Method, unit and system for determining folding angle of vehicle and medium

Abstract

The invention provides a method, a unit and a system for determining a vehicle folding angle and a medium, which can be applied to scenes such as ports, highways, logistics, mines, closed parks or urban traffic. The method comprises the following steps: acquiring an angle signal sent by a friction angle sensing device, wherein a friction wheel of the friction angle sensing device is in rolling connection with a trailer pin shaft; determining the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal; according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, the folding angle of the vehicle is determined, and the folding angle of the vehicle is used for turning control over the vehicle. According to the method, the accuracy of vehicle folding angle measurement is improved, so that the accuracy and safety of vehicle turning are improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, unit, system and medium for determining a vehicle folding angle, which can be applied to scenes such as ports, highways, logistics, mines, closed parks, or urban transportation. Background Art

[0002] The tractor and trailer of a towing vehicle are generally connected by means of a saddle on the tractor and a pin on the trailer, so that when the vehicle turns, a certain angle is formed between the tractor and the trailer, namely, the folding angle of the vehicle.

[0003] In the process of automatic driving of a traction vehicle, how to accurately measure the vehicle folding angle is very important for the turning control of the vehicle. In related technologies, laser radar, floating magnet and magnet limiter, camera and other equipment can be used to measure the vehicle folding angle.

[0004] However, the above-mentioned equipment has limited accuracy in measuring the folding angle and cannot accurately measure the folding angle of the vehicle, resulting in inaccurate control of the vehicle when turning and causing a collision. Summary of the invention

[0005] The embodiments of the present application provide a method, unit, system and medium for determining a vehicle folding angle, which can improve the accuracy of measuring the vehicle folding angle, thereby improving the accuracy and safety of vehicle turning.

[0006] In a first aspect, an embodiment of the present application provides a method for determining a vehicle folding angle, comprising:

[0007] Acquiring an angle signal sent by a friction angle sensor device, wherein a friction wheel of the friction angle sensor device is rollingly connected to a trailer pin shaft;

[0008] Determining the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal;

[0009] The folding angle of the vehicle is determined according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, and the folding angle of the vehicle is used to perform turning control on the vehicle.

[0010] In this embodiment, the rotation angle of the trailer pin shaft can be measured by using a friction angle sensor device that is rollingly connected to the trailer pin shaft when the vehicle turns. The rotation angle of the trailer pin shaft is transmitted to the friction angle sensor device by using the friction rolling between the friction wheel of the friction angle sensor device and the trailer pin shaft, so that the friction angle sensor device can accurately measure the rotation angle of the trailer pin shaft, thereby accurately measuring the relative rotation angle between the trailer and the tractor. Afterwards, the folding angle of the vehicle can be determined by using the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle. Through such a setting, the accuracy of the vehicle folding angle measurement is improved by using the friction rolling transmission measurement method, thereby improving the accuracy and safety of the vehicle turning.

[0011] In a possible implementation manner, a plurality of first sensors are disposed in the bearing of the friction wheel, a plurality of second sensors are disposed outside the bearing, and the method of determining the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal includes:

[0012] Determine the angle interval of rotation of the trailer pin shaft according to the first angle signal sent by the first sensor;

[0013] determining a target rotation angle of the trailer pin shaft according to the second angle signal sent by the second sensor;

[0014] The rotation angle of the trailer pin shaft when the vehicle turns is determined according to the minimum angle of the angle interval and the target rotation angle.

[0015] In this embodiment, the first sensor can measure the rotation angle of the bearing. The measurement accuracy of the rotation angle of the bearing is insufficient, but the angle interval of the trailer pin shaft rotation can be determined based on the rotation angle of the bearing. The second sensor can measure the target rotation angle of the trailer pin shaft. The target rotation angle has a high accuracy and can accurately represent the specific rotation angle of the trailer pin shaft within the angle interval. Therefore, based on the minimum angle of the angle interval and the target rotation angle, the rotation angle of the trailer pin shaft when the vehicle turns can be accurately determined.

[0016] In a possible implementation manner, determining the angle interval of rotation of the trailer pin shaft according to the first angle signal sent by the first sensor includes:

[0017] Determine each rotation angle of the bearing according to the first angle signal sent by each first sensor;

[0018] Determining a target rotation angle of the bearing according to the average of each rotation angle of the bearing;

[0019] The angle range of rotation of the trailer pin is determined according to the target rotation angle and a preset angle range, wherein the preset angle range is set according to the number of the second sensors.

[0020] In this embodiment, the rotation angle of a bearing can be obtained according to the first angle signal sent by each first sensor, and the rotation angles of multiple bearings are summed and averaged to obtain the target rotation angle, thereby improving the measurement accuracy of the bearing rotation angle, thereby improving the accuracy of the angle range of the trailer pin rotation. After determining the target rotation angle of the bearing, the angle range of the trailer pin rotation can be simply and accurately determined according to the specific attribution of the target rotation angle in the preset angle range.

[0021] In a possible implementation manner, determining the target rotation angle of the trailer pin shaft according to the second angle signal sent by the second sensor includes:

[0022] Determine each rotation sub-angle of the trailer pin shaft according to the second angle signal sent by each second sensor;

[0023] The target rotation angle of the trailer pin is determined based on the average of each rotation angle.

[0024] In this embodiment, a rotating angle of a trailer pin shaft can be obtained according to the second angle signal sent by each second sensor, and the rotating angles of multiple trailer pin shafts are added and averaged to obtain the target rotating angle, thereby improving the measurement accuracy of the rotating angle of the trailer pin shaft.

[0025] In a possible implementation manner, a plurality of magnetic pole pairs are provided on the outer side of the bearing circuit board;

[0026] The first sensor includes a tunnel magnetoresistance TMR angle sensor and / or a Hall position HALL angle sensor, the TMR angle sensor is arranged on the bottom layer of the bearing circuit board, and the HALL angle sensor is arranged on the top layer of the bearing circuit board;

[0027] A plurality of second sensors are arranged at equal intervals on the outer side of the bearing, and the second sensors are HALL angle sensors.

[0028] In this embodiment, the plurality of magnetic pole pairs arranged on the outer side of the bearing circuit board can improve the resolution of the first sensor and the second sensor, thereby improving the angle measurement accuracy. The first sensor can include a TMR angle sensor arranged on the bottom layer of the bearing circuit board and a HALL angle sensor arranged on the top layer of the bearing circuit board. The two different sensors are used to further improve the measurement accuracy of the rotation angle of the bearing. The second sensor arranged at equal intervals on the outer side of the bearing can further improve the measurement accuracy of the angle of rotation of the trailer pin shaft.

[0029] In a possible implementation manner, determining the folding angle of the vehicle according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle includes:

[0030] Obtaining a current folding angle zero point calibrated when the trailer is connected to the tractor;

[0031] The folding angle of the vehicle is determined according to the difference between the rotation angle of the trailer pin and the current folding angle zero point.

[0032] In this embodiment, each time after the tractor is coupled to the trailer, the folding angle zero point is in an uncalibrated state, and each time the trailer is coupled, there is generally a certain deviation from the zero point theoretical position, and it is an unknown state. Therefore, each time after the trailer is coupled to the tractor, the folding angle zero point of the vehicle needs to be recalibrated to ensure the accuracy of the current folding angle zero point, thereby further improving the accuracy of the vehicle folding angle measurement.

[0033] In a possible implementation, it further includes:

[0034] Determining whether the folding angle of the vehicle exceeds a folding angle threshold;

[0035] If the folding angle threshold is exceeded, an alarm instruction is sent to the body domain controller, and the alarm instruction is used to instruct the body domain controller to perform a parking operation on the vehicle.

[0036] In this embodiment, those skilled in the art can pre-set the maximum folding angle that can be supported when the vehicle turns, that is, the folding angle threshold value, and pre-store it in the MCU. After measuring the folding angle of the vehicle, the measured folding angle can be compared with the folding angle threshold value, and the vehicle turning control can be performed accordingly, thereby improving the accuracy and safety of the vehicle turning and avoiding collision when the vehicle turns.

[0037] In a second aspect, an embodiment of the present application provides a micro control unit, comprising:

[0038] An acquisition module, used for acquiring an angle signal sent by a friction angle sensor device, wherein a friction wheel of the friction angle sensor device is rollingly connected to a trailer pin shaft;

[0039] A processing module is used to determine the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal; determine the folding angle of the vehicle according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, and the folding angle of the vehicle is used to control the vehicle to turn.

[0040] In a third aspect, an embodiment of the present application provides a vehicle control system, comprising: a microcontroller unit MCU, and a friction angle sensor device connected to the MCU for communication, wherein a friction wheel of the friction angle sensor device is rollingly connected to a trailer pin shaft, a plurality of first sensors are arranged in a bearing of the friction wheel, and a plurality of second sensors are arranged outside the bearing, wherein the first sensor is used to collect a rotation angle of the bearing, and the second sensor is used to collect a rotation angle of the trailer pin shaft;

[0041] The micro control unit comprises:

[0042] A processor, and a memory communicatively connected to the processor;

[0043] Memory is used to store computer executable instructions;

[0044] The processor is used to execute the computer-executable instructions stored in the memory to implement the method for determining the vehicle folding angle of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method for determining the vehicle folding angle of the first aspect.

[0046] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the method for determining the vehicle folding angle of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic diagram of the structure of a vehicle control system according to an embodiment of the present application;

[0048] Figure 2 A flow chart of a method for determining a vehicle folding angle according to an embodiment of the present application;

[0049] Figure 3 A partial structural schematic diagram of a friction angle sensor device according to an embodiment of the present application;

[0050] Figure 4 A schematic diagram of the structure of a micro control unit according to an embodiment of the present application;

[0051] Figure 5 This is a schematic structural diagram of a micro control unit according to another embodiment of the present application. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0053] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0055] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0056] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0057] The vehicle folding angle determination method, unit, system and medium of the present application can be used in the field of autonomous driving technology, and can also be used in any field other than the field of autonomous driving technology, such as the field of vehicle control, etc. The application field of the vehicle folding angle determination method, unit, system and medium of the present application is not limited.

[0058] The vehicle folding angle determination method, unit, system and medium of the present application can be applied to scenarios such as ports, highways, logistics, mines, closed parks, or urban traffic. Any scenario involving the travel of articulated vehicles can apply the vehicle folding angle determination method, unit, system and medium of the present application.

[0059] First, the terms involved in this application are explained:

[0060] The folding angle zero point refers to the position where the center line of the tractor and the center axis of the trailer are in coincidence, and the folding angle between the two is 0.

[0061] A tractor vehicle refers to a large truck or semi-trailer that is towed by tools between the front of the vehicle (tractor) and the vehicle box (trailer). The tractor is usually equipped with an engine and a cab, responsible for driving and controlling the entire vehicle. The trailer has no power device and is driven by the tractor, mainly used for loading goods. In this application, the trailer pin is hinged on the saddle of the tractor.

[0062] Tunneling Magneto Resistance (TMR) angle sensor, composed of TMR sensor and permanent magnets. Its working principle is based on tunnel magnetism The effect occurs in a magnetic tunnel junction (MTJ). An MTJ consists of two ferromagnetic layers (fixed layer and free layer) separated by a non-magnetic insulating layer (barrier layer). When the insulating layer is thin enough, It is possible to travel from one ferromagnetic layer to another through the quantum tunneling effect. The size of the tunneling resistance depends on the magnetization directions of the two ferromagnetic layers: when the magnetization directions are parallel, the tunneling resistance is small; when the magnetization directions are antiparallel, the tunneling resistance is large. Therefore, by measuring the change in tunneling resistance, the relative change in the magnetization directions of the two ferromagnetic layers can be reflected, and then the direction and strength of the magnetic field, as well as the rotation angle, can be determined.

[0063] The Hall position angle sensor (HALL angle sensor) is a non-contact sensor that can detect changes in the magnetic field. Its working principle is based on the Hall effect. When a magnetic field passes through the device, an electric field is generated, thereby generating a potential difference, which is called the Hall potential. Therefore, the HALL angle sensor can be used to detect parameters such as the direction, strength, rotation and position of the magnetic field.

[0064] The tractor and trailer of a towing vehicle (i.e., articulated vehicle) are generally connected by means of a saddle on the tractor and a pin on the trailer, resulting in a certain angle between the tractor and the trailer during a vehicle turn, i.e., the folding angle of the vehicle.

[0065] In the process of automatic driving of a traction vehicle, how to accurately measure the vehicle folding angle is very important for the turning control of the vehicle. In related technologies, laser radar, floating magnet and magnet limiter, camera and other equipment can be used to measure the vehicle folding angle.

[0066] However, the above-mentioned equipment has limited accuracy in measuring the folding angle and cannot accurately measure the folding angle of the vehicle, resulting in inaccurate control of the vehicle when turning and causing a collision.

[0067] Based on the above technical problems, the inventive concept of the present application is: how to provide a solution for determining the vehicle folding angle that can improve the accuracy of measuring the vehicle folding angle, thereby improving the accuracy and safety of vehicle turning.

[0068] The embodiment of the present application provides a method, unit, system and medium for determining the folding angle of a vehicle, which can use a friction angle sensor device that is rollingly connected to the trailer pin shaft to measure the rotation angle of the trailer pin shaft when the vehicle turns, thereby accurately measuring the relative rotation angle between the trailer and the tractor. Afterwards, the folding angle of the vehicle can be accurately determined using the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, thereby improving the accuracy of the vehicle folding angle measurement, thereby improving the accuracy and safety of the vehicle turning.

[0069] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0070] Figure 1 FIG. 1 is a schematic diagram of the structure of a vehicle control system according to an embodiment of the present application. Figure 1As shown, the vehicle control system includes a microcontroller unit MCU1 and a friction angle sensor device 2. The friction angle sensor device 2 includes a mounting bracket 21, a friction wheel 22, a bearing 23 and a sensor assembly 24. The friction wheel 22 is rollingly connected to the trailer pin shaft. The friction angle sensor device 2 communicates data with the MCU1 through the SPI interface to send an angle signal to the MCU1. The MCU1 communicates data with the body controller 3 through the CAN bus. The friction angle sensor device 2 can measure the rotation angle of the trailer pin shaft through the friction wheel 22 rollingly connected to the trailer pin shaft, and generate an angle signal accordingly. The MCU1 obtains the angle signal sent by the friction angle sensor device, and determines the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal; the folding angle of the vehicle is determined according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle. When it is detected that the folding angle of the vehicle exceeds the folding angle threshold value, the MCU1 sends an alarm instruction to the body domain controller 3 through the CAN bus. After receiving the alarm instruction, the body domain controller 3 performs a parking operation on the vehicle.

[0071] Figure 2 This is a flow chart of a method for determining a vehicle folding angle according to an embodiment of the present application. Figure 1 The microcontroller unit MCU in the embodiment of the present invention describes the method for determining the folding angle of the vehicle. Figure 2 As shown, the method for determining the vehicle folding angle may include the following steps:

[0072] S201: Acquire the angle signal sent by the friction angle sensor device.

[0073] In this embodiment, the friction wheel of the friction angle sensor device can be rollingly connected to the trailer pin shaft.

[0074] In this embodiment, the tractor of the towing vehicle and the trailer are generally connected by means of a hinged connection between the tractor saddle and the trailer pin. During the turning process of the tractor, the saddle of the tractor will form a relative motion with the trailer, and this relative motion will be converted into a rotation between the pin and the saddle due to the hinged connection between the trailer pin and the tractor saddle. The friction wheel of the friction angle sensor device can be connected with the trailer pin in a rolling manner, and the rotation angle of the trailer pin is transmitted to the friction angle sensor device through the friction rolling between the friction wheel and the carriage pin, thereby measuring the relative rotation angle between the trailer and the tractor.

[0075] In this embodiment, the friction angle sensor device can use the principle of giant magnetoresistance to realize that the angle rotation change of the sensor input shaft causes the magnetic field change, the giant magnetic sensor generates the change of the analog electrical signal, and the electrical signal is converted into an angle signal for real-time output.

[0076] In this embodiment, the specific position of the friction angle sensor device can be flexibly set by those skilled in the art, and no limitation is imposed here, as long as the friction wheel of the friction angle sensor device is rollingly connected to the trailer pin shaft.

[0077] In this embodiment, the MCU can perform data communication with the friction angle sensor device through the SPI interface, and obtain the angle signal sent by the friction angle sensor device in real time.

[0078] S202: Determine the rotation angle of the trailer pin when the vehicle turns according to the angle signal.

[0079] In this embodiment, after the MCU obtains the angle signal sent by the friction angle sensor device, it can accurately determine the rotation angle of the trailer pin shaft according to the angle signal.

[0080] S203: Determine the folding angle of the vehicle according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle.

[0081] In this embodiment, the folding angle of the vehicle can be used to control the vehicle in a turning manner.

[0082] In this embodiment, the current folding angle zero point of the vehicle may be the folding angle zero point calibrated when the trailer is connected to the tractor.

[0083] In this embodiment, each time after the tractor is coupled to the trailer, the folding angle zero point is in an uncalibrated state, and each time the trailer is coupled, there is generally a certain deviation from the zero point theoretical position, and it is an unknown state. Therefore, each time after the trailer is coupled to the tractor, the folding angle zero point of the vehicle needs to be recalibrated to ensure the accuracy of the current folding angle zero point, thereby further improving the accuracy of the vehicle folding angle measurement.

[0084] In this embodiment, the folding angle of the vehicle may be determined according to the difference between the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle.

[0085] In this embodiment, the rotation angle of the trailer pin shaft can be measured by using a friction angle sensor device that is rollingly connected to the trailer pin shaft when the vehicle turns. The rotation angle of the trailer pin shaft is transmitted to the friction angle sensor device by using the friction rolling between the friction wheel of the friction angle sensor device and the trailer pin shaft, so that the friction angle sensor device can accurately measure the rotation angle of the trailer pin shaft, thereby accurately measuring the relative rotation angle between the trailer and the tractor. Afterwards, the folding angle of the vehicle can be determined by using the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle. Through such a setting, the accuracy of the vehicle folding angle measurement is improved by using the friction rolling transmission measurement method, thereby improving the accuracy and safety of the vehicle turning.

[0086] In a possible implementation, a plurality of first sensors may be disposed in the bearing of the friction wheel, and a plurality of second sensors may be disposed outside the bearing. The above step S202 determines the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal, and may include:

[0087] S11: Determine the angle range of rotation of the trailer pin shaft according to the first angle signal sent by the first sensor.

[0088] S12: Determine a target rotation angle of the trailer pin shaft according to a second angle signal sent by the second sensor.

[0089] S13: Determine the rotation angle of the trailer pin when the vehicle turns according to the minimum angle of the angle interval and the target rotation angle.

[0090] In this embodiment, the first sensor disposed in the bearing of the friction wheel can measure the rotation angle of the bearing, similar to the value measured by the main scale of a vernier caliper.

[0091] In this embodiment, a second sensor that can be provided on the outside of the bearing can measure the target rotation angle of the trailer pin, similar to the value measured by the vernier of a vernier caliper.

[0092] In this embodiment, the number of the first sensors and the number of the second sensors can be flexibly set by those skilled in the art, and the number of the first sensors and the number of the second sensors can be the same or different, without any limitation here. Similarly, the type of the first sensor and the type of the second sensor can also be flexibly set by those skilled in the art, and the type of the first sensor and the type of the second sensor can be the same or different, without any limitation here.

[0093] For example, if the rotation angle range of the trailer pin is [120°, 240°) and the target rotation angle is 39.1°, the rotation angle of the trailer pin is 120°+39.1°=159.1°.

[0094] In this embodiment, the first sensor can measure the rotation angle of the bearing. The measurement accuracy of the rotation angle of the bearing is insufficient, but the angle interval of the rotation of the trailer pin can be determined based on the rotation angle of the bearing. The second sensor can measure the target rotation angle of the trailer pin. The target rotation angle has a high accuracy and can accurately represent the specific rotation angle of the trailer pin within the angle interval. Therefore, based on the minimum angle of the angle interval and the target rotation angle, the rotation angle of the trailer pin when the vehicle turns can be accurately determined. Furthermore, multiple first sensors can improve the measurement accuracy of the angle interval of the trailer pin rotation, and multiple second sensors can improve the measurement accuracy of the target rotation angle of the trailer pin, thereby further improving the accuracy of the rotation angle of the trailer pin.

[0095] In a possible implementation manner, the above step S11 determines the angle interval of rotation of the trailer pin shaft according to the first angle signal sent by the first sensor, which may include:

[0096] S21: Determine each rotation angle of the bearing according to the first angle signal sent by each first sensor.

[0097] S22: Determine a target rotation angle of the bearing according to the average of each rotation angle of the bearing.

[0098] S23: Determine the angle range of rotation of the trailer pin according to the target rotation angle and the preset angle range, where the preset angle range is set according to the number of second sensors.

[0099] In this embodiment, the preset angle interval can be set by those skilled in the art according to the number of the second sensors. For example, if there are two second sensors, the preset angle interval is [0, 180°), [180°, 360°]; if there are three second sensors, the preset angle interval is [0, 120°), [120°, 240°), [240°, 360°].

[0100] In this embodiment, after the target rotation angle of the bearing is determined, the angle interval of the trailer pin rotation can be determined according to which of the preset angle intervals the target rotation angle belongs to.

[0101] For example, if the target rotation angle of the bearing is 160°, and the preset angle interval is [0, 120°), [120°, 240°), [240°, 360°], then the angle interval of the trailer pin rotation is [120°, 240°).

[0102] In this embodiment, the rotation angle of a bearing can be obtained according to the first angle signal sent by each first sensor, and the rotation angles of multiple bearings are summed and averaged to obtain the target rotation angle, thereby improving the measurement accuracy of the bearing rotation angle, thereby improving the accuracy of the angle range of the trailer pin rotation. After determining the target rotation angle of the bearing, the angle range of the trailer pin rotation can be simply and accurately determined according to the specific attribution of the target rotation angle in the preset angle range.

[0103] In a possible implementation manner, the above step S12 determines the target rotation angle of the trailer pin shaft according to the second angle signal sent by the second sensor, which may include:

[0104] S31: Determine each rotation angle of the trailer pin shaft according to the second angle signal sent by each second sensor.

[0105] S32: Determine the target rotation angle of the trailer pin according to the average value of each rotation angle.

[0106] In this embodiment, a rotating angle of a trailer pin shaft can be obtained according to the second angle signal sent by each second sensor, and the rotating angles of multiple trailer pin shafts are added and averaged to obtain the target rotating angle, thereby improving the measurement accuracy of the rotating angle of the trailer pin shaft.

[0107] In a possible implementation manner, a plurality of magnetic pole pairs may be provided on the outer side of the bearing circuit board.

[0108] The first sensor may include a tunnel magnetoresistance TMR angle sensor and / or a Hall position HALL angle sensor. The TMR angle sensor may be arranged on the bottom layer of the bearing circuit board, and the HALL angle sensor may be arranged on the top layer of the bearing circuit board.

[0109] A plurality of second sensors may be arranged at equal intervals on the outer side of the bearing, and the second sensors are HALL angle sensors.

[0110] Exemplarily, the outer side of the bearing circuit board may be provided with 6 magnetic pole pairs, which are magnetized radially outward, and 360° is divided into 120° portions, thereby increasing the resolution threefold. The first sensor may include a TMR angle sensor disposed on the bottom layer of the bearing circuit board, and a HALL angle sensor disposed on the top layer of the bearing circuit board. Three HALL angle sensors may be disposed at equal intervals on the outer side of the bearing.

[0111] Figure 3 FIG. 1 is a partial structural diagram of a friction angle sensor device according to an embodiment of the present application. Figure 3 As shown, the circuit board in the center of the bearing is provided with a TMR angle sensor and a HALL angle sensor (the positions overlap when viewed from above), and three HALL angle sensors are arranged at equal intervals on the outside of the bearing.

[0112] Specifically, the angle measured by the TMR angle sensor installed in the bearing is a1, the angle measured by the HALL angle sensor installed in the bearing is a2, and the angles measured by the three HALL angle sensors installed outside the bearing are b1, b2, and b3 respectively. The preset angle ranges are [0,120°), [120°,240°), [240°,360°]

[0113] The rotation angle of the bearing is (a1+a2) / 2=160°, and the rotation angle range of the trailer pin is [120°, 240°).

[0114] The target rotation angle of the trailer pin is (b1+b2+b3) / 3=39.1°, so the rotation angle of the trailer pin is 120°+39.1°=159.1°.

[0115] In this embodiment, the plurality of magnetic pole pairs arranged on the outer side of the bearing circuit board can improve the resolution of the first sensor and the second sensor, thereby improving the angle measurement accuracy. The first sensor can include a TMR angle sensor arranged on the bottom layer of the bearing circuit board and a HALL angle sensor arranged on the top layer of the bearing circuit board. The two different sensors are used to further improve the measurement accuracy of the rotation angle of the bearing. The second sensor arranged at equal intervals on the outer side of the bearing can further improve the measurement accuracy of the angle of rotation of the trailer pin shaft.

[0116] In a possible implementation, the above step S203 determines the folding angle of the vehicle according to the rotation angle of the trailer pin and the current folding angle zero point of the vehicle, which may include:

[0117] S41: Acquire the current folding angle zero point calibrated when the trailer is connected to the tractor.

[0118] S42: Determine the folding angle of the vehicle according to the difference between the rotation angle of the trailer pin and the current folding angle zero point.

[0119] In this embodiment, after the trailer is connected to the tractor, the current folding angle zero point of the vehicle can be calibrated by an ultrasonic radar or a laser radar installed on the tractor, or by other methods. There is no restriction on the calibration method of the folding angle zero point.

[0120] In this embodiment, each time the trailer is connected to the tractor, the current folding angle zero point of the vehicle can be recalibrated. During the vehicle turning process, the MCU can directly obtain the recalibrated current folding angle zero point and determine the folding angle of the vehicle accordingly.

[0121] In this embodiment, each time after the tractor is coupled to the trailer, the folding angle zero point is in an uncalibrated state, and each time the trailer is coupled, there is generally a certain deviation from the zero point theoretical position, and it is an unknown state. Therefore, each time after the trailer is coupled to the tractor, the folding angle zero point of the vehicle needs to be recalibrated to ensure the accuracy of the current folding angle zero point, thereby further improving the accuracy of the vehicle folding angle measurement.

[0122] In a possible implementation, the method may further include:

[0123] S51: Determine whether the folding angle of the vehicle exceeds a folding angle threshold.

[0124] S52: If the folding angle threshold is exceeded, a warning instruction is sent to the body domain controller, and the warning instruction is used to instruct the body domain controller to perform a parking operation on the vehicle.

[0125] In this implementation, those skilled in the art in the art can flexibly set the folding angle threshold value according to actual conditions, and no limitation is imposed herein.

[0126] In this embodiment, if the measured folding angle exceeds the folding angle threshold value, there is a risk of collision if the vehicle continues to turn. The MCU can send an alarm instruction to the body domain controller through the CAN bus. After receiving the alarm instruction, the body domain controller will stop the vehicle to prevent the risk of collision caused by excessive folding angle.

[0127] In this embodiment, if the measured folding angle does not exceed the folding angle threshold value, the vehicle can continue to turn without causing a collision, and the turning operation can be continued.

[0128] In this embodiment, those skilled in the art can pre-set the maximum folding angle that can be supported when the vehicle turns, that is, the folding angle threshold value, and pre-store it in the MCU. After measuring the folding angle of the vehicle, the measured folding angle can be compared with the folding angle threshold value, and the vehicle turning control can be performed accordingly, thereby improving the accuracy and safety of the vehicle turning and avoiding collision when the vehicle turns.

[0129] The method for determining the vehicle folding angle of the present application is described below with reference to a specific embodiment.

[0130] In a specific embodiment, a tractor vehicle is traveling on a road and performs a turning operation at a certain moment. During this process, the MCU of the vehicle turning control system determines the folding angle of the vehicle in real time to perform turning control of the vehicle accordingly. The specific process is as follows:

[0131] In the first step, the MCU obtains the angle signal sent by the friction angle sensor device, and the friction wheel of the friction angle sensor device can be rollingly connected with the trailer pin shaft.

[0132] In the second step, a plurality of first sensors are arranged in the bearing of the friction wheel. The MCU determines each rotation angle of the bearing according to the first angle signal sent by each first sensor; determines the target rotation angle of the bearing according to the average of each rotation angle of the bearing; and determines the angle range of rotation of the trailer pin shaft according to the target rotation angle and the preset angle range.

[0133] In the third step, multiple second sensors are arranged on the outside of the bearing. The MCU determines each rotating sub-angle of the trailer pin shaft according to the second angle signal sent by each second sensor; and determines the target rotating sub-angle of the trailer pin shaft according to the average of each rotating sub-angle.

[0134] In the fourth step, the MCU determines the rotation angle of the trailer pin when the vehicle turns based on the minimum angle of the angle range and the target rotation angle.

[0135] In the fifth step, the MCU obtains the current folding angle zero point calibrated when the trailer is connected to the tractor, and determines the vehicle's folding angle based on the difference between the rotation angle of the trailer pin and the current folding angle zero point.

[0136] In the sixth step, the MCU determines that the folding angle of the vehicle measured at a certain moment exceeds the folding angle threshold value, and sends an alarm command to the body domain controller through the CAN bus. After receiving the alarm command, the body domain controller stops the vehicle.

[0137] Figure 4 FIG. 1 is a schematic diagram of the structure of a micro control unit according to an embodiment of the present application. Figure 4 As shown, the micro control unit includes: an acquisition module 41, which is used to acquire the angle signal sent by the friction angle sensor device, the friction wheel of the friction angle sensor device is rollingly connected with the trailer pin shaft; a processing module 42, which is used to determine the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal; according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, the folding angle of the vehicle is determined, and the folding angle of the vehicle is used to control the vehicle to turn.

[0138] The micro control unit provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0139] In a possible implementation, the processing module 42 may also be used to:

[0140] Determine the angle interval of rotation of the trailer pin shaft according to the first angle signal sent by the first sensor;

[0141] Determining a target rotation angle of the trailer pin shaft according to a second angle signal sent by the second sensor;

[0142] The rotation angle of the trailer pin shaft when the vehicle turns is determined based on the minimum angle of the angle range and the target rotation angle.

[0143] The micro control unit provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0144] In a possible implementation, the processing module 42 may also be used to:

[0145] Determine each rotation angle of the bearing according to the first angle signal sent by each first sensor;

[0146] Determine the target rotation angle of the bearing according to the average value of each rotation angle of the bearing;

[0147] The angle range of rotation of the trailer pin shaft is determined according to the target rotation angle and the preset angle range, and the preset angle range is set according to the number of second sensors.

[0148] The micro control unit provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0149] In a possible implementation, the processing module 42 may also be used to:

[0150] Determine each rotation sub-angle of the trailer pin shaft according to the second angle signal sent by each second sensor;

[0151] The target rotation angle of the trailer pin is determined based on the average of each rotation angle.

[0152] The micro control unit provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0153] In a possible implementation, the processing module 42 may also be used to:

[0154] Obtain the folding angle zero point calibrated when the trailer is connected to the tractor;

[0155] The difference between the rotation angle of the trailer pin and the folding angle zero point determines the folding angle of the vehicle.

[0156] The micro control unit provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0157] In a possible implementation, the processing module 42 may also be used to:

[0158] Determine whether the folding angle of the vehicle exceeds a folding angle threshold;

[0159] If the folding angle threshold is exceeded, an alarm command is sent to the body domain controller, which is used to instruct the body domain controller to park the vehicle.

[0160] The micro control unit provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0161] Figure 5 FIG. 1 is a schematic diagram of the structure of a micro control unit according to another embodiment of the present application. Figure 5As shown, the micro control unit includes: a processor 501, and a memory 502 that is communicatively connected to the processor 501; the memory 502 stores computer-executable instructions; the processor 501 executes the computer-executable instructions stored in the memory 502 to implement the steps of the method for determining the vehicle folding angle in the above-mentioned method embodiments.

[0162] In the above-mentioned microcontroller unit, the memory 502 and the processor 501 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 502 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 502 in the form of software or firmware. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502.

[0163] The memory 502 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 502 is used to store programs, and the processor 501 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 502 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0164] The processor 501 may be an integrated circuit chip having the ability to process signals. The processor 501 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor.

[0165] An embodiment of the present application also provides a vehicle control system, such as Figure 1 As shown, the vehicle control system includes: Figure 5 The microcontroller unit MCU shown in the figure, and the friction angle sensor device connected to the MCU for communication, the friction wheel of the friction angle sensor device is rollingly connected to the trailer pin shaft, such as Figure 3 As shown, a plurality of first sensors are arranged in the bearing of the friction wheel, and a plurality of second sensors are arranged outside the bearing. The first sensor is used to collect the rotation angle of the bearing, and the second sensor is used to collect the rotation angle of the trailer pin shaft.

[0166] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0167] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0168] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0169] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0170] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0171] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0172] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0173] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0174] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for determining a vehicle folding angle, characterized in that: include: Acquiring an angle signal sent by a friction angle sensor device, wherein a friction wheel of the friction angle sensor device is rollingly connected to a trailer pin shaft; Determining the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal; The folding angle of the vehicle is determined according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, and the folding angle of the vehicle is used to perform turning control on the vehicle.

2. The method for determining the vehicle folding angle according to claim 1, characterized in that: A plurality of first sensors are arranged in the bearing of the friction wheel, and a plurality of second sensors are arranged outside the bearing. The method for determining the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal includes: Determine the angle interval of rotation of the trailer pin shaft according to the first angle signal sent by the first sensor; determining a target rotation angle of the trailer pin shaft according to the second angle signal sent by the second sensor; The rotation angle of the trailer pin shaft when the vehicle turns is determined according to the minimum angle of the angle interval and the target rotation angle.

3. The method for determining the vehicle folding angle according to claim 2, characterized in that: The step of determining the rotation angle interval of the trailer pin shaft according to the first angle signal sent by the first sensor includes: Determine each rotation angle of the bearing according to the first angle signal sent by each first sensor; Determining a target rotation angle of the bearing according to the average of each rotation angle of the bearing; The angle range of rotation of the trailer pin is determined according to the target rotation angle and a preset angle range, wherein the preset angle range is set according to the number of the second sensors.

4. The method for determining the vehicle folding angle according to claim 3, characterized in that: The step of determining a target rotation angle of the trailer pin shaft according to the second angle signal sent by the second sensor includes: Determine each rotation sub-angle of the trailer pin shaft according to the second angle signal sent by each second sensor; The target rotation angle of the trailer pin is determined based on the average of each rotation angle.

5. The method for determining the vehicle folding angle according to claim 4, characterized in that: A plurality of magnetic pole pairs are arranged on the outer side of the bearing circuit board; The first sensor includes a tunnel magnetoresistance TMR angle sensor and / or a Hall position HALL angle sensor, the TMR angle sensor is arranged on the bottom layer of the bearing circuit board, and the HALL angle sensor is arranged on the top layer of the bearing circuit board; A plurality of second sensors are arranged at equal intervals on the outer side of the bearing, and the second sensors are HALL angle sensors.

6. The method for determining the vehicle folding angle according to any one of claims 1 to 5, characterized in that: Determining the folding angle of the vehicle according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle includes: Obtaining a current folding angle zero point calibrated when the trailer is connected to the tractor; The folding angle of the vehicle is determined according to the difference between the rotation angle of the trailer pin and the current folding angle zero point.

7. The method for determining the vehicle folding angle according to any one of claims 1 to 5, characterized in that: Also includes: Determining whether the folding angle of the vehicle exceeds a folding angle threshold; If the folding angle threshold is exceeded, an alarm instruction is sent to the body domain controller, and the alarm instruction is used to instruct the body domain controller to perform a parking operation on the vehicle.

8. A micro control unit, characterized in that: include: An acquisition module, used for acquiring an angle signal sent by a friction angle sensor device, wherein a friction wheel of the friction angle sensor device is rollingly connected to a trailer pin shaft; A processing module, used to determine the rotation angle of the trailer pin shaft when the vehicle turns according to the angle signal; The folding angle of the vehicle is determined according to the rotation angle of the trailer pin shaft and the current folding angle zero point of the vehicle, and the folding angle of the vehicle is used to perform turning control on the vehicle.

9. A vehicle control system, characterized in that: include: A microcontroller unit MCU, and a friction angle sensor device connected to the MCU for communication, wherein a friction wheel of the friction angle sensor device is rollingly connected to a trailer pin shaft, a plurality of first sensors are arranged in a bearing of the friction wheel, and a plurality of second sensors are arranged outside the bearing, wherein the first sensor is used to collect a rotation angle of the bearing, and the second sensor is used to collect a rotation angle of the trailer pin shaft; The micro control unit comprises: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory to implement the method for determining the vehicle folding angle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for determining the vehicle folding angle according to any one of claims 1 to 7.

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