the maximum value of the front wheel angle when the full-trailer train is in a relatively stable state of motion; and determining the minimum turning radius of the rear axle of any vehicle body based on the second wheelbase, the maximum constraint value for the front wheel angle, and the first distance, first wheelbase, and second distance of each full-trailer trailer. This improves the accuracy of the minimum turning radius of a full-trailer train carrying multiple full-trailers in actual application scenarios.

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, radius and road passability. Background Art

[0002] In scenarios such as airports and factory areas, to improve transportation efficiency, full-trailer trains equipped with intelligent driving systems (such as unmanned driving systems and assisted driving systems) are often used. A full-trailer train is an articulated train consisting of a tractor and one or more full-trailer trailers (also called full trailers). To ensure the safe operation of the full-trailer train, the intelligent driving system needs to determine the full-trailer train's minimum turning radius. This minimum turning radius refers to the turning radius corresponding to the vehicle's wheel steering angle being turned to the maximum.

[0003] The main existing method for obtaining the minimum turning radius of a full-trailer train is to query the vehicle's factory parameters. However, this method only yields a theoretical value. If at least one of the following factors changes in actual application scenarios, such as the vehicle's operating conditions, the number of mounted full-trailer trailers, or the trailer size, the minimum turning radius obtained using this method may not be accurate. Consequently, the minimum turning radius obtained through this query is insufficiently adaptable and accurate for actual application scenarios. Summary of the Invention

[0004] In order to solve the above-mentioned technical problem of being unable to accurately and flexibly obtain the minimum turning radius of a fully trailered vehicle train, 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 the turning radius of a full-trailer truck train, wherein the full-trailer truck train is composed of multiple truck bodies, wherein one truck body at a side edge of each truck body is a tractor, and each truck body other than the tractor is a full-trailer trailer. The method comprises:

[0006] Based on the first distance, the first wheelbase and the second distance of each of the full trailers, as well as the second wheelbase and the maximum allowable value of the front wheel deflection angle of the tractor, a maximum constraint value of the front wheel deflection angle of the tractor is determined; wherein the first distance is the distance from the first connection point between the full trailer and the preceding adjacent vehicle body to the center point of the front axle of the full trailer; the second distance is the distance from the center point of the rear axle of the full trailer to the second connection point between the full trailer and the following adjacent vehicle body; the maximum constraint value of the front wheel deflection angle is the maximum value of the front wheel deflection angle when the full trailer vehicle train is in a relatively stable state of motion, wherein the relatively stable state of motion is when the rate of change of the first angle and the second angle of each of the full trailers is 0, the first angle is the angle between the front axle heading of the full trailer and the rear axle heading of the preceding adjacent vehicle body, and the second angle is the angle between the front axle heading and the rear axle heading of the full trailer;

[0007] The minimum turning radius of the rear axle of any vehicle body is determined based on the second wheelbase, the maximum constraint value of the front wheel deflection angle, and the first distance, the first wheelbase, and the second distance of each of the full trailers.

[0008] In some embodiments, determining the maximum constraint value of the front wheel angle of the tractor based on the first distance, the first wheelbase, and the second distance of each of the full trailers, and the second wheelbase and the maximum allowable value of the front wheel angle of the tractor includes:

[0009] For any of the aforementioned full trailers:

[0010] When the rate of change of the first angle is zero, a first front wheel deflection angle constraint value of the tractor's front wheel deflection angle under the constraint of the front axle of the full trailer is determined based on a first numerical relationship, a first conversion relationship, and a second conversion relationship; wherein the first numerical relationship is a numerical relationship between the coupling turning radius corresponding to the first coupling point and the first distance; the first conversion relationship is a conversion relationship between the coupling turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, and the second distance of the front vehicle body in the stable state of relative motion; the front vehicle body is each vehicle body that is bounded by the full trailer but does not include the full trailer and is close to one end of the tractor; the second conversion relationship is a conversion relationship between the front wheel deflection angle, the second wheelbase, and the rear axle turning radius determined based on a kinematic model;

[0011] When the rate of change of the second angle is zero, determining a second front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the rear axle of the full trailer based on a second numerical relationship, a third conversion relationship, and the second conversion relationship; wherein the second numerical relationship is a numerical relationship between a front axle turning radius corresponding to a center point of the front axle of the full trailer and the first wheelbase of the full trailer; and the third conversion relationship is a conversion relationship between the front axle turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, the second distance of the front vehicle body, and the first distance of the full trailer in the stable relative motion state;

[0012] determining a minimum value among the first front wheel deflection angle constraint value, the second front wheel deflection angle constraint value, and a local front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the previous adjacent vehicle body as the local front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the full trailer;

[0013] The local front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the last vehicle body away from one end of the tractor is used as the maximum front wheel deflection angle constraint value.

[0014] In some embodiments, determining the minimum turning radius of the rear axle of any vehicle body based on the second wheelbase, the maximum front wheel slip angle constraint value, and the first distance, the first wheelbase, and the second distance of each of the full trailers includes:

[0015] determining a minimum turning radius of the rear axle of the tractor based on the second wheelbase and the maximum constraint value of the front wheel deflection angle;

[0016] And / or, the minimum turning radius of the rear axle of any of the full trailers is determined based on the minimum turning radius of the rear axle of the tractor, and the first distance, the first wheelbase, and the second distance of each full trailer.

[0017] In some embodiments, the number of the full trailers is greater than or equal to 2.

[0018] In a second aspect, the present application further provides a method for determining the road passability of a full-trailer train, wherein the full-trailer train is composed of multiple car bodies, wherein one car body at a side edge of each car body is a tractor, and each car body except the tractor is a full-trailer trailer, the method comprising:

[0019] Determining a target channel width corresponding to the trailer train based on a minimum turning radius of a rear axle of each vehicle body in the trailer train; wherein the minimum turning radius of the rear axle is determined by the method for determining a turning radius of a trailer train according to any one of claims 1 to 4;

[0020] Based on the minimum turning radius of the rear axle, the target channel width, and the turning radius and width of the target road, it is determined whether the full-trailer train passes through the target road.

[0021] In some embodiments, determining the target channel width corresponding to the full-trailer train based on the minimum turning radius of the rear axle of each vehicle body in the full-trailer train includes:

[0022] Determining the minimum turning radius of the front outer wheels of the tractor based on the minimum turning radius of the rear axle, the second wheelbase, and the wheelbase of the tractor;

[0023] Determining the minimum turning radius of the rear inner wheel of the last vehicle body based on the minimum turning radius of the rear axle and the wheelbase of the last vehicle body away from one end of the tractor;

[0024] The target channel width is determined based on the front outer wheel minimum turning radius and the rear inner wheel minimum turning radius.

[0025] In some embodiments, determining whether the vehicle train passes through the target road based on the rear axle minimum turning radius, the target channel width, and the road turning radius and road width of the target road includes:

[0026] If it is determined that the road turning 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 a preset width, it is determined that the car train passes through the target road.

[0027] In a third aspect, the present application provides a device for determining the turning radius of a full-trailer vehicle train, wherein the full-trailer vehicle train is composed of multiple vehicle bodies, wherein one of the vehicle bodies at a side edge is a tractor, and each of the vehicle bodies except the tractor is a full-trailer trailer. The device comprises:

[0028] a module for determining a maximum front wheel angle constraint value, configured to determine a maximum front wheel angle constraint value of the tractor based on a first distance, a first wheelbase, and a second distance of each of the full trailers, as well as the second wheelbase and the maximum allowable front wheel angle value of the tractor; wherein the first distance is the distance from the first connection point between the full trailer and the preceding adjacent vehicle body to the center point of the front axle of the full trailer; the second distance is the distance from the center point of the rear axle of the full trailer to the second connection point between the full trailer and the following adjacent vehicle body; the maximum front wheel angle constraint value is the maximum front wheel angle value when the full trailer vehicle train is in a relatively stable state of motion, wherein the relative stable state of motion is when the rate of change of the first angle and the second angle of each full trailer is zero, the first angle is the angle between the heading of the front axle of the full trailer and the heading of the rear axle of the preceding adjacent vehicle body, and the second angle is the angle between the heading of the front axle of the full trailer and the heading of the rear axle of the full trailer;

[0029] The rear axle minimum turning radius determination module is configured to determine the rear axle minimum turning radius of any vehicle body based on the second wheelbase, the maximum constraint value of the front wheel deflection angle, and the first distance, the first wheelbase, and the second distance of each full trailer.

[0030] In a fourth aspect, the present application further provides a device for determining the road passability of a full-trailer train, wherein the full-trailer train is composed of multiple car bodies, wherein one of the car bodies at a side edge of each car body is a tractor, and each of the car bodies except the tractor is a full-trailer trailer, and the device comprises:

[0031] a target passage width determination module, configured to determine a target passage width corresponding to the full-trailer train based on a minimum turning radius of a rear axle of each vehicle body in the full-trailer train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method for a full-trailer train described in any embodiment of the present application;

[0032] The road passability determination module is used to determine whether the full-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 turning radius and road width of the target road.

[0033] In a fifth aspect, the present application provides an electronic device, comprising:

[0034] processor and memory;

[0035] The processor calls the program or instruction stored in the memory to execute the method for determining the turning radius of the full-trailer vehicle train described in any embodiment of the present application, or executes the method for determining the road passability of the full-trailer vehicle train described in any embodiment of the present application.

[0036] In a sixth aspect, the present application provides a computer-readable storage medium storing a program or instruction, which enables a computer to execute the method for determining the turning radius of a fully-trailer vehicle train described in any embodiment of the present application, or to execute the method for determining the road passability of the fully-trailer vehicle train described in any embodiment of the present application.

[0037] In a seventh aspect, the present application provides a full-trailer car train, the full-trailer car train comprising: at least two car bodies and a controller;

[0038] One of the vehicle bodies at one side edge is a tractor, and all of the vehicle bodies except the tractor are full trailers;

[0039] The controller is used to execute the method for determining the turning radius of the full-trailer vehicle train described in any embodiment of the present application, or execute the method for determining the road passability of the full-trailer vehicle train described in any embodiment of the present application.

[0040] The turning radius determination method, device, equipment and medium of the full-trailer automobile train provided in the embodiments of the present application can calculate the maximum constraint value of the front wheel deflection angle of the full-trailer automobile train during the turning process of the full-trailer automobile train in a relatively stable state of motion, when the tractor is subject to the motion constraints of each full-trailer trailer, based on the body parameters of each body in the full-trailer automobile train (such as the length of the connecting rod between the center point of the front axle and the previous body, the wheelbase, and the length of the connecting rod between the center point of the rear axle and the rear body) and the maximum allowable value of the front wheel deflection angle of the tractor, and calculate the minimum turning radius of the rear axle of any body in the full-trailer automobile train based on the maximum constraint value of the front wheel deflection angle and each body parameter; realize the calculation of the minimum turning radius of the rear axle of each body in the actual application scenario based on the mutual motion relationship between multiple bodies in the full-trailer automobile train and the restriction of the body size on the body steering, thereby improving the accuracy of the minimum turning radius of the full-trailer automobile train with multiple full-trailer trailers in actual application scenarios.

[0041] The method, device, equipment and medium for determining the road passability of a full-trailer train provided in the embodiments of the present application can calculate the target channel width required for the full-trailer train to turn based on the minimum turning radius of the rear axle of each vehicle body, on the premise of accurately obtaining the minimum turning radius of the full-trailer train with multiple full-trailer trailers in actual application scenarios, and judge whether the full-trailer train can pass the target road based on 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 full-trailer train can pass the target road when the minimum turning radius of each vehicle body in the full-trailer train is accurately and in real time calculated, thereby improving the driving safety of the full-trailer train. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely some embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structures and operations.

[0043] Figure 1 This is a flow chart of a method for determining the turning radius of a full-trailer vehicle train provided in an embodiment of the present application;

[0044] Figure 2 This is a schematic diagram of the geometric relationship of the motion of a full-trailer vehicle train during a turn, provided in an embodiment of the present application;

[0045] Figure 3 This is a flow chart of a method for determining the road passability of a fully trailer vehicle train provided in an embodiment of the present application;

[0046] Figure 4 This is a schematic diagram of the motion geometric relationship of a tractor of a full-trailer vehicle train during a turn, provided by an embodiment of the present application;

[0047] Figure 5 This is a schematic structural diagram of a device for determining a turning radius of a full-trailer vehicle train provided in an embodiment of the present application;

[0048] Figure 6 This is a schematic structural diagram of a device for determining the road passability of a fully trailer vehicle train provided in an embodiment of the present application;

[0049] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0050] Figure 8 It is a structural schematic diagram of a full-trailer car train provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In the detailed description below, many specific details of the present application are set forth by example, so that a thorough understanding of the relevant disclosure is provided. However, for those of ordinary skill in the art, it is obvious that the present application can be implemented without these details. It should be understood that the use of "system", "device", "unit" and / or "module" terms in the present application is a method for distinguishing different parts, elements, parts or assemblies at different levels in a sequential arrangement. However, if other expressions can achieve the same purpose, these terms can be replaced by other expressions.

[0052] 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 the other device, unit, or module, or there may be intervening 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.

[0053] 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 "a", "an", "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.

[0054] These and other features and characteristics, methods of operation, functions of related elements of structure, combinations of parts, and economies of manufacture of the present application may be better understood with reference to the following description and accompanying drawings, which form a part of this specification. However, it is to be expressly 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.

[0055] This application uses various structural diagrams to illustrate various variations of the embodiments of this application. It should be understood that the preceding or following structures are not intended to limit this application. The scope of protection of this application is subject to the claims.

[0056] The method for determining the turning radius of a trailer train provided in the embodiments of the present application can be applied to scenarios where the minimum turning radius of the rear axle of any vehicle body included in the trailer train is calculated during an actual turning process. For example, it can be applied to scenarios where an unmanned trailer train autonomously controls turning, or it can be applied to scenarios where a driver assists the trailer train in turning.

[0057] In an embodiment of the present application, the method for determining the turning radius of a trailer train can be performed by an electronic device with certain computing capabilities. This electronic device may include, but is not limited to, a controller in the trailer train and an external device capable of real-time communication with the trailer train. This external device may, for example, be a dispatch system for dispatching trailer trains or a laptop, desktop computer, or server hosting the server of an unmanned driving system.

[0058] Figure 1 This is a flow chart of a method for determining the turning radius of a full-trailer vehicle train provided in an embodiment of the present application. Figure 1 As shown, the method for determining the turning radius of the full-trailer vehicle train specifically includes:

[0059] S110 : Determine a maximum constraint value of the front wheel angle of the tractor based on the first distance, the first wheelbase, and the second distance of each full trailer, the second wheelbase of the tractor, and the maximum allowable value of the front wheel angle.

[0060] A full-trailer train refers to an articulated train consisting of a tractor and one or more full-trailer trailers (also called full-trailers). In the disclosed embodiments, a full-trailer train is composed of multiple vehicle bodies, with one vehicle body at one edge of each vehicle body being the tractor, and all other vehicle bodies except the tractor being full-trailer trailers connected in a full-trailer manner. In some embodiments, the number of full-trailer trailers is greater than or equal to two, meaning that the full-trailer train is equipped with at least two full-trailer trailers.

[0061] The first distance is the distance from the first connection point between the trailer and the preceding adjacent vehicle body to the center point of the trailer's front axle, that is, the length of the connecting rod between the center point of the trailer's front axle and the preceding adjacent vehicle body. The preceding adjacent vehicle body is the vehicle body that is close to one end of the tractor and is connected to the trailer. The first wheelbase is the distance between the center points of the trailer's front axle and the rear axle. The second distance is the distance from the center point of the trailer's rear axle to the second connection point between the trailer and the following adjacent vehicle body, that is, the length of the connecting rod between the center point of the trailer's rear axle and the following adjacent vehicle body. The following adjacent vehicle body is the vehicle body that is away from the tractor and is connected to the trailer. See Figure 2 For the first (i=1) trailer, the first distance is the distance from the first connection point H0 between the trailer and the previous adjacent vehicle body (i.e., the tractor with i=0) to the front axle center point A of the trailer. f1 Distance L b,1 The first wheelbase is the center point A of the front axle of the full trailer. f1 and rear axle center point A r1 The distance L1 between the two; the second distance is the distance between the second connection point H1 of the full trailer and the next adjacent vehicle body (i = 2, ie the second full trailer) to the rear axle center point A of the full trailer r1 Distance L h,1 .

[0062] The maximum allowable value of the front wheel deflection angle refers to the maximum allowable steering angle value of the front wheel deflection angle of the tractor, which can be obtained through the vehicle factory parameters or measured by an angle sensor.

[0063] The maximum constraint value for the front wheel deflection angle is the maximum value of the front wheel deflection angle when the full trailer vehicle train is in a relatively stable state. The relatively stable state is the state of motion when the rate of change of the first angle and the second angle of each full trailer is 0. The first angle here is the angle between the full trailer's front axle heading and the rear axle heading of the previous adjacent vehicle body. The second angle here is the angle between the full trailer's front axle heading and the rear axle heading. See Figure 2 For the first (i=1) full trailer, the first angle is the angle β between the heading of the front axle of the full trailer and the heading of the tractor f1 The second angle is the angle β1 between the front axle heading of the full trailer and the rear axle heading of the full trailer.

[0064] Specifically, using a purely geometric method to calculate the minimum turning radius of a trailer train might only yield the minimum turning radius for a trailer train carrying a single trailer. Furthermore, this calculated minimum turning radius ignores the constraints imposed by the inter-vehicle motion and vehicle size during the train's turning process, resulting in a calculated minimum turning radius that is more like a theoretical value. This simple geometric method is not only unsuitable for trailer trains carrying multiple trailers, but the calculated minimum turning radius also fails to accurately reflect the train's actual motion, reducing its accuracy.

[0065] Based on the above situation, the minimum turning radius will be calculated in this application based on the consideration of the mutual movement between each vehicle body. It is also considered that the turning process of a full-trailer train is controlled by the front wheel deflection angle of the tractor, and full-trailer trailers with different numbers of trailers and different trailer sizes will affect the actual maximum steering angle of the tractor's front wheels. Therefore, this application further considers the number and wheelbase of full-trailer trailers to calculate the maximum constraint value of the tractor's front wheels, and then calculates the minimum turning radius based on it. In summary, this application will calculate the maximum value of the tractor's front wheel deflection angle under the constraints of the wheelbase of each vehicle body when the mutual movement of each vehicle body reaches a stable state (i.e., the maximum constraint value of the front wheel deflection angle). The overall idea of ​​the above-mentioned calculation of the constraints on the front wheel deflection angle by the number of vehicle bodies and the wheelbase of the vehicle body is that the more full-trailer trailers there are and the larger the vehicle body wheelbase, the greater the constraint on the front wheel deflection angle, and the smaller the maximum constraint value of the front wheel deflection angle will be.

[0066] In a specific implementation, the electronic device can simplify the full-trailer train into a corresponding kinematic model, such as a single-axle bicycle model or an Ackermann steering geometry model, to account for the relative motion between the vehicle bodies. Then, based on this kinematic model, the vehicle body parameters of each vehicle body during the full-trailer train turning process are analyzed, including the wheelbase of the tractor (referred to as the second wheelbase), the first distance, wheelbase (referred to as the first wheelbase), and second distance of each full-trailer trailer, as well as the first angle and second angle of each full-trailer trailer. The electronic device determines that during the turning process, when the rate of change of the first angle and second angle corresponding to each full-trailer trailer remains zero, the vehicle bodies reach a stable state of relative motion. Subsequently, based on the maximum allowable front wheel deflection value of the tractor and the kinematic geometric relationship between the vehicle bodies in the stable state of relative motion as determined by the above kinematic model, the maximum constrained front wheel deflection value of the tractor, under the constraints of each full-trailer trailer, is calculated.

[0067] S120: Determine a minimum turning radius of the rear axle of any vehicle body based on the second wheelbase, the maximum constraint value of the front wheel deflection angle, and the first distance, the first wheelbase, and the second distance of each full trailer.

[0068] Among them, the minimum turning radius of the rear axle is the minimum turning radius corresponding to the center point of the rear axle of the vehicle body.

[0069] Specifically, after determining the maximum constraint value of the front wheel deflection angle, the electronic device can calculate the minimum turning radius of the rear axle of any vehicle body (tractor or trailer) based on the motion geometric relationship between the various vehicle bodies of the full-trailer train in the stable state of relative motion during the turning process, the second wheelbase of the tractor and the above-mentioned maximum constraint value of the front wheel deflection angle, and the first distance, first wheelbase and second distance of each full-trailer trailer.

[0070] The above-mentioned method for determining the turning radius of the full-trailer automobile train provided in the embodiment of the present application can calculate the maximum constraint value of the front wheel deflection angle of the full-trailer automobile train during the turning process of the full-trailer automobile train in a relatively stable state of motion, when the tractor is subject to the motion constraints of each full-trailer trailer, based on the body parameters of each body in the full-trailer automobile train (such as the length of the connecting rod between the center point of the front axle and the previous body, the wheelbase, and the length of the connecting rod between the center point of the rear axle and the rear body) and the maximum allowable value of the front wheel deflection angle of the tractor, and calculate the minimum turning radius of the rear axle of any body in the full-trailer automobile train based on the maximum constraint value of the front wheel deflection angle and each body parameter; realizes the calculation of the minimum turning radius of the rear axle of each body in the actual application scenario based on the mutual motion relationship between multiple bodies in the full-trailer automobile train and the restriction of the body size on the body steering, thereby improving the accuracy of the minimum turning radius of the full-trailer automobile train with multiple full-trailers mounted in actual application scenarios.

[0071] In some embodiments, the electronic device may perform the same process for any trailer in a full-trailer vehicle train to calculate the constraint value of the front wheel deflection angle of the tractor under the constraint of the trailer. The same process for calculating the constraint value may include the following steps 111 to 113.

[0072] Step 111: When the rate of change of the first angle is 0, determine a first front wheel angle constraint value of the tractor's front wheel angle under the constraint of the front axle of the full trailer based on the first numerical relationship, the first conversion relationship, and the second conversion relationship.

[0073] The first numerical relationship is the numerical relationship between the turning radius corresponding to the first connection point (ie, the connection turning radius) and the first distance, which can be calculated based on the rate of change of the first angle. The expression can be deduced.

[0074] The first conversion relationship is the conversion relationship between the connecting turning radius, the turning radius of the tractor's rear axle, the first distance of the leading vehicle body, the first wheelbase of the leading vehicle body, and the second distance of the leading vehicle body in a state of relative motion stability. This conversion relationship can be calculated based on the kinematic geometry relationship described above. The leading vehicle body here refers to the vehicle body that is bounded by but does not include the currently processed full trailer and is closest to one end of the tractor.

[0075] The second conversion relationship is the conversion relationship between the front wheel deflection angle, the second wheelbase of the tractor and the rear axle turning radius of the tractor, which can be determined according to the kinematic model corresponding to the full-trailer train.

[0076] Specifically, see Figure 2 It can be seen that a full trailer has two points where the angle can change, namely the first connection point H between the full trailer and the previous adjacent vehicle body. i-1 and the front axle center point A of the full trailer fi When a full trailer car train is turning, the motion state of the whole vehicle will change as the angles of the two points corresponding to each full trailer change. Therefore, in this application, the angle changes at these two points (the angle changes of the first angle and the second angle) can be analyzed to determine the above-mentioned relative motion stability. When the rate of change of the first angle corresponding to any full trailer is and the rate of change of the second angle When both are kept at 0, the first angle β fi and the second angle β i If the load is kept constant, the full-trailer train will be in a relatively stable state of motion.

[0077] In the state of relative motion stability, considering the steering constraint of the front wheel deflection angle caused by the movement of the front axle of the i-th full trailer, the change rate of the first angle corresponding to the front axle can be calculated from the kinematic model of the full trailer. As shown in the following formula (1):

[0078]

[0079] in, R represents the rate of change of the heading angle of the rear axle of the adjacent vehicle body in front of the i-th full trailer, which can be obtained from the kinematic model. i ranges from 1 to n, and n ≥ 1; h,i-1 L represents the connection turning radius at the first connection point corresponding to the i-th full trailer; b,i represents the first distance of the i-th full trailer; β fi represents the first angle corresponding to the i-th full trailer; α i It represents the angle between the velocity direction at the first joint point and the rear axle heading of the previous adjacent vehicle body.

[0080] According to the above formula (1), to satisfy When the requirements are met, the first numerical relationship can be obtained, as shown in formula (2):

[0081] R h,i-1 ≥L b,i (2)

[0082] When the motion state of the tractor and each trailer reaches the above-mentioned relative motion stable state, the tractor and each trailer do circular motion around the same center of the circle, that is, Figure 2 O1 to O5 in the figure coincide with each other. In this way, based on the kinematic geometric relationship corresponding to the stable state of relative motion, the coupling turning radius can be calculated from the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, and the second distance of the front vehicle body, thus obtaining the first conversion relationship, as shown in formula (3):

[0083]

[0084] Among them, R0 represents the turning radius of the rear axle of the tractor; L h,j Indicates the second distance of the jth vehicle body, j ranges from 0 to i-1, when j = 0, L h,0 is the distance between the center point of the rear axle of the tractor and the connection point between it and the first full trailer. When j is 1 to i-1, L h,j is the second distance of the jth full trailer; L b,j Indicates the first distance of the jth full trailer, where j ranges from 1 to i-1; L jIndicates the first wheelbase of the j-th full trailer, where j ranges from 1 to i-1.

[0085] Based on Figure 2 The first wheelbase L0 of the tractor, the rear axle turning radius R0 of the tractor and the front wheel deflection angle δ f The right-angle geometric relationship between them can be used to obtain the second conversion relationship shown in the following formula (4):

[0086]

[0087] Combining the above formulas (2) to (4), we can obtain the range of the front wheel deflection angle of the tractor under the constraint of the front axle of the i-th full trailer, as shown in formula (5):

[0088]

[0089] The first front wheel deflection angle constraint value is the maximum value of the front wheel deflection angle in the value range under the constraint of the front axle of the i-th full trailer. Then the first front wheel deflection angle constraint value can be determined as As shown in formula (6):

[0090]

[0091] Step 112: When the rate of change of the second angle is 0, determine a second front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the rear axle of the full trailer based on the second numerical relationship, the third conversion relationship, and the second conversion relationship.

[0092] Among them, the second numerical relationship is the front axle center point A of the full trailer fi The numerical relationship between the corresponding turning radius (referred to as the front axle turning radius) and the first wheelbase of the full trailer can be calculated based on the expression of the rate of change of the second angle.

[0093] The third conversion relationship is the conversion relationship between the front axle turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, the second distance of the front vehicle body and the first distance of the full trailer in a relatively stable state of motion, which can be calculated based on the motion geometric relationship described above.

[0094] Specifically, based on the relevant description of step 111 above, in the state of relative motion stability, considering the steering constraint of the movement of the rear axle of the i-th full trailer on the front wheel deflection angle, the change rate of the second angle corresponding to the rear axle can be calculated from the kinematic model of the full trailer train. As shown in the following formula (7):

[0095]

[0096] in, represents the heading angle change rate of the front axle heading of the i-th full trailer, which can be obtained from the kinematic model; R f,i represents the front axle turning radius of the i-th full trailer; L i represents the first wheelbase of the i-th full trailer; β i represents the second angle corresponding to the i-th full trailer.

[0097] According to the above formula (7), to satisfy When the requirement is met, the second numerical relationship can be obtained, as shown in formula (8):

[0098] R f,i ≥L i (8)

[0099] According to the above collective relationship in the stable state of relative motion, the front axle turning radius is calculated from the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, the second distance of the front vehicle body and the first distance of the full trailer, that is, the third conversion relationship is obtained, as shown in formula (9):

[0100]

[0101] Combining the above formulas (4), (8) and (9), we can obtain the range of the front wheel deflection angle of the tractor under the constraint of the rear axle of the i-th full trailer, as shown in formula (10):

[0102]

[0103] in, represents the second front wheel angle constraint value corresponding to the i-th full trailer.

[0104] The second front wheel deflection angle constraint value is the maximum value of the front wheel deflection angle in the value range under the constraint of the rear axle of the i-th full trailer. Then the second front wheel deflection angle constraint value can be determined as As shown in formula (11):

[0105]

[0106] Step 113: Determine the minimum value among the first front wheel deflection angle constraint value, the second front wheel deflection angle constraint value, and the local front wheel deflection angle constraint value under the constraint of the previous adjacent vehicle body as the local front wheel deflection angle constraint value under the constraint of the full trailer.

[0107] Specifically, by combining the constraints of the front axle and rear axle of the i-th full trailer on the front wheel angle of the tractor, the maximum value of the tractor's front wheel angle under the constraints of the i-th full trailer can be obtained, that is, the local front wheel angle constraint value.

[0108] Considering that the more full trailers are mounted, the greater the constraint on the front wheel deflection angle is, the smaller the maximum value of the front wheel deflection angle will be. Therefore, the electronic device can be set at the first front wheel deflection angle constraint value. and the second front wheel deflection angle constraint value At the same time, considering that the wheelbase of a full trailer is smaller than that of the previous adjacent full trailer, the constraint effect of the full trailer on the front wheel deflection angle may be smaller than the constraint effect of the previous adjacent full trailer on the front wheel deflection angle. Therefore, in order to ensure that the final maximum constraint value of the front wheel deflection angle takes into account the constraint effect of the wheelbase of each full trailer, this embodiment can further take the smaller one between the smaller one obtained above and the local front wheel deflection angle constraint value corresponding to the previous adjacent full trailer. In this way, the electronic device can Second front wheel deflection angle constraint value The local front wheel deflection constraint value corresponding to the previous adjacent full trailer Take the minimum value between them, as shown in formula (12), and get the local front wheel deflection constraint value of the full trailer

[0109]

[0110] According to the above steps 111 to 113, the local front wheel deflection constraint value under the constraint of each vehicle body can be calculated, and the local front wheel deflection constraint value corresponding to any vehicle body is the result of considering the constraint of the front wheel deflection angle of the vehicle body in front. In this way, the local front wheel deflection constraint value corresponding to the last vehicle body away from the tractor end is This method takes into account the front wheel angle constraint value imposed by all vehicle bodies in the full-trailer train. It represents the maximum possible front wheel angle during a full-trailer train turn. Therefore, the local front wheel angle constraint value corresponding to the last vehicle body away from the tractor can be used as the maximum front wheel angle constraint value for subsequent calculation of the rear axle's minimum turning radius.

[0111] It can be understood that if the local front wheel angle constraint value corresponding to the previous adjacent full trailer is not considered in the above formula (10), then the minimum value of the local front wheel angle constraint values ​​corresponding to all full trailers can be taken as the maximum constraint value of the front wheel angle of the full trailer train.

[0112] In some embodiments, when the vehicle body is a tractor, S120 may be implemented as: determining a minimum turning radius of the rear axle of the tractor based on the second wheelbase and the maximum constraint value of the front wheel deflection angle.

[0113] Specifically, for a tractor, when the maximum constraint value of the front wheel deflection angle is determined, the minimum value of the rear axle turning radius of the tractor can be calculated according to the above formula (4), that is, the minimum turning radius of the rear axle of the tractor, as shown in formula (13):

[0114]

[0115] In other embodiments, for any vehicle body other than the tractor, that is, for any full trailer, S120 may be implemented as follows: determining the minimum turning radius of the rear axle of any full trailer based on the minimum turning radius of the rear axle of the tractor and the first distance, the first wheelbase, and the second distance of each full trailer.

[0116] Specifically, when the full-trailer train is in a state of relative stability, the tractor and each full-trailer trailer perform circular motion around the same center of a circle. At this time, the rear axle turning radius of each vehicle body is in the motion geometry relationship corresponding to the circular motion. At this time, the minimum turning radius of the rear axle of the tractor can be calculated by deducing the motion geometry relationship according to the following formula (14). The first distance L from the 1st full trailer to the i-th full trailer b,j (j=1~i) and the first wheelbase L j (j=1~i), the second distance L of the tractor h,0 , and the second distance L from the 1st full trailer to the i-1th full trailer h,j (j=1~i-1), calculate the minimum turning radius of the rear axle of the i-th full trailer

[0117]

[0118] In some other embodiments, the electronic device may calculate the minimum turning radius of the rear axle of each vehicle body in the full-trailer vehicle train according to formula (13) and formula (14).

[0119] The embodiment of the present application also provides a method for determining the road passability of a fully trailer vehicle train, which can be applied to the scenario of real-time calculation and judgment of whether a fully trailer vehicle train can pass a certain road during an actual turning process.

[0120] In an embodiment of the present application, the method for determining the roadability of a trailer train can be performed by an electronic device with sufficient computing power. This electronic device may include, but is not limited to, a controller within the trailer train and an external device capable of real-time communication with the trailer train. This external device may, for example, be a dispatch system for dispatching trailer trains or a laptop, desktop computer, or server hosting the server of an unmanned driving system.

[0121] Figure 3This is a flow chart of a method for determining the road passability of a full-trailer vehicle train provided in an embodiment of the present application. Figure 3 As shown, the method for determining the road passability of the full-trailer vehicle train specifically includes:

[0122] S310: Determine a target channel width corresponding to the full-trailer train based on the minimum turning radius of the rear axle of each vehicle body in the full-trailer train.

[0123] Among them, the target channel width refers to the minimum channel width required during the travel of the full-trailer train.

[0124] 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 full-trailer vehicle train provided in any of the above embodiments, the electronic device can calculate the target channel width of the full-trailer vehicle train based on the definition of the channel width of the full-trailer vehicle train, the minimum turning radius of the outer front wheel of the tractor in the full-trailer vehicle train and the minimum turning radius of the inner rear wheel of the last full-trailer trailer.

[0125] In some embodiments, S310 includes the following steps 311 to 313:

[0126] Step 311: Determine the minimum turning radius of the front outer wheels of the tractor based on the minimum turning radius of the rear axle, the second wheelbase, and the wheelbase of the tractor.

[0127] In one example, see Figure 4 According to the right-angle geometric relationship of the tractor when the trailer train is in a relatively stable state, the second wheelbase L0 of the tractor, the wheelbase b0 of the tractor and the minimum turning radius of the rear axle can be calculated. The maximum front wheel deflection angle estimate is calculated as shown in formula (15).

[0128]

[0129] Then, based on the above right-angle geometric relationship, the minimum turning radius R of the front outer wheel of the tractor can be calculated according to formula (16): 0,f,min .

[0130]

[0131] In another example, according to Figure 4 The right-angle geometric relationship of the tractor of the full-trailer train shown in the figure is in a relatively stable state of motion, which can be obtained from the second wheelbase L0 of the tractor, the wheelbase b0 of the tractor and the minimum turning radius of the rear axle. Calculate the minimum turning radius R of the front outer wheel of the tractor 0,f,min , as shown in formula (17):

[0132]

[0133] Step 312: 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.

[0134] Specifically, the minimum turning radius of the rear axle of the last full trailer in the full trailer train is and the wheelbase of the last full trailer n , calculate the minimum turning radius R of the rear inner wheel of the last full trailer according to the following formula (18): n,r,min .

[0135]

[0136] Step 313: 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.

[0137] 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 full trailer n,r,min , calculate the target channel width W n .

[0138]

[0139] S320: Determine whether the full-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.

[0140] Specifically, the road passability verification index refers to the road curve radius (the radius of the road outer edge arc R p ) should be greater than the minimum turning radius of the largest rear axle in the full trailer train, and the road width W p The target passage width of the full-trailer train should be greater than the turning radius of the full-trailer train when the turning radius is equal to the road curve radius. Therefore, the electronic device can judge whether the full-trailer train can pass the target road based on the verification index.

[0141] 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 full-trailer truck train passes through the target road.

[0142] The preset width is a preset distance value, which can be set empirically, for example, a value of about 0.3 m.

[0143] Specifically, according to the above formula (14), the maximum value of the minimum turning radius of the rear axle of each vehicle body is the minimum turning radius of the rear axle of the tractor Therefore, the electronic equipment is used to judge the road curve radius and the minimum turning radius of the rear axle of the tractor. Satisfies the following formula (20), and the road width W p , target channel width W n When the preset width satisfies formula (21), it can be determined that the full-trailer train can pass through the target road.

[0144]

[0145] W p ≥W n +W d (twenty one)

[0146] The method for determining the road passability of the above-mentioned full-trailer train provided in the embodiment of the present application can calculate the target channel width required for the full-trailer 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 full-trailer train with multiple full-trailer trailers in actual application scenarios, and judge whether the full-trailer 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; it is achieved that when the minimum turning radius of each vehicle body in the full-trailer train is accurately and in real time calculated, whether the full-trailer train can pass the target road can be more accurately judged, thereby improving the driving safety of the full-trailer train.

[0147] The following is an embodiment of a device for determining the turning radius of a full-trailer automobile train provided in an embodiment of the present application. This device and the method for determining the turning radius of a full-trailer automobile 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 turning radius of a full-trailer automobile train, please refer to the embodiment of the method for determining the turning radius of a full-trailer automobile train described above.

[0148] Figure 5 The schematic diagram of the structure of a turning radius determination device for a full-trailer vehicle train provided by an embodiment of the present application is shown. The full-trailer vehicle train is composed of multiple vehicle bodies, one of which is located at one side edge of each vehicle body as a tractor, and all vehicle bodies except the tractor are full-trailer trailers. Figure 5 As shown, the turning radius determination device 500 of the full-trailer vehicle train specifically includes:

[0149] The maximum front wheel angle constraint value determination module 510 is configured to determine the maximum front wheel angle constraint value of the tractor based on the first distance, the first wheelbase, and the second distance of each trailer, as well as the second wheelbase and the maximum allowable front wheel angle value of the tractor. The first distance is the distance from the first connection point between the trailer and the preceding adjacent vehicle body to the center point of the trailer's front axle; the second distance is the distance from the center point of the trailer's rear axle to the second connection point between the trailer and the following adjacent vehicle body. The maximum front wheel angle constraint value is the maximum front wheel angle when the trailer train is in a relatively stable state of motion. The relatively stable state of motion is when the rate of change of the first and second angles of each trailer is zero, the first angle is the angle between the trailer's front axle heading and the preceding adjacent vehicle body's rear axle heading, and the second angle is the angle between the trailer's front axle heading and the rear axle heading.

[0150] The rear axle minimum turning radius determination module 520 is configured to determine the rear axle minimum turning radius of any vehicle body based on the second wheelbase, the maximum constraint value of the front wheel slip angle, and the first distance, the first wheelbase, and the second distance of each full trailer.

[0151] The turning radius determination device for the above-mentioned full-trailer automobile train provided in the embodiment of the present application can calculate the maximum constraint value of the front wheel deflection angle of the full-trailer automobile train during the turning process of the full-trailer automobile train in a relatively stable state of motion, when the tractor is subject to the motion constraints of each full-trailer trailer, based on the body parameters of each body in the full-trailer automobile train (such as the length of the connecting rod between the center point of the front axle and the previous body, the wheelbase, and the length of the connecting rod between the center point of the rear axle and the rear body) and the maximum allowable value of the front wheel deflection angle of the tractor, and calculate the minimum turning radius of the rear axle of any body in the full-trailer automobile train based on the maximum constraint value of the front wheel deflection angle and each body parameter; realizes the calculation of the minimum turning radius of the rear axle of each body in the actual application scenario based on the mutual motion relationship between multiple bodies in the full-trailer automobile train and the restriction of the body size on the body steering, thereby improving the accuracy of the minimum turning radius of the full-trailer automobile train with multiple full-trailer trailers mounted in actual application scenarios.

[0152] In some embodiments, the front wheel slip angle maximum constraint value determination module 510 is specifically configured to:

[0153] For any full trailer:

[0154] When the rate of change of the first angle is zero, a first front wheel deflection angle constraint value of the tractor's front wheel deflection angle under the constraint of the front axle of the full trailer is determined based on the first numerical relationship, the first conversion relationship, and the second conversion relationship; wherein the first numerical relationship is the numerical relationship between the coupling turning radius corresponding to the first coupling point and the first distance; the first conversion relationship is the conversion relationship between the coupling turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, and the second distance of the front vehicle body in a state of relative motion stability; the front vehicle body is each vehicle body that is bounded by the full trailer but does not include the full trailer and is close to one end of the tractor; the second conversion relationship is the conversion relationship between the front wheel deflection angle, the second wheelbase, and the rear axle turning radius determined based on the kinematic model;

[0155] When the rate of change of the second included angle is zero, a second front wheel deflection angle constraint value under the constraint of the rear axle of the full trailer is determined based on the second numerical relationship, the third conversion relationship, and the second conversion relationship; wherein the second numerical relationship is a numerical relationship between a front axle turning radius corresponding to a front axle center point of the full trailer and a first wheelbase of the full trailer; and the third conversion relationship is a conversion relationship between the front axle turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, the second distance of the front vehicle body, and the first distance of the full trailer in a state of relative motion stability.

[0156] The minimum value among the first front wheel deflection angle constraint value, the second front wheel deflection angle constraint value, and the local front wheel deflection angle constraint value under the constraint of the previous adjacent vehicle body is determined as the local front wheel deflection angle constraint value under the constraint of the full trailer;

[0157] The local front wheel deflection angle constraint value under the constraint of the last vehicle body away from one end of the tractor is used as the maximum front wheel deflection angle constraint value.

[0158] In some embodiments, the rear axle minimum turning radius determination module 520 is specifically configured to:

[0159] Determine the minimum turning radius of the rear axle of the tractor based on the second wheelbase and the maximum constraint value of the front wheel deflection angle;

[0160] And / or, the minimum turning radius of the rear axle of any half-trailer is determined based on the minimum turning radius of the rear axle of the tractor, and the first distance, the first wheelbase, and the second distance of each half-trailer.

[0161] In some embodiments, the number of full trailers is greater than or equal to two.

[0162] The turning radius determination device for a full-trailer vehicle train provided in an embodiment of the present application can execute the turning radius determination method for a full-trailer vehicle train provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0163] It is worth noting that in the embodiment of the turning radius determination device for the above-mentioned fully-trailer automobile train, the 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 functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0164] The following is an embodiment of a device for determining the road passability of a fully-trailer vehicle provided in an embodiment of the present application. This device and the method for determining the road passability of a fully-trailer vehicle 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 fully-trailer vehicle, please refer to the embodiment of the method for determining the road passability of a fully-trailer vehicle in the above-mentioned embodiments.

[0165] Figure 6 The schematic diagram of the structure of a road passability determination device for a full-trailer vehicle train provided by an embodiment of the present application is shown. The full-trailer vehicle train is composed of multiple vehicle bodies, one of which is located at one side edge of each vehicle body as a tractor, and all vehicle bodies except the tractor are full-trailer trailers. Figure 6 As shown, the road passability determination device 600 of the full-trailer vehicle train specifically includes:

[0166] The target channel width determination module 610 is configured to determine a target channel width corresponding to the full-trailer train based on the minimum turning radius of the rear axle of each vehicle body in the full-trailer train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method for the full-trailer train described in any embodiment of the present application;

[0167] The road passability determination module 620 is used to determine whether the full trailer train can pass the target road based on the minimum turning radius of the rear axle, the target channel width, and the turning radius and width of the target road.

[0168] The road passability determination device of the above-mentioned full-trailer automobile train provided in the embodiment of the present application can calculate the target channel width required for the full-trailer automobile 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 full-trailer automobile train with multiple full-trailer trailers in actual application scenarios, and judge whether the full-trailer automobile 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; it is achieved that when the minimum turning radius of each vehicle body in the full-trailer automobile train is accurately and in real time calculated, whether the full-trailer automobile train can pass the target road can be more accurately judged, thereby improving the driving safety of the full-trailer automobile train.

[0169] In some embodiments, the target channel width determination module 610 is specifically configured to:

[0170] Determine the minimum turning radius of the front outer wheel of the tractor based on the minimum turning radius of the rear axle, the second wheelbase and the wheelbase of the tractor;

[0171] Based on the minimum turning radius of the rear axle of the last vehicle body away from the tractor and the wheelbase, determine the minimum turning radius of the rear inner wheel of the last vehicle body;

[0172] 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.

[0173] In some embodiments, the road passability determination module 620 is specifically configured to:

[0174] If it is determined that the road turning 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 car train passes through the target road.

[0175] The turning radius determination device for a full-trailer vehicle train provided in an embodiment of the present application can execute the turning radius determination method for a full-trailer vehicle train provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.

[0176] It is worth noting that in the embodiment of the road passability determination device of the above-mentioned fully-trailer vehicle train, the 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 functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0177] Figure 7This is a schematic diagram of the structure of an electronic device suitable for implementing embodiments of the present application. This electronic device may include, but is not limited to, a controller in a trailer train and an external device capable of real-time communication with the trailer train. For example, this external device may be a dispatching system for the trailer train or a laptop, desktop computer, or server hosting the server of an unmanned driving system.

[0178] like Figure 7 As shown, the electronic device 700 includes a central processing unit (CPU) 701, which can execute various processes in the method for determining the turning radius of a full-trailer train or the method for determining the road passability of a full-trailer train in any of the above-mentioned embodiments according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the electronic device 700 are also stored in the RAM 703. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0179] Optionally, the following components are connected to the I / O interface 705: an input section 708 including a keyboard, a mouse, and the like; an output section 707 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 708 including a hard disk; and a communication section 709 including a network interface card such as a LAN card or a modem. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 710 as needed, so that a computer program read therefrom can be installed into the storage section 708 as needed.

[0180] In particular, depending on the implementation of the present application, the methods described in any of the above embodiments can be implemented as a computer software program. For example, an implementation of the present application includes a computer program product comprising a computer program tangibly embodied on a computer-readable medium, the computer program comprising program code for executing the method for determining the turning radius of a fully-trailer train or the method for determining the roadworthiness of a fully-trailer train described in any of the embodiments of the present application. In such an implementation, the computer program can be downloaded and installed from a network via the communication portion 709 and / or installed from a removable medium 711.

[0181] The present application also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the electronic device described in the above embodiment; or it may be a computer-readable storage medium that exists independently and is not assembled into the electronic device.

[0182] 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 full-trailer vehicle train or the method for determining the road passability of a full-trailer vehicle train described in any embodiment of the present application.

[0183] Figure 8 The schematic diagram of the structure of a full-trailer vehicle train provided by the embodiment of the present application is shown. Figure 8 As shown, the full trailer car train includes at least two car bodies ( Figure 8 not shown) and controller 810.

[0184] One of the vehicle bodies at one side edge of each vehicle body is a tractor, and all the vehicle bodies except the tractor are full trailers;

[0185] The controller 810 is configured to execute the method for determining the turning radius of a full-trailer train or the method for determining the road passability of a full-trailer train described in any of the above embodiments.

[0186] The controller 810 may be a software system, a hardware system, or a combination of software and hardware. For example, the controller 810 is a software system running on an operating system, and the vehicle-mounted hardware system is a hardware system that supports the operation of the operating system.

[0187] although Figure 8 It is not shown in the figure, but it is understandable that the full-trailer vehicle train 800 also includes at least a plurality of sensors and an underlying execution system.

[0188] The multiple sensors are used at least to obtain environmental data and driving status-related data of the tractor in the full-trailer vehicle train, as well as driving status-related data of the full-trailer trailer, and send the environmental data and driving status-related data to the controller 810 to provide a data basis for the controller 810.

[0189] In some embodiments, multiple sensors, including but not limited to wheel speed sensors, speed sensors, acceleration sensors, steering wheel angle sensors, and front wheel angle sensors, are used to obtain vehicle driving data; and sensors, including but not limited to cameras, lidar, and millimeter-wave radar, are used to perceive the vehicle's surroundings. Furthermore, sensors for measuring position and posture may include, for example, GNSS sensors and INS sensors.

[0190] The bottom execution system is at least used to receive information from the controller 810 and control the driving of the full-trailer train. The bottom execution system includes but is not limited to the chassis system, drive system, steering system and braking system.

[0191] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, 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 diagram or block diagram can represent a module, program segment, or part of the code, which 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 boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown 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, as well as the combination of boxes in the block diagram and / or flow chart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0192] 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 provided in a processor, and the names of these units or modules do not, in certain circumstances, constitute limitations on the units or modules themselves.

[0193] It should be understood that the above-mentioned specific embodiments of the present application are merely illustrative or explain the principles of the present application and do not constitute a limitation of 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 scope of protection of the present application. In addition, the claims attached hereto are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A method for determining the turning radius of a full-trailer train, wherein the full-trailer train is composed of multiple car bodies, one of the car bodies at a side edge of each car body is a tractor, and each car body except the tractor is a full-trailer trailer, characterized in that: include: Based on the first distance, the first wheelbase and the second distance of each of the full trailers, as well as the second wheelbase and the maximum allowable value of the front wheel deflection angle of the tractor, a maximum constraint value of the front wheel deflection angle of the tractor is determined; wherein the first distance is the distance from the first connection point between the full trailer and the preceding adjacent vehicle body to the center point of the front axle of the full trailer; the second distance is the distance from the center point of the rear axle of the full trailer to the second connection point between the full trailer and the following adjacent vehicle body; the maximum constraint value of the front wheel deflection angle is the maximum value of the front wheel deflection angle when the full trailer vehicle train is in a relatively stable state of motion, wherein the relatively stable state of motion is when the rate of change of the first angle and the second angle of each of the full trailers is 0, the first angle is the angle between the front axle heading of the full trailer and the rear axle heading of the preceding adjacent vehicle body, and the second angle is the angle between the front axle heading and the rear axle heading of the full trailer; The minimum turning radius of the rear axle of any vehicle body is determined based on the second wheelbase, the maximum constraint value of the front wheel deflection angle, and the first distance, the first wheelbase, and the second distance of each of the full trailers.

2. The method according to claim 1, characterized in that Determining the maximum constraint value of the front wheel angle of the tractor based on the first distance, the first wheelbase, and the second distance of each of the full trailers, and the second wheelbase and the maximum allowable value of the front wheel angle of the tractor includes: For any of the aforementioned full trailers: When the rate of change of the first angle is zero, a first front wheel deflection angle constraint value of the tractor's front wheel deflection angle under the constraint of the front axle of the full trailer is determined based on a first numerical relationship, a first conversion relationship, and a second conversion relationship; wherein the first numerical relationship is a numerical relationship between the coupling turning radius corresponding to the first coupling point and the first distance; the first conversion relationship is a conversion relationship between the coupling turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, and the second distance of the front vehicle body in the stable state of relative motion; the front vehicle body is each vehicle body that is bounded by the full trailer but does not include the full trailer and is close to one end of the tractor; the second conversion relationship is a conversion relationship between the front wheel deflection angle, the second wheelbase, and the rear axle turning radius determined based on a kinematic model; When the rate of change of the second angle is zero, determining a second front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the rear axle of the full trailer based on a second numerical relationship, a third conversion relationship, and the second conversion relationship; wherein the second numerical relationship is a numerical relationship between a front axle turning radius corresponding to a center point of the front axle of the full trailer and the first wheelbase of the full trailer; and the third conversion relationship is a conversion relationship between the front axle turning radius, the rear axle turning radius of the tractor, the first distance of the front vehicle body, the first wheelbase of the front vehicle body, the second distance of the front vehicle body, and the first distance of the full trailer in the stable relative motion state; determining a minimum value among the first front wheel deflection angle constraint value, the second front wheel deflection angle constraint value, and a local front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the previous adjacent vehicle body as the local front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the full trailer; The local front wheel deflection angle constraint value of the front wheel deflection angle under the constraint of the last vehicle body away from one end of the tractor is used as the maximum front wheel deflection angle constraint value.

3. The method according to claim 1, characterized in that Determining the minimum turning radius of the rear axle of any vehicle body based on the second wheelbase, the maximum constraint value of the front wheel deflection angle, and the first distance, the first wheelbase, and the second distance of each of the full trailers includes: determining a minimum turning radius of the rear axle of the tractor based on the second wheelbase and the maximum constraint value of the front wheel deflection angle; And / or, the minimum turning radius of the rear axle of any of the full trailers is determined based on the minimum turning radius of the rear axle of the tractor, and the first distance, the first wheelbase, and the second distance of each full trailer.

4. The method according to any one of claims 1 to 3, characterized in that The number of the full trailers is greater than or equal to 2.

5. A method for determining the road passability of a full-trailer train, wherein the full-trailer train is composed of multiple car bodies, wherein one car body at a side edge of each car body is a tractor, and each car body other than the tractor is a full-trailer trailer, comprising: Determining a target channel width corresponding to the trailer train based on a minimum turning radius of a rear axle of each vehicle body in the trailer train; wherein the minimum turning radius of the rear axle is determined by the method for determining a turning radius of a trailer train according to any one of claims 1 to 4; Based on the minimum turning radius of the rear axle, the target channel width, and the turning radius and width of the target road, it is determined whether the full-trailer train passes through the target road.

6. The method according to claim 5, characterized in that The determining of the target channel width corresponding to the trailer truck train based on the minimum turning radius of the rear axle of each vehicle body in the trailer truck train comprises: Determining the minimum turning radius of the front outer wheels of the tractor based on the minimum turning radius of the rear axle, the second wheelbase, and the wheelbase of the tractor; Determining the minimum turning radius of the rear inner wheel of the last vehicle body based on the minimum turning radius of the rear axle and the wheelbase of the last vehicle body away from one end of the tractor; The target channel width is determined based on the front outer wheel minimum turning radius and the rear inner wheel minimum turning radius.

7. The method according to claim 5 or 6, characterized in that The determining whether the vehicle train passes through the target road based on the rear axle minimum turning radius, the target channel width, and the road turning radius and road width of the target road comprises: If it is determined that the road turning 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 a preset width, it is determined that the car train passes through the target road.

8. A device for determining the turning radius of a full-trailer train, wherein the full-trailer train is composed of multiple car bodies, one of the car bodies at a side edge of each car body is a tractor, and each car body except the tractor is a full-trailer trailer, characterized in that: include: a module for determining a maximum front wheel angle constraint value, configured to determine a maximum front wheel angle constraint value of the tractor based on a first distance, a first wheelbase, and a second distance of each of the full trailers, as well as the second wheelbase and the maximum allowable front wheel angle value of the tractor; wherein the first distance is the distance from the first connection point between the full trailer and the preceding adjacent vehicle body to the center point of the front axle of the full trailer; the second distance is the distance from the center point of the rear axle of the full trailer to the second connection point between the full trailer and the following adjacent vehicle body; the maximum front wheel angle constraint value is the maximum front wheel angle value when the full trailer vehicle train is in a relatively stable state of motion, wherein the relative stable state of motion is when the rate of change of the first angle and the second angle of each full trailer is zero, the first angle is the angle between the heading of the front axle of the full trailer and the heading of the rear axle of the preceding adjacent vehicle body, and the second angle is the angle between the heading of the front axle of the full trailer and the heading of the rear axle of the full trailer; The rear axle minimum turning radius determination module is configured to determine the rear axle minimum turning radius of any vehicle body based on the second wheelbase, the maximum constraint value of the front wheel deflection angle, and the first distance, the first wheelbase, and the second distance of each full trailer.

9. A device for determining the road passability of a full-trailer train, wherein the full-trailer train is composed of multiple car bodies, one of the car bodies at a side edge of each car body is a tractor, and each car body except the tractor is a full-trailer trailer, characterized in that: include: a target channel width determination module, configured to determine a target channel width corresponding to the trailer train based on a minimum turning radius of a rear axle of each vehicle body in the trailer train; wherein the minimum turning radius of the rear axle is determined by the turning radius determination method for a trailer train according to any one of claims 1 to 4; The road passability determination module is used to determine whether the full-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 turning radius and road width of the target road.

10. An electronic device, characterized in that: include: processor and memory; The processor is configured to execute the method for determining the turning radius of the full-trailer vehicle train according to any one of claims 1 to 4, or the method for determining the road passability of the full-trailer vehicle train according to any one of claims 5 to 7, by calling the program or instruction stored in the memory.

11. 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 the full-trailer vehicle train as claimed in any one of claims 1 to 4, or the method for determining the road passability of the full-trailer vehicle train as claimed in any one of claims 5 to 7.

12. A full trailer car train, characterized in that: include: At least two vehicles and controllers; One of the vehicle bodies at one side edge is a tractor, and all of the vehicle bodies except the tractor are full trailers; The controller is used to execute the method for determining the turning radius of the full-trailer vehicle train according to any one of claims 1 to 4, or the method for determining the road passability of the full-trailer vehicle train according to any one of claims 5 to 7.

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