Method and system for connecting tractor and trailer, storage medium and vehicle

Abstract

The invention provides a method and system for connecting a tractor and a trailer, a storage medium and a vehicle, and belongs to the technical field of vehicles. The method for connecting the tractor and the trailer comprises the steps that the first position and path planning information of the trailer are acquired; based on the first position, the target position of a tractor is determined, and the tractor is connected with the trailer at the target position; based on path planning information, determining a target path for the tractor to automatically travel to the target position; and the tractor is controlled to automatically run to the target position according to the target path, so that the tractor is connected with the trailer. According to the application, before the tractor is connected with the trailer, the influence on the driving of the tractor after the trailer is connected with the tractor is considered in advance, so that the problem that the tractor is blocked in driving if the tractor is driven out according to the target path after the tractor is connected with the trailer is ensured; and finally, smooth running of the tractor after being connected with the trailer is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, system, storage medium and vehicle for connecting a tractor and a trailer. Background Art

[0002] A tractor is a vehicle that has its own power and can be used to tow a trailer. A trailer is a vehicle that has no power of its own and needs to be towed by a tractor to move. When a tractor is used, it first needs to travel to the location of the trailer so that the tractor and trailer can be connected.

[0003] In the related art, the tractor can be controlled to automatically drive to the location of the trailer through the automatic driving technology. However, since the tractor forms a whole with the trailer after being connected with the trailer, the driving of the tractor after being connected with the trailer will be affected by the trailer compared with the driving before being connected with the trailer, which may cause the tractor to be blocked after being connected with the trailer. Summary of the invention

[0004] Based on this, the present application provides a method, system, storage medium and vehicle for connecting a tractor and a trailer to solve the problem of how to ensure smooth driving of the tractor after being connected to the trailer.

[0005] In a first aspect of an embodiment of the present application, a method for connecting a tractor and a trailer is provided, the method comprising: Acquire a first position and path planning information of the trailer, wherein the path planning information includes an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; Based on the first position, determining a target position of the tractor, the tractor being coupled to the trailer at the target position; Based on the path planning information, determining a target path for the tractor to automatically drive to the target location; The tractor is controlled to automatically travel to the target location along the target path so that the tractor is connected to the trailer.

[0006] In some exemplary embodiments, determining the target path for the tractor to automatically drive to the target location based on the path planning information includes: determining a target articulation angle of the tractor between the target position and the trailer based on the path planning information; Based on the target articulation angle, the target path is determined.

[0007] This embodiment first determines the target articulation angle based on the path planning information, and then determines the target path based on the target articulation angle, thereby grasping the key factors that determine whether the trailer can avoid obstacles, thereby improving the flexibility of determining the target path while also improving the success rate of the trailer avoiding obstacles.

[0008] In some exemplary embodiments, the path planning information includes the second position, and determining a target articulation angle between the tractor and the trailer at the target position based on the path planning information includes: When the obstacle is in a moving state, predicting a future moving path of the obstacle based on the second position, and determining the target articulation angle based on the moving path; When the obstacle is in a stationary state, the target articulation angle is determined based on the second position.

[0009] This embodiment determines the target articulation angle for different types of obstacles according to different situations. When the obstacle is in a moving state, the target articulation angle is determined based on the moving path of the obstacle. When the obstacle is in a stationary state, the target articulation angle is determined directly based on the second position, thereby improving the success rate of the smooth driving of the tractor and maximally ensuring the smooth driving of the tractor.

[0010] In some exemplary embodiments, the path planning information includes the appearance size parameter and the second position, and determining the target articulation angle between the tractor at the target position and the trailer based on the path planning information includes: determining a first articulation angle of the tractor between the target position and the trailer based on the appearance dimension parameters, and determining a second articulation angle of the tractor between the target position and the trailer based on the second position; The larger one of the first articulation angle and the second articulation angle is determined as the target articulation angle.

[0011] This embodiment can prevent the articulation angle between the tractor and the trailer from being further reduced to the minimum articulation angle when the tractor is towing the trailer, thereby reducing the probability of a collision between the tractor and the trailer.

[0012] In some exemplary embodiments, determining a target articulation angle between the tractor at the target position and the trailer based on the path planning information includes: Based on the path planning information, determining a plurality of candidate articulation angles of the tractor between the target position and the trailer; The target articulation angle is determined from a plurality of articulation angles to be selected based on a selection signal triggered by a user, wherein the selection signal carries information indicating the target articulation angle.

[0013] In the process of determining the target articulation angle, this embodiment also takes the user's intention into consideration as one of the factors. The target articulation angle is determined from multiple articulation angles to be selected through a selection signal triggered by the user, thereby making the target articulation angle more in line with the user's intention, making it easier for the user to manually drive the tractor after the tractor is connected to the trailer.

[0014] In some exemplary embodiments, before controlling the tractor to automatically drive to the target location along the target path, the method further includes: adjusting the suspension of the tractor to a first preset height; After controlling the tractor to automatically drive to the target location along the target path, the method further includes: The suspension of the tractor is adjusted to a second preset height, the first preset height being lower than the second preset height.

[0015] This embodiment adjusts the height difference between the traction device and the trailer device by adjusting the height of the traction vehicle suspension, thereby avoiding the situation where the traction device and the trailer device cannot be connected due to an excessively large height difference, thereby ensuring a smooth connection between the traction device and the trailer device.

[0016] In some exemplary embodiments, before controlling the tractor to automatically drive to the target location along the target path, the method further includes: Determining whether the tailgate of the tractor is in a closed state; The controlling the tractor to automatically drive to the target location along the target path includes: When the tailgate of the tractor is in a closed state, the tractor is controlled to automatically travel to the target position along the target path.

[0017] Before controlling the tractor to automatically drive to the target position along the target path, this embodiment first determines the open or closed state of the tailgate. Only when the tailgate is in the closed state, the tractor is controlled to automatically drive to the target position along the target path, thereby avoiding the situation where the tailgate of the tractor cannot be closed after being connected to the trailer, thereby ensuring the driving safety of the tractor.

[0018] A second aspect of an embodiment of the present application provides a system for connecting a tractor and a trailer, the system comprising: An acquisition module, configured to acquire a first position of the trailer and path planning information, wherein the path planning information includes an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; a first determination module, configured to determine, based on the first position, a target position of the tractor, the tractor being connected to the trailer at the target position; A second determination module is used to determine a target path for the tractor to automatically drive to the target location based on the path planning information; The execution module is used to control the tractor to automatically drive to the target position along the target path so that the tractor is connected to the trailer.

[0019] A third aspect of an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for connecting a tractor and a trailer as described in the second aspect of the present application.

[0020] A fourth aspect of an embodiment of the present application provides a vehicle comprising the system for connecting a tractor and a trailer as described in the second aspect of the embodiment of the present application, or comprising a control module, wherein the control module is used to implement the steps of the method for connecting a tractor and a trailer as described in the first aspect of the embodiment of the application.

[0021] The present application provides a method, system, storage medium and vehicle for connecting a tractor and a trailer, the method comprising: obtaining a first position and path planning information of the trailer, the path planning information comprising an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; determining a target position of the tractor based on the first position, and connecting the tractor to the trailer at the target position; determining a target path for the tractor to automatically drive to the target position based on the path planning information; and controlling the tractor to automatically drive to the target position along the target path, so that the tractor is connected to the trailer.

[0022] When planning a target path for the automatic driving of the tractor, the present application takes the appearance size parameters of the trailer and / or the second position of obstacles around the trailer as consideration factors for the target path planning, so that before the tractor is connected to the trailer, the influence of the trailer on the driving of the tractor after being connected to the tractor is considered in advance, thereby ensuring that after the tractor is connected to the trailer, if it drives out according to the target path, the trailer will not cause the tractor to be obstructed in driving, and ultimately ensuring the smooth driving of the tractor after being connected to the trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 This is a step diagram of a method for connecting a tractor and a trailer provided in an embodiment of the present application; Figure 2 This is a schematic diagram of a scenario in which a tractor and a trailer are connected, provided in an embodiment of the present application; Figure 3 It is a step diagram of a target path planning method provided by an embodiment of the present application; Figure 4 is a schematic diagram of a connection between a tractor and a trailer provided in an embodiment of the present application; Figure 5 is a schematic diagram of a moving path provided in an embodiment of the present application; Figure 6 is a step diagram of a method for determining a target articulation angle provided in an embodiment of the present application; Figure 7 is another method step diagram for determining a target articulation angle provided in an embodiment of the present application; Figure 8 This is a schematic diagram of a selection interface provided in an embodiment of the present application; Fig. 9 is a flow chart of a method for connecting a tractor and a trailer provided in an embodiment of the present application; Fig.10 It is a structural schematic diagram of a system for connecting a tractor and a trailer provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] A tractor is a vehicle that has its own power and can be used to tow a trailer. A trailer is a vehicle that has no power of its own and needs to be towed by a tractor to move. When a tractor is used, it first needs to travel to the location of the trailer so that the tractor and trailer can be connected.

[0027] In the related art, the tractor can be controlled to automatically drive to the location of the trailer through the automatic driving technology. However, since the tractor forms a whole with the trailer after being connected with the trailer, the driving of the tractor after being connected with the trailer will be affected by the trailer compared with the driving before being connected with the trailer, which may cause the tractor to be blocked after being connected with the trailer.

[0028] Based on this, in order to solve the problem of how to ensure the smooth driving of the tractor after it is connected to the trailer, the present application provides a method, system, storage medium and vehicle for connecting the tractor and the trailer. When planning the target path for the tractor's automatic driving, the trailer's appearance size parameters and the second position of obstacles around the trailer are taken into consideration as the target path planning factors, so that before the tractor is connected to the trailer, the impact of the trailer on the tractor's driving after it is connected to the tractor is considered in advance, thereby ensuring that after the tractor is connected to the trailer, if it drives out according to the target path, the trailer will not cause the tractor to be blocked from driving, and finally ensuring the smooth driving of the tractor after it is connected to the trailer. The specific method is as follows: The first aspect of the present application proposes an embodiment, such as Figure 1 As shown in the step diagram of a method for connecting a tractor and a trailer, the method is applied to the tractor, and specifically to the automatic driving controller of the tractor, and the main steps include: Step S101, obtaining the first position and path planning information of the trailer.

[0029] The path planning information includes the appearance size parameters of the trailer and / or the second positions of obstacles around the trailer.

[0030] A tractor is a vehicle that has its own power and can be used to tow a trailer. A trailer is a vehicle that has no power and needs to be towed by a tractor to move. The tractor is provided with a towing device, which can specifically be a towing hook, etc. The trailer is provided with a towing device, which can specifically be a towing ball, etc. The towing device is connected to the towing device, thereby achieving the connection between the tractor and the trailer.

[0031] The first position refers to the position of the trailer, more specifically, the position of the trailer device on the trailer. The external dimensions of the trailer may include the length, width and height of the trailer, the length, width and height of the trailer device, the position of the trailer device on the trailer, etc. The second position refers to the position of obstacles around the trailer. The obstacles may specifically be other vehicles other than the trailer and the tractor, or green belts, roadblocks, etc.

[0032] The path planning information refers to information used to plan a target path, and may include the appearance size parameters of the trailer, or the second position of obstacles around the trailer, or the appearance size parameters of the trailer and the second position of obstacles around the trailer.

[0033] In an optional implementation, the first position and path planning information of the trailer can be obtained based on the image information obtained by the image sensor. Specifically, the image sensor perceives the image of the trailer and the environment in which the trailer is located, generates image information including the trailer and the environment in which the trailer is located, and sends the image information to the automatic driving controller. The automatic driving controller parses the image information to obtain the first position and path planning information. In addition, before parsing the image information, images of multiple different types of trailer devices can be pre-stored in the automatic driving controller, thereby increasing the probability that the automatic driving controller detects the trailer device.

[0034] In an optional embodiment, the first position of the trailer and the second position of obstacles around the trailer can also be obtained by a radar connected to the automatic driving controller.

[0035] Step S102: determining a target position of the tractor based on the first position.

[0036] The tractor is connected to the trailer at the target location.

[0037] The target position can be a position adjacent to the first position, or can be determined based on the first position by the size of the traction device and the trailer device, as long as it is ensured that when the tractor is at the target position, the trailer device of the trailer can be connected to the traction device of the tractor. The target position is the end point of the tractor's automatic travel.

[0038] Step S103: determining a target path for the tractor to automatically drive to the target location based on the path planning information.

[0039] The path planning information includes the trailer's external dimension parameters or the second position of obstacles around the trailer, and the trailer's external dimension parameters and the second position of obstacles around the trailer determine whether the obstacles will hinder the trailer's movement when the trailer is traveling. Therefore, when planning the target path of the tractor, the path planning information can be used to predict whether the obstacles around the trailer will hinder the trailer's movement after the tractor is connected to the trailer, thereby planning a target path that can avoid obstruction to the tractor's travel.

[0040] In an optional implementation, multiple candidate paths may be pre-planned. Then, based on the path planning information, an obstacle path where obstacles may hinder the movement of the trailer is determined from the multiple candidate paths, and the obstacle path is removed from the multiple candidate paths to obtain a final target path.

[0041] Step S104, controlling the tractor to automatically travel to the target location along the target path, so that the tractor is connected to the trailer.

[0042] The autopilot controller is connected to an autopilot execution system, which includes a steering system, a drive system, and a brake system. After the autopilot controller obtains the target path, the autopilot controller determines the expected heading angle and expected speed of the tractor at each coordinate in the preset coordinate system based on the target path, and then inputs the expected heading angle into the steering system, and inputs the expected speed into the drive system and the brake system to ensure that the actual heading angle at each coordinate of the tractor matches the expected heading angle, and the actual speed matches the expected speed, so that the tractor automatically drives to the target position. After the tractor drives to the target position, the user can manually connect the trailer device and the traction device.

[0043] In an optional implementation, when the traction device is an electric trailer hook, before executing step S104, the electric trailer hook should also be controlled to be in an extended state.

[0044] When planning the target path for the automatic driving of the tractor, this embodiment takes the appearance size parameters of the trailer and the second position of the obstacles around the trailer as considerations for the target path planning, so that before the tractor is connected to the trailer, the influence of the trailer on the driving of the tractor after being connected to the tractor is considered in advance, thereby ensuring that after the tractor is connected to the trailer, if the tractor drives out according to the target path, the trailer will not cause the tractor to be blocked from driving.

[0045] For example, refer to Figure 2 A schematic diagram of a scene in which a tractor and a trailer are connected is shown. Figure 2 The path includes trailers, tractors and obstacles. This embodiment plans the following based on the path planning information: Figure 2 When the tractor drives to the target location according to the target path, the posture of the tractor is as follows: Figure 2 As shown. When the tractor tows the trailer, it starts from the target position and ends at Figure 2 The posture shown is the initial one, so the tractor can drive out according to the target path again after being connected to the trailer, and the target path has been planned through the path planning information, eliminating the risk of collision between the trailer and obstacles. Therefore, the method described in this embodiment can ensure that when the tractor tows the trailer out, if it drives out according to the target path, the trailer will not cause the tractor to be obstructed, and finally ensure the smooth driving of the tractor after being connected to the trailer.

[0046] In some exemplary embodiments, reference Figure 3 The step diagram of a target path planning method shown in FIG. 1 shows, in step S103, determining the target path for the tractor to automatically drive to the target location based on the path planning information, specifically includes the following steps: Step S11, determining a target articulation angle between the tractor and the trailer at the target position based on the path planning information.

[0047] Step S12: determining the target path based on the target articulation angle.

[0048] refer to Figure 4 A schematic diagram of a tractor and trailer connection is shown, and the articulation angle refers to the angle between the axis of the tractor and the axis of the trailer. The articulation angle between the tractor and the trailer reflects the posture of the tractor relative to the trailer. After the tractor drives to the target position according to different driving paths, the articulation angle between the tractor and the trailer will also be different. The difference in the articulation angle determines the direction in which the tractor tows the trailer after connecting with the trailer, and the direction in which the tractor tows the trailer further determines whether the trailer can avoid obstacles. Therefore, based on the path planning information, the target articulation angle between the tractor and the trailer at the target position can be determined first, and then the target path can be planned according to the target articulation angle, so that after the tractor drives to the target position according to the target path, the articulation angle between the tractor and the tractor is the target articulation angle.

[0049] In an optional implementation, when the path planning information is the external dimension parameters of the trailer, the minimum articulation angle between the tractor and the trailer can be determined based on the external dimension parameters of the trailer, and then the target articulation angle is determined as an angle greater than the minimum articulation angle.

[0050] Since the key to whether the trailer can avoid obstacles lies in the direction in which the tractor tows the trailer, and the direction in which the tractor tows the trailer is determined by the articulation angle, this embodiment first determines the target articulation angle based on the path planning information, and then determines the target path based on the target articulation angle, thereby grasping the key factors that determine whether the trailer can avoid obstacles, thereby improving the flexibility of determining the target path and also improving the success rate of the trailer avoiding obstacles.

[0051] In some exemplary embodiments, the path planning information includes the second position, and determining the target articulation angle between the tractor and the trailer at the target position based on the path planning information in step S11 specifically includes the following two cases: Case 1: when the obstacle is in a moving state, a future moving path of the obstacle is predicted based on the second position, and the target articulation angle is determined based on the moving path; In case 2, when the obstacle is in a stationary state, the target articulation angle is determined based on the second position.

[0052] The connection process between the tractor and the trailer usually occurs in a complex environment. In these complex environments, there may be moving vehicles, walking pedestrians, or stationary roadblocks. When the path planning information includes the second position, in order to improve the success rate of the smooth driving of the tractor, the target articulation angle can be determined according to different types of obstacles.

[0053] Specifically, it is first determined whether the obstacle is in a moving state or a stationary state. When the obstacle is in a moving state, the position of the obstacle is always in a dynamically changing state, so the future moving path of the obstacle can be predicted based on the second position, and the target articulation angle can be determined based on the moving path, so that the trailer can avoid the moving path of the obstacle, thereby maximizing the smooth driving of the tractor.

[0054] When the obstacle is in a stationary state, the position of the obstacle will remain unchanged at the second position, so the target articulation angle can be determined directly based on the second position.

[0055] In an optional implementation, when the obstacle is a pedestrian or a vehicle, the future movement path of the obstacle can be predicted based on the road direction of the second position. For example, when the obstacle is detected as a pedestrian and the second position is located on a sidewalk, the movement path can be determined as a path extending along the sidewalk. When the obstacle is detected as a vehicle and the second position is located on a lane, the movement path can be determined as a path extending along the lane. For details, please refer to Figure 5 A schematic diagram of a moving path is shown. If the obstacle is detected to be a vehicle, but the second position is not located on the lane, the moving path can be determined as a path extending along the front direction of the vehicle.

[0056] This embodiment determines the target articulation angle for different types of obstacles according to different situations. When the obstacle is in a moving state, the target articulation angle is determined based on the moving path of the obstacle. When the obstacle is in a stationary state, the target articulation angle is determined directly based on the second position, thereby improving the success rate of the smooth driving of the tractor and maximally ensuring the smooth driving of the tractor.

[0057] In some exemplary embodiments, when the path planning information includes the appearance size parameter and the second position, referring to Figure 6 A method for determining a target articulation angle is shown in the step diagram, wherein the target articulation angle between the tractor at the target position and the trailer is determined based on the path planning information in step S11, specifically comprising the following steps: Step S21, determining a first articulation angle of the tractor between the target position and the trailer based on the appearance size parameters, and determining a second articulation angle of the tractor between the target position and the trailer based on the second position.

[0058] Step 22: Determine the larger one of the first articulation angle and the second articulation angle as the target articulation angle.

[0059] When the path planning information includes the appearance size parameter and the second position, the first articulation angle and the second articulation angle can be determined based on the appearance size parameter and the second position, respectively. Since the first articulation angle and the second articulation angle are both determined based on the appearance size parameter or the second position, the tractor will not collide with obstacles after forming the first articulation angle or the second articulation angle with the trailer.

[0060] At this time, in order to prevent the articulation angle between the tractor and the trailer from further decreasing to the minimum articulation angle when the tractor is towing the trailer, causing a collision between the tractor and the trailer, the larger of the first articulation angle and the second articulation angle should be determined as the target articulation angle, thereby reducing the probability of a collision between the tractor and the trailer.

[0061] In some exemplary embodiments, reference Figure 7 Another method for determining a target articulation angle is shown in the step diagram, wherein the step S11 determines the target articulation angle between the tractor at the target position and the trailer based on the path planning information, and specifically may further include the following steps: Step S31: determining a plurality of candidate articulation angles of the tractor between the target position and the trailer based on the path planning information.

[0062] Step S32: determining the target articulation angle from a plurality of articulation angles to be selected based on a selection signal triggered by the user.

[0063] The selection signal carries information indicating the target articulation angle.

[0064] After the tractor automatically drives to the target location according to the target path, the tractor may tow the trailer out again according to the target path through automatic driving, or the tractor may tow the trailer out under the driving of the user. Therefore, considering the different driving habits of different users, the user's intention can be taken into consideration when determining the target articulation angle.

[0065] Specifically, based on the path planning information, a plurality of articulation angles to be selected between the tractor and the trailer are first determined. The articulation angles to be selected are articulation angles at which obstacles will not hinder the travel of the trailer. After the plurality of articulation angles to be selected are determined, the user can send a selection signal carrying information of the target articulation angle to the tractor according to his / her intention, so that the tractor responds to the selection signal and determines the target articulation angle from the plurality of articulation angles to be selected.

[0066] In an optional embodiment, after determining multiple articulation angles to be selected, the tractor can display the multiple articulation angles to be selected on the central control screen. The selection signal can be a signal generated based on the user's click action. For example, the central display screen can display the following Figure 8 A schematic diagram of a selection interface shows images of three tractors. Among them, tractor A corresponds to the articulation angle to be selected A, tractor B corresponds to the articulation angle to be selected B, and tractor C corresponds to the articulation angle to be selected C. If the user selects tractor A, the central controller can generate a selection signal including information indicating that the target articulation angle is the articulation angle to be selected A in response to the user's action of selecting tractor A, and further send the selection signal to the automatic driving controller, so that the automatic driving controller determines the articulation angle to be selected A as the target articulation angle.

[0067] In the process of determining the target articulation angle, this embodiment also takes the user's intention into consideration as one of the factors. The target articulation angle is determined from multiple articulation angles to be selected through a selection signal triggered by the user, thereby making the target articulation angle more in line with the user's intention, making it easier for the user to manually drive the tractor after the tractor is connected to the trailer.

[0068] In some exemplary embodiments, before controlling the tractor to automatically drive to the target location along the target path in step S104, the method further includes the following steps: Step S105, adjusting the suspension of the tractor to a first preset height.

[0069] After controlling the tractor to automatically drive to the target location along the target path in step S104, the method further includes the following steps: Step S106, adjusting the suspension of the tractor to a second preset height, wherein the first preset height is lower than the second preset height.

[0070] The tractor and trailer need to be connected through the traction device on the tractor and the trailer device on the trailer. Since the structural size parameters of the tractor and the trailer and the height of the trailer device and the traction device are not standardized parameters, after the tractor travels to the target location, the traction device and the trailer device may not be connected due to the large height difference. Therefore, this embodiment proposes a method of adjusting the height of the tractor suspension to ensure that the traction device and the trailer device can be connected smoothly.

[0071] Specifically, before the tractor automatically drives along the target path, the suspension of the tractor is first adjusted to a first preset height, and after the tractor drives to the target position, the height of the tractor suspension is adjusted to a second preset height higher than the first preset height, thereby ensuring the connection between the traction device and the trailer device.

[0072] In an optional embodiment, the first preset height may be the lowest height of the suspension, and the second preset height may be the height required for the tractor during normal driving.

[0073] In an optional embodiment, the suspension may be a hydraulic suspension or an air suspension, and the automatic driving controller changes the height of the suspension by adjusting the volume of hydraulic oil or air filled in the suspension springs.

[0074] This embodiment adjusts the height difference between the traction device and the trailer device by adjusting the height of the traction vehicle suspension, thereby avoiding the situation where the traction device and the trailer device cannot be connected due to an excessively large height difference, thereby ensuring a smooth connection between the traction device and the trailer device.

[0075] In some exemplary embodiments, before controlling the tractor to automatically drive to the target location along the target path in step S104, the method further includes the following steps: Step S107, determining whether the tailgate of the tractor is in a closed state.

[0076] Controlling the tractor to automatically drive to the target location along the target path in step S104 specifically includes: When the tailgate of the tractor is in a closed state, the tractor is controlled to automatically travel to the target position along the target path.

[0077] The tailgate of a tractor, also known as the trunk lid or rear hatch, refers to the door at the rear of the tractor used to close and open the trunk. Common tailgate opening methods include top-opening, side-opening, and double-door opening. When the speed of the tractor exceeds a certain speed threshold, or when the tractor is driving on a public road, the tailgate of the tractor should be closed.

[0078] Since the tailgate should be in the closed state when the tractor is driving normally, whether it is a top-lifting, side-opening or double-door tailgate, when switching from the open state to the closed state, a certain space needs to be reserved at the rear of the tractor to allow the tailgate to move. However, when the tractor is connected to the trailer, the trailer will occupy the space reserved for the tailgate to move, making it impossible for the tailgate to switch from the open state to the closed state.

[0079] Therefore, before controlling the tractor to drive to the target location along the target path, it should be determined whether the tailgate is in a closed state. If the tailgate is in a closed state, the tractor is controlled to automatically drive to the target location along the target path; if the tailgate is in an open state, the tractor is controlled to automatically drive to the target location along the target path after controlling the tailgate to be in a closed state.

[0080] Before controlling the tractor to automatically drive to the target position along the target path, this embodiment first determines the open or closed state of the tailgate. Only when the tailgate is in the closed state, the tractor is controlled to automatically drive to the target position along the target path, thereby avoiding the situation where the tailgate of the tractor cannot be closed after being connected to the trailer, thereby ensuring the driving safety of the tractor.

[0081] Based on the above embodiments, reference Fig. 9 A flowchart of a method for connecting a tractor and a trailer is shown, and the method for connecting a tractor and a trailer described in the present application will be exemplarily described below: The method for connecting a tractor and a trailer described in the present application is applied to the tractor, and specifically to the automatic driving controller of the tractor. Specifically, it includes the following steps: At the beginning of the method, the first position of the trailer and path planning information are first obtained, wherein the path planning information includes the appearance size parameters of the trailer, or the second position of obstacles around the trailer, or the appearance size parameters and the second position.

[0082] Afterwards, based on the first position of the trailer, a target position for connecting the tractor and the trailer is determined, and based on the path planning information, multiple candidate articulation angles between the tractor and the trailer at the target position are determined, and then based on the selection signal triggered by the user, a target articulation angle is determined from the multiple candidate articulation angles. After the target articulation angle is determined, a target path for the tractor to automatically drive to the target position is planned based on the target articulation angle.

[0083] After determining the target path, the suspension of the tractor is adjusted to a first preset height, and the tailgate of the tractor is detected to be in a closed state. When the suspension of the tractor is at the first preset height and the tailgate is in a closed state, the tractor is controlled to automatically drive to the target position along the target path. If the tailgate is not in a closed state, the tailgate should be controlled to be in a closed state first, and then the tractor is controlled to automatically drive to the target position along the target path.

[0084] Finally, after the tractor automatically drives to the target position according to the target path, the suspension of the tractor is adjusted to a second preset height.

[0085] Among them, when determining multiple articulation angles to be selected between the tractor at the target position and the trailer based on the path planning information, if the path planning information is the second position, then when the obstacle is in a moving state, the future moving path of the obstacle is predicted based on the second position, and multiple articulation angles to be selected are determined based on the moving path; when the obstacle is in a stationary state, multiple articulation angles to be selected are determined based on the second position. If the path planning information is the appearance size parameter and the second position, then multiple first articulation angles to be selected between the tractor at the target position and the trailer are determined based on the appearance size parameter, and multiple second articulation angles to be selected between the tractor at the target position and the trailer are determined based on the second position, and the articulation angle greater than the preset angle among the multiple first articulation angles to be selected and the multiple second articulation angles to be selected is determined as the articulation angle to be selected.

[0086] Based on the same inventive concept, the present application also provides a system for connecting a tractor and a trailer, such as Fig.10 As shown in the structural schematic diagram of a system for connecting a tractor and a trailer, the system includes: An acquisition module, configured to acquire a first position of the trailer and path planning information, wherein the path planning information includes an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; a first determination module, configured to determine, based on the first position, a target position of the tractor, the tractor being connected to the trailer at the target position; A second determination module is used to determine a target path for the tractor to automatically drive to the target location based on the path planning information; The execution module is used to control the tractor to automatically drive to the target position along the target path so that the tractor is connected to the trailer.

[0087] In some exemplary embodiments, the second determination module is further used to determine a target articulation angle of the tractor between the target position and the trailer based on the path planning information; and determine the target path based on the target articulation angle.

[0088] In some exemplary embodiments, the path planning information includes the second position, and the second determination module is also used to predict the future movement path of the obstacle based on the second position when the obstacle is in a moving state, and determine the target articulation angle based on the movement path; when the obstacle is in a stationary state, determine the target articulation angle based on the second position.

[0089] In some exemplary embodiments, the path planning information includes the appearance size parameters and the second position, and the second determination module is further used to determine a first articulation angle between the tractor at the target position and the trailer based on the appearance size parameters, and to determine a second articulation angle between the tractor at the target position and the trailer based on the second position; and to determine the larger of the first articulation angle and the second articulation angle as the target articulation angle.

[0090] In some exemplary embodiments, the second determination module is further used to determine a plurality of candidate articulation angles of the tractor between the target position and the trailer based on the path planning information; The target articulation angle is determined from a plurality of articulation angles to be selected based on a selection signal triggered by a user, wherein the selection signal carries information indicating the target articulation angle.

[0091] In some exemplary embodiments, the execution module is further used to adjust the suspension of the tractor to a first preset height before controlling the tractor to automatically drive to the target position along the target path; and adjust the suspension of the tractor to a second preset height after controlling the tractor to automatically drive to the target position along the target path, wherein the first preset height is lower than the second preset height.

[0092] In some exemplary embodiments, the execution module is further used to determine whether the tailgate of the tractor is in a closed state; when the tailgate of the tractor is in a closed state, the tractor is controlled to automatically drive to the target position along the target path.

[0093] An embodiment of the present application also provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, a method for connecting a tractor and a trailer as disclosed in an embodiment of the present application is implemented.

[0094] An embodiment of the present application also provides a vehicle, including a system for connecting a tractor and a trailer provided in the present application, or including a control module, wherein the control module is used to implement the steps of the method for connecting a tractor and a trailer described in the embodiment of the present application.

[0095] The present application provides a method, system, storage medium and vehicle for connecting a tractor and a trailer, the method comprising: obtaining a first position and path planning information of the trailer, the path planning information comprising an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; determining a target position of the tractor based on the first position, and connecting the tractor to the trailer at the target position; determining a target path for the tractor to automatically drive to the target position based on the path planning information; and controlling the tractor to automatically drive to the target position along the target path, so that the tractor is connected to the trailer.

[0096] When planning the target path for the automatic driving of the tractor, the application takes the appearance size parameters of the trailer and the second position of the obstacles around the trailer as considerations for the target path planning, so that before the tractor is connected to the trailer, the influence of the trailer on the driving of the tractor after being connected to the tractor is considered in advance, thereby ensuring that after the tractor is connected to the trailer, if it drives out according to the target path, the trailer will not cause the tractor to be obstructed in driving, and ultimately ensuring the smooth driving of the tractor after being connected to the trailer.

[0097] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0098] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable terminal device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0102] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0103] The method, system, storage medium and vehicle for connecting a tractor and a trailer provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for connecting a tractor and a trailer, characterized in that: The method comprises: Acquire a first position and path planning information of the trailer, wherein the path planning information includes an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; Based on the first position, determining a target position of the tractor, the tractor being coupled to the trailer at the target position; Based on the path planning information, determining a target path for the tractor to automatically drive to the target location; The tractor is controlled to automatically travel to the target location along the target path so that the tractor is connected to the trailer.

2. The method for connecting a tractor and a trailer according to claim 1, characterized in that: The step of determining a target path for the tractor to automatically drive to the target location based on the path planning information includes: determining a target articulation angle of the tractor between the target position and the trailer based on the path planning information; Based on the target articulation angle, the target path is determined.

3. The method for connecting a tractor and a trailer according to claim 2, characterized in that: The path planning information includes the second position, and determining a target articulation angle between the tractor and the trailer at the target position based on the path planning information includes: When the obstacle is in a moving state, predicting a future moving path of the obstacle based on the second position, and determining the target articulation angle based on the moving path; When the obstacle is in a stationary state, the target articulation angle is determined based on the second position.

4. The method for connecting a tractor and a trailer according to claim 2, characterized in that: The path planning information includes the appearance size parameter and the second position, and determining a target articulation angle between the tractor at the target position and the trailer based on the path planning information includes: determining a first articulation angle of the tractor between the target position and the trailer based on the appearance dimension parameters, and determining a second articulation angle of the tractor between the target position and the trailer based on the second position; The larger one of the first articulation angle and the second articulation angle is determined as the target articulation angle.

5. The method for connecting a tractor and a trailer according to claim 2, characterized in that: The determining, based on the path planning information, a target articulation angle between the tractor at the target position and the trailer comprises: Based on the path planning information, determining a plurality of candidate articulation angles of the tractor between the target position and the trailer; The target articulation angle is determined from a plurality of articulation angles to be selected based on a selection signal triggered by a user, wherein the selection signal carries information indicating the target articulation angle.

6. The method for connecting a tractor and a trailer according to claim 1, characterized in that: Before controlling the tractor to automatically drive to the target location along the target path, the method further includes: adjusting the suspension of the tractor to a first preset height; After controlling the tractor to automatically drive to the target location along the target path, the method further includes: The suspension of the tractor is adjusted to a second preset height, the first preset height being lower than the second preset height.

7. The method for connecting a tractor and a trailer according to claim 1, characterized in that: Before controlling the tractor to automatically drive to the target location along the target path, the method further includes: Determining whether the tailgate of the tractor is in a closed state; The controlling the tractor to automatically drive to the target location along the target path includes: When the tailgate of the tractor is in a closed state, the tractor is controlled to automatically travel to the target position along the target path.

8. A system for connecting a tractor and a trailer, characterized in that: The system comprises: An acquisition module, configured to acquire a first position of the trailer and path planning information, wherein the path planning information includes an appearance dimension parameter of the trailer and / or a second position of obstacles around the trailer; a first determination module, configured to determine, based on the first position, a target position of the tractor, the tractor being connected to the trailer at the target position; A second determination module is used to determine a target path for the tractor to automatically drive to the target location based on the path planning information; The execution module is used to control the tractor to automatically drive to the target position along the target path so that the tractor is connected to the trailer.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method for connecting a tractor and a trailer according to any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: A system for connecting a tractor and a trailer comprising the system of claim 8, or a control module, wherein the control module is used to implement the steps of the method for connecting a tractor and a trailer according to any one of claims 1-7.

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