Method and system for testing linear driving tracking capability of trailer relative to tractor

Abstract

The invention discloses a method and system for testing the linear driving tracking capability of a trailer relative to a tractor, and relates to the technical field of quality detectors, and the method comprises the steps: calibrating the position of a driving reference line; during testing, the distance Y1 between the center of a front axle of a tractor and a driving datum line and the distance Y2 between the center of a rear axle of a trailer and the driving datum line are obtained; after the trailer moves forwards by the distance between the front axle of the tractor and the rear axle of the trailer, the distance Y3 between the center of the rear axle of the trailer and the driving datum line is obtained again, and the linear driving tracking deviation T of the trailer relative to the tractor is obtained; t is equal to Y3-Y1; and performing a plurality of times of straight-line driving tracking capability tests, and calculating to obtain the straight-line driving tracking capability. According to the invention, the driving tracking capability is intelligently tested through positioning parameters, the test data can be stored and traced, the test intelligence is high, human uncertain factors are reduced, the influence of weather and ground dryness and wetness is small, multiple round-trip tests can be carried out on the same road section, the test is not interrupted, and the test precision is high.

Description

Technical Field

[0001] The present application relates to the field of smart car technology, and more specifically, to a method and system for testing the ability of a trailer to track a tractor in a straight line. Background Art

[0002] With the development of my country's economy, higher requirements are put forward for the transportation of goods. How to improve the efficiency of goods transportation and reduce the occurrence of traffic accidents is urgently needed to be studied and solved. At present, tractor trailers are the main force of domestic goods transportation. Tractor trailers include powered tractors and unpowered trailers. The trailer is connected to the tractor and the goods are transported under the traction of the tractor. The future development trend of tractor trailers will directly affect the efficiency of goods transportation.

[0003] Among them, the tracking ability of the trailer is an important testing indicator, which has high requirements for the tracking ability of the trailer; GB7258-2017 "Technical Conditions for Motor Vehicle Operation Safety" and GB / T 26778-2023 "Performance Requirements and Test Methods for Automobile Trains" also have requirements for the maximum swing amplitude of the rear axle center of the trailer relative to the front axle center of the tractor; At present, the tracking ability detection method of the trailer mostly uses the water spray method (GB / T 25979-2010 "Road Vehicle Heavy Commercial Vehicle Train and Articulated Bus Lateral Stability Test Method" Appendix C) and the tire water spray method to test the trailer's straight-line tracking ability relative to the tractor.

[0004] The watermark of the water spray method is not a straight line, and its width will become wider as the vehicle speed increases and the time increases. The higher the ambient temperature, the faster the water on the track evaporates, and a wider test road is required. It is not easy to conduct a round-trip test on the same road and the same section in a short time. GB / T 25979 requires multiple measurements to find the average value. If a round-trip test is to be conducted on the same road and the same section, the positions of the tractor's water spray device and the trailer's water spray device need to be adjusted after the test in one direction. After several times, it is necessary to wait for the water to dry before conducting the test; for the tire water spray method, the watermark is wider and irregular, and its width will become wider as the vehicle speed increases and the time increases. The higher the ambient temperature, the faster the water on the track evaporates, and a wider test road is required, and it is not possible to conduct a round-trip test on the same road and the same section in a short time; water spraying on tires affects tire performance; the watermark on the front wheel of the tractor and the watermark on the rear wheel of the trailer overlap, making them difficult to measure.

[0005] In short, the tracking ability test results of the water spray method and the water sprinkling method have large dispersion, and multiple measurements are required to express the results with average values ​​and uncertainties. In addition, people need to go to the road to measure the watermarks, and the measurement has a large human factor, so the test road is generally closed. The test data of the test process is not easy to preserve and has poor traceability. In addition, the test road on the site has a lateral slope of 0.1% to 2%, and it is necessary to do round-trip tests. Multiple round-trip tests lead to staggered water marks on the road surface, and the measured data is greatly disturbed. It is necessary to wait for the water on the road surface to dry, but this waiting time will cause the hot car to be interrupted. The test results of the tracking ability are related to the hot car. It is not recommended to interrupt the test during the test, and the test interruption will affect the test results.

[0006] Therefore, in order to solve the above problems, it is necessary for us to design a reasonable test method and system for the trailer's straight-line tracking ability relative to the tractor. Summary of the invention

[0007] The present invention provides a method and system for testing the straight-line tracking ability of a trailer relative to a tractor. The tracking ability is intelligently tested through positioning parameters. The test data can be stored and traced. The test is highly intelligent and reduces human uncertainties. It is less affected by weather and ground dryness and wetness. The test can be carried out back and forth multiple times on the same road section without interruption and with high test accuracy.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] In a first aspect, an embodiment of the present application provides a method for testing the straight-line tracking capability of a trailer relative to a tractor, the method comprising:

[0010] S100: calibrating the position of the driving reference line;

[0011] S200: When a driving tracking capability test signal is received, a distance Y1 between the center of the front axle of the tractor and the driving reference line and a distance Y2 between the center of the rear axle of the trailer and the driving reference line are obtained;

[0012] S300: After the trailer moves forward a predetermined distance, the distance Y3 between the center of the rear axle of the trailer and the driving reference line is obtained again to obtain the straight-line tracking deviation T of the trailer relative to the tractor;

[0013] Wherein, the predetermined distance is the distance between the front axle of the tractor and the rear axle of the trailer; T = Y3-Y1;

[0014] S400: Repeat steps S200 to S300 to perform several straight-line driving tracking capability tests to calculate a straight-line driving tracking capability value.

[0015] As a preferred embodiment of the present invention, when executing step S100, specifically: calibrate the driving direction of the vehicle during the driving tracking ability test, calibrate the positions of two endpoints in the driving direction, and connect the two endpoints to obtain a driving reference line.

[0016] As a preferred embodiment of the present invention, when executing step S200, when receiving the driving tracking ability test signal, it is determined whether the vehicle meets the driving tracking ability test standard. If so, the first alignment meter located at the center of the front axle of the tractor and the second alignment meter located at the center of the rear axle of the trailer are activated to obtain the distance Y1 between the first alignment meter and the driving reference line and the distance Y2 between the second alignment meter and the driving reference line; otherwise, no operation is performed.

[0017] As a preferred embodiment of the present invention, when executing step S100, the positioning coordinates of the two end points of the driving reference line are obtained;

[0018] When executing steps S200 and S300, the positioning coordinates of the first positioning gauge and the second positioning gauge are obtained, and Y1, Y2 and Y3 can be calculated.

[0019] As a preferred embodiment of the present invention, before executing step S100, the differential base station is activated so that the vehicle driving tracking ability test section is located within the coverage range of the differential base station signal;

[0020] When executing steps S100 to S300 , the GPS positioning coordinates of the two end points of the driving reference line, the first positioning meter and the second positioning meter are obtained through the differential base station.

[0021] As a preferred embodiment of the present invention, when executing step S200, the vehicle meets the driving tracking ability test standard including: the vehicle is in a hot car state, the vehicle is in a straight driving state, and the vehicle driving speed is within a preset range of the driving test.

[0022] As a preferred embodiment of the present invention, when executing step S400, specifically: control the vehicle to reciprocate and execute steps S200 to S300 for n times on the driving reference route segment, obtain 2n T data, calculate the average value and uncertainty, and obtain the straight-line driving tracking ability value; wherein the number n is not less than 3.

[0023] In a second aspect, an embodiment of the present application provides a system for testing the straight-line tracking ability of a trailer relative to a tractor, the system comprising:

[0024] Baseline calibration module:

[0025] A first data acquisition module;

[0026] A second data acquisition module;

[0027] Test result calculation module;

[0028] The baseline calibration module calibrates the position of the driving baseline; when receiving the driving tracking ability test signal, the first data acquisition module obtains the distance Y1 between the center of the tractor's front axle and the driving baseline and the distance Y2 between the center of the trailer's rear axle and the driving baseline; after the trailer moves forward the distance between the tractor's front axle and the trailer's rear axle, the second data acquisition module again obtains the distance Y3 between the center of the trailer's rear axle and the driving baseline, and obtains the trailer's straight-line tracking deviation T relative to the tractor; T=Y3-Y1; after performing several straight-line driving tracking ability tests, the test result calculation module calculates the straight-line driving tracking ability value.

[0029] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method provided in any possible implementation manner of the first aspect is implemented.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method provided in any possible implementation manner of the first aspect is implemented.

[0031] The beneficial effects of the present invention are as follows: the present invention provides a method and system for testing the straight-line tracking ability of a trailer relative to a tractor, and intelligently tests the driving tracking ability through positioning parameters. The test data can be stored and traced, the test is highly intelligent, and human uncertainties are reduced. It is less affected by weather and ground dryness and wetness, and multiple round-trip tests can be performed on the same road section without interruption, and the test accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments 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 creative work.

[0033] Figure 1 A schematic flow chart of a method for testing the straight-line tracking capability of a trailer relative to a tractor provided in an embodiment of the present application;

[0034] Figure 2 A schematic top view of a vehicle and equipment during a test of a trailer's ability to track a tractor in a straight line provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0036] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0037] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0038] Example 1: See Figure 1 , Figure 1 1 is a flow chart of a method for testing the ability of a trailer to track a tractor in a straight line provided in an embodiment of the present application. In an embodiment of the present application, the method includes:

[0039] S100: calibrating the position of the driving reference line;

[0040] Before testing a vehicle (including a tractor and trailer), it is necessary to define a driving reference line on the road (or on the side of the road). The driving reference line is also a reference line for the vehicle's driving direction, that is, the vehicle's driving direction is roughly parallel to the driving reference line. A common method is to directly use the road edge line or the lane dividing line in the middle of the road as the driving reference line. In this application, it is necessary not only to define the driving reference line for the convenience of vehicle driving reference, but also to calibrate the position of the driving reference line, and use the position information of the driving reference line to perform vehicle driving tests.

[0041] S200: When a driving tracking capability test signal is received, a distance Y1 between the center of the front axle of the tractor and the driving reference line and a distance Y2 between the center of the rear axle of the trailer and the driving reference line are obtained;

[0042] When the vehicle is traveling along the driving reference line, the driving tracking ability test will start at a certain moment, that is, the driving tracking ability test signal is sent or received. At this time, the distance Y1 between the center of the front axle of the tractor and the driving reference line and the distance Y2 between the center of the rear axle of the trailer and the driving reference line are obtained.

[0043] In the present application, what is actually obtained is the distance Y1 between the center position of the front axle of the tractor and the driving reference line, and the distance Y2 between the center position of the rear axle of the trailer and the driving reference line; that is, the distances between the center position of the front axle of the tractor and the center position of the rear axle of the trailer and the driving reference line are calibrated through position information.

[0044] Here, the center of the front axle of the tractor, driving wheels are set on both sides of the tractor, and axles are connected between the driving wheels. Generally, the tractor has at least one set of axles. Passive wheels are also set on both sides of the trailer, and axles are connected between the passive wheels. Generally, the trailer has at least two sets of axles; we select the center of the most forward axle among the tractor axles for measurement, and select the center of the most rearward axle among the trailer axles for measurement.

[0045] In this way, there is no need to use water spraying or sprinkling methods, and electronic data can be directly acquired without being affected by external weather, temperature and road conditions.

[0046] S300: After the trailer moves forward a predetermined distance, the distance Y3 between the center of the rear axle of the trailer and the driving reference line is obtained again to obtain the straight-line tracking deviation T of the trailer relative to the tractor;

[0047] Wherein, the predetermined distance is the distance between the front axle of the tractor and the rear axle of the trailer; T = Y3-Y1;

[0048] After executing step S200 to record the distance Y1 between the center of the tractor's front axle and the driving reference line and the distance Y2 between the center of the trailer's rear axle and the driving reference line, the vehicle continues to move forward until the trailer moves forward a predetermined distance, which is the distance between the tractor's front axle and the trailer's rear axle. At this time, the trailer's rear axle moves to the position of the tractor's front axle in step S200 (it can be understood that the trailer's rear axle tracks the original tractor's front axle). At this time, the distance Y3 between the center of the trailer's rear axle and the driving reference line is obtained again, and the deviation of the trailer's straight-line tracking relative to the tractor in this test can be obtained.

[0049] In short, in step S200, the distance between the center of the front axle of the tractor and the driving reference line is Y1. After a certain period of time, in step S300, the rear axle of the trailer tracks the position of the front axle of the tractor in step S200. At this time, the distance between the center of the rear axle of the trailer and the driving reference line is Y3. Then, the straight-line tracking deviation T of the rear axle of the trailer tracking the front axle of the tractor is Y3-Y1.

[0050] S400: Repeat steps S200 to S300 to perform several straight-line driving tracking capability tests to calculate a straight-line driving tracking capability value.

[0051] Since there may be small stones on the road, the driver may have bad driving habits, and even there may be certain errors in position acquisition, a single straight-line driving tracking test may be inaccurate. In order to make the test structure more accurate, multiple tests are required, that is, steps S200 to S300 are repeated multiple times, and several straight-line driving tracking ability tests are performed. Multiple sets of data are integrated and calculated to obtain the final trailer's relative straight-line driving tracking ability data, thereby effectively improving the test accuracy.

[0052] In this way, since the trailer's ability to track the tractor in a straight line is tested directly by acquiring electronic data of position information, there is no need to use water spraying and sprinkling methods. There will be no superposition of water marks on the ground, no errors caused by water marks changing with weather, and no errors in artificially measuring the position of water marks. Moreover, when the vehicle changes its driving direction (returning in the opposite direction), there is no need to change the direction of the water nozzle. The vehicle can be tested multiple times without interrupting the test. The driving tracking ability can be tested intelligently, the test data can be stored and traced, the test is highly intelligent, and human uncertainties are reduced. It is less affected by weather and ground dryness and wetness, and can be tested multiple times on the same section of road without interruption, with high test accuracy.

[0053] Example 2: See Figure 1 , 2 This is only one of the embodiments of the present invention. Based on the first embodiment, in a method for testing the straight-line tracking ability of a trailer relative to a tractor, there are two ways to obtain position information.

[0054] In the first solution, when executing step S100, it is necessary to calibrate the position of the driving reference line, and directly densely distribute a large number of position sensors on the straight driving reference line; then when executing steps S200 and S300, these position sensors respectively obtain the minimum distance to the center of the front axle of the tractor as Y1 and the minimum distance to the center of the rear axle of the trailer as Y2 and Y3.

[0055] Considering the high cost of setting up this solution and the high possibility of the vehicle running over the position sensor, the second solution is generally used in actual testing.

[0056] The second solution, when executing step S100, is specifically as follows: calibrate the driving direction of the vehicle during the driving tracking ability test, calibrate the positions of the two endpoints in the driving direction, connect the two endpoints to obtain a driving baseline, here, place the two endpoints (generally the two endpoints are also placed on the lane dividing line), and determine a straight line between the two endpoints. The straight line is the driving baseline (it's just that the driving baseline overlaps with the lane dividing line). You only need to determine the positions of the two endpoints and obtain the positioning coordinates of the two endpoints of the driving baseline to know the position of the entire driving baseline.

[0057] Then, when executing step S200, when receiving the driving tracking ability test signal, the first aligner located at the center of the front axle of the tractor and the second aligner located at the center of the rear axle of the trailer are activated to obtain the distance Y1 between the first aligner and the driving reference line and the distance Y2 between the second aligner and the driving reference line; otherwise, no operation is performed; here, as long as the position of the first aligner and the positions of the two endpoints are obtained, the distance between the first aligner and the driving reference line can be calculated; similarly, when executing steps S200 and S300, as long as the position of the second aligner and the positions of the two endpoints are obtained, the distance between the second aligner and the driving reference line can be calculated.

[0058] The second option has a lower design cost, greatly reduces the risk of collision, and does not reduce the measurement accuracy, making it more suitable for vehicle testing.

[0059] As a further embodiment of the present application, the GPS positioning coordinates of the two end points of the driving reference line, the first positioning meter and the second positioning meter are obtained, and the position information is obtained through GPS positioning, and the straight-line driving tracking capability is calculated.

[0060] In other words, it is only necessary to obtain the positioning coordinates of the two end points of the driving reference line and the positioning coordinates of the first positioning meter and the second positioning meter to calculate Y1, Y2 and Y3, and further calculate the straight-line tracking deviation T of the trailer relative to the tractor.

[0061] Embodiment 3: Still referring to Figure 1 , 2 , which is only one of the embodiments of the present invention. Based on any of the above embodiments, in a method for testing the straight-line tracking ability of a trailer relative to a tractor, the present invention also has the following design in order to ensure the accuracy of the test:

[0062] When executing step S200, when receiving the driving tracking ability test signal, it is determined whether the vehicle meets the driving tracking ability test standard. If so, the first alignment meter located at the center of the front axle of the tractor and the second alignment meter located at the center of the rear axle of the trailer are activated to obtain the distance Y1 between the first alignment meter and the driving reference line and the distance Y2 between the second alignment meter and the driving reference line; otherwise, no operation is performed.

[0063] Among them, the vehicle meets the driving tracking ability test standards including: the vehicle is in a hot state, the vehicle is in a straight-line driving state, and the vehicle's driving speed is within the preset range of the driving test.

[0064] Specifically, before conducting the straight-line tracking ability test, the vehicle should be warmed up for a period of not less than 20 km and 30 minutes. During this period, the vehicle should experience sudden acceleration, 80% of the maximum speed, conventional braking, steering, etc., so that the vehicle is in a warm-up state; before entering the driving baseline area, the vehicle should experience steering (turning, changing lanes, etc.), and then, depending on the vehicle model and speed, drive the vehicle in a subjective straight line for 60 to 150 meters; and maintain straight driving until entering the driving baseline area, at which time the vehicle speed is between 20 and 100 km / h.

[0065] In addition, when executing step S400, it is necessary to perform several straight-line driving tracking ability tests, and the vehicle stop time between two adjacent tests shall not exceed 3 minutes to ensure the validity of the test data. Moreover, on the same road and the same section, at least 3 round trips shall be tested.

[0066] It should be noted that before executing step S100, the differential base station is activated so that the vehicle driving tracking capability test section is within the coverage range of the differential base station signal; so that when executing steps S100 to S300, the GPS positioning coordinates of the two endpoints of the driving baseline, the first positioning meter and the second positioning meter are obtained through the differential base station.

[0067] Since the GPS positioning coordinates of the two end points of the driving baseline, the first positioning meter and the second positioning meter are obtained, it is necessary to reduce the GPS positioning error as much as possible. A differential base station is directly built on the side of the driving baseline away from the vehicle test area to improve the positioning accuracy. The sampling frequency of the test equipment is not less than 100Hz, the data transmission delay time is not more than 0.01s, and the measurement accuracy is not more than 20mm.

[0068] Embodiment 4: Still referring to Figure 1 , 2, is only one of the embodiments of the present invention. On the basis of any of the above embodiments, in a method for testing the straight-line tracking ability of a trailer relative to a tractor, when executing step S400, specifically: control the vehicle to reciprocate steps S200 to S300 for n times on the driving reference route segment, obtain 2n T data, calculate the average value and uncertainty, and obtain the straight-line tracking ability value; wherein the number n is not less than 3.

[0069] In one test, a total of 6 forward and reverse tests were performed, and data of the tracking deviation T of 12 trailers relative to the tractor in straight-line driving were obtained, which were prepared into a table as follows (the test data are arranged from small to large):

[0070]

[0071]

[0072] When executing step S400, it includes:

[0073] Step S401: Obtain 2n test data, and calculate the standard deviation S(x1) of the n test data in the forward direction and the standard deviation S(x2) of the n test data in the reverse direction according to the standard deviation formula; then calculate the maximum absolute value P1 of the difference between all the data in the forward direction and the average value and the maximum absolute value P2 of the difference between all the data in the reverse direction and the average value; respectively calculate the forward data deviation value R1=P1 / S(x1) and the reverse data deviation value R2=P2 / S(x2);

[0074] Step S402: Calculate according to the confidence interval formula to obtain the maximum value Q of the 95% confidence interval of the 2n test data, which is n tests in the forward direction and n tests in the reverse direction;

[0075] Step S403: determine whether the forward data deviation value R1 and the return data deviation value R2 are both less than the maximum value Q of the 95% confidence interval. If so, the test data is normal and step S404 is executed; otherwise, return to step S200 to perform data testing;

[0076] From the 6 test data and the 6 test data in the reverse direction executed in the above table, it can be seen that the standard deviation S(x1) of the 6 test data in the forward direction is 13.56, and the standard deviation S(x2) of the 6 test data in the reverse direction is 9.62; the maximum absolute value P1 of the difference between all the data in the forward direction and the average value is 19.67, and the maximum absolute value P2 of the difference between all the data in the reverse direction and the average value is 13.17; the calculated forward data deviation value R1 is 1.450, and the reverse data deviation value R2 is 1.369, both of which are less than the maximum value Q of the 95% confidence interval of the 12 test data of 1.822, that is, step S404 can be executed; otherwise, the above 6 test data and the 6 test data in the reverse direction are invalid, and the data test is repeated;

[0077] S404: Obtain the first uncertainty; calculate the test data uncertainty error parameter according to the number of tests and the test standard deviation, recorded as the first uncertainty U a ;

[0078] U a The calculation method is:

[0079] Where: S(x) is the standard deviation of the test data. Since the return data is more concentrated, the return data deviation value S(x2) is smaller than the forward data deviation value S(x1), so S(x) takes the value S(x2). The round trip test is performed 6 times in each direction. If there is no abnormal data, n is 6.

[0080] Here,

[0081] S405: Obtain the second uncertainty; calculate the uncertainty error parameter of the test data according to the test accuracy of the test equipment, and record it as the second uncertainty U b ;

[0082] U b The calculation method is:

[0083] U b1 =e1 / k1; U b2 =e2 / k2;

[0084] Among them, e1 is the measurement accuracy of the test equipment, e2 is the resolution of the test data; k1 and k2 are the square roots of the number of measurements, that is,

[0085] Here, the measurement accuracy of the test equipment is 20mm; the resolution of the test data is 1mm; n=6, 2n=12; then:

[0086]

[0087] S406: Obtaining total uncertainty; calculating total uncertainty U according to the first uncertainty and the second uncertainty;

[0088] U is calculated as:

[0089] Wherein, k is the inclusion factor. Since there are two directions, forward and return, k is 2. c is the number of test equipment. Since two unrelated test equipments are used in the test, namely the first positioner and the second positioner, which are unrelated, c is 2.

[0090] Here,

[0091] S407: Obtaining a straight-line driving tracking capability value according to the average value and the uncertainty;

[0092] Straight-line driving tracking capability value O = (L ± U);

[0093] Where L is the average value of multiple tests;

[0094] Here, since the return average value of 68.2 is greater than the forward average value of 53.7, L is taken as 68.2; so that the obtained straight-line driving tracking ability value O is (68.2±18.12) mm.

[0095] Considering that according to standards JJF 1059.1 and CNAS-CL01-G003, the measurement uncertainty takes one or two significant figures, only rounds up and never down, and is aligned with the last digit of the average value, and the average value is rounded up, then the final straight-line tracking ability value O is (68±19) mm.

[0096] In this application, many conclusions about trailer tracking can also be obtained. For example, the tracking test data has a large dispersion. Since the test road surface has a certain slope, there are downhill and climbing phenomena in the forward and return tests, which makes the forward and return test results significantly different.

[0097] As one of the embodiments of the present invention, the present invention can also test the ability of a trailer to track a tractor in a straight line at different vehicle speeds, and can test the ability of a trailer to track a tractor in a straight line at different loads, and can even test the ability of a trailer to track a tractor in a straight line during intelligent assisted driving.

[0098] As one of the embodiments of the present invention, the present invention can also calculate the driving swing amplitude A of the trailer and the tractor, A=Y2-Y1, and after multiple tests, the driving swing parameters can be obtained.

[0099] Embodiment 5: A system for testing the straight-line tracking ability of a trailer relative to a tractor is provided in an embodiment of the present application, and the system comprises:

[0100] Baseline calibration module:

[0101] A first data acquisition module;

[0102] A second data acquisition module;

[0103] Test result calculation module;

[0104] The baseline calibration module calibrates the position of the driving baseline; when receiving the driving tracking ability test signal, the first data acquisition module obtains the distance Y1 between the center of the front axle of the tractor and the driving baseline and the distance Y2 between the center of the rear axle of the trailer and the driving baseline; after the trailer moves forward the distance between the front axle of the tractor and the rear axle of the trailer, the second data acquisition module again obtains the distance Y3 between the center of the rear axle of the trailer and the driving baseline, and obtains the straight-line tracking deviation T of the trailer relative to the tractor; T=Y3-Y1; after performing several straight-line driving tracking ability tests, the test result calculation module calculates the straight-line driving tracking ability.

[0105] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (Field-Programmable Gate Array, FPGA), an integrated circuit (Integrated Circuit, IC), etc.

[0106] It can be understood that the devices provided in the embodiments of the present invention are all applicable to the methods described in any one of embodiments 1 to 4. The specific functions of each module can refer to the above method flow and will not be repeated here.

[0107] Embodiment 6, an electronic device provided by an embodiment of the present invention is used to implement the method described in any one of embodiments 1 to 4. The electronic device may include: at least one central processor, at least one network interface, a control interface, a memory, and at least one communication bus.

[0108] Among them, the communication bus is used to realize the connection, communication and information exchange between various components.

[0109] The network interface may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0110] Among them, the control interface is used to output control operations according to instructions.

[0111] The central processing unit may include one or more processing cores. The central processing unit uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data according to the method described in any one of embodiments 1 to 4 by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory.

[0112] The memory may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory may be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), a method for implementing any one of the above embodiments one to four, etc.; the data storage area may store data involved in each of the above method embodiments, etc.

[0113] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in any one of the above embodiments 1 to 4 is implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0114] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0115] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] In the several embodiments provided by the present invention, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units.

[0118] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0119] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0120] 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 device comprising 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 device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device comprising the elements.

[0121] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementation modes, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A method for testing the straight-line tracking capability of a trailer relative to a tractor, characterized in that: include: S100: calibrating the position of the driving reference line; S200: When a driving tracking capability test signal is received, a distance Y1 between the center of the front axle of the tractor and the driving reference line and a distance Y2 between the center of the rear axle of the trailer and the driving reference line are obtained; S300: After the trailer moves forward a predetermined distance, the distance Y3 between the center of the rear axle of the trailer and the driving reference line is obtained again to obtain the straight-line tracking deviation T of the trailer relative to the tractor; Wherein, the predetermined distance is the distance between the front axle of the tractor and the rear axle of the trailer; T = Y3-Y1; S400: Repeat steps S200 to S300 to perform several straight-line driving tracking capability tests to calculate a straight-line driving tracking capability value.

2. A method for testing the straight-line tracking ability of a trailer relative to a tractor according to claim 1, characterized in that: When executing step S100, specifically: calibrate the driving direction of the vehicle during the driving tracking ability test, calibrate the positions of two endpoints in the driving direction, and connect the two endpoints to obtain a driving reference line.

3. A method for testing the straight-line tracking ability of a trailer relative to a tractor according to claim 2, characterized in that: When executing step S200, when receiving the driving tracking ability test signal, it is determined whether the vehicle meets the driving tracking ability test standard. If so, the first alignment gauge located at the center of the front axle of the tractor and the second alignment gauge located at the center of the rear axle of the trailer are activated to obtain the distance Y1 between the first alignment gauge and the driving reference line and the distance Y2 between the second alignment gauge and the driving reference line; otherwise, no operation is performed.

4. A method for testing the straight-line tracking capability of a trailer relative to a tractor according to claim 2, characterized in that: When executing step S100, the positioning coordinates of the two end points of the driving reference line are obtained; When executing steps S200 and S300, the positioning coordinates of the first positioning gauge and the second positioning gauge are obtained, and Y1, Y2 and Y3 can be calculated.

5. A method for testing the straight-line tracking capability of a trailer relative to a tractor according to claim 4, characterized in that: Before executing step S100, the differential base station is activated so that the vehicle tracking capability test section is located within the coverage of the differential base station signal; When executing steps S100 to S300 , the GPS positioning coordinates of the two end points of the driving reference line, the first positioning meter and the second positioning meter are obtained through the differential base station.

6. A method for testing the straight-line tracking capability of a trailer relative to a tractor according to claim 3, characterized in that: When executing step S200, the vehicle meets the driving tracking ability test standards including: the vehicle is in a hot car state, the vehicle is in a straight driving state, and the vehicle driving speed is within a preset range of the driving test.

7. A method for testing the straight-line tracking capability of a trailer relative to a tractor according to claim 1, characterized in that: When executing step S400, specifically: control the vehicle to reciprocate steps S200 to S300 for n times on the driving reference route segment, obtain 2n T data, calculate the average value and uncertainty, and obtain the straight-line driving tracking ability parameter; wherein the number n is not less than 3.

8. A system for testing the ability of a trailer to track a tractor in a straight line, characterized in that: include: Baseline calibration module: A first data acquisition module; A second data acquisition module; Test result calculation module; The baseline calibration module calibrates the position of the driving baseline; when receiving the driving tracking ability test signal, the first data acquisition module obtains the distance Y1 between the center of the front axle of the tractor and the driving baseline and the distance Y2 between the center of the rear axle of the trailer and the driving baseline; after the trailer moves forward by a preset distance, the preset distance is the distance between the front axle of the tractor and the rear axle of the trailer, and the second data acquisition module again obtains the distance Y3 between the center of the rear axle of the trailer and the driving baseline, and obtains the straight-line tracking deviation T of the trailer relative to the tractor; T= Y3-Y1; after performing several straight-line driving tracking ability tests, the test result calculation module calculates the straight-line driving tracking ability value.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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