Heavy truck carrying and hanging automatic reversing method and system based on multiple behavior planning

Abstract

The invention relates to a heavy truck hanging automatic reversing method and system based on multiple behavior plans, and the method comprises the following steps: 1, receiving a parking task when a vehicle arrives at a parking starting position, and entering a step 2; step 2, entering back-up behavior planning, planning a driving path of the heavy truck with the trailer from a parking starting position to a parking target position, starting back-up driving, judging whether the current heavy truck with the trailer meets a parking posture requirement or not, if so, continuing to execute back-up driving and entering step 4, and if not, entering step 3; step 3, entering forward behavior planning, planning a driving path of the heavy truck carrying the vehicle from the current position to a forward target position, and starting forward driving; if the vehicle arrives at the advancing target position or meets the requirement of the garage entering posture or an obstacle exists in front, advancing driving is completed, parking is conducted, and the second step is executed; and 4, the parking target position is reached, and the parking task is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to a heavy truck with trailer automatic reverse method and system based on multiple behavior planning. Background Art

[0002] In industries such as logistics and transportation, heavy trucks with trailers are important transportation tools. Especially in dangerous factory areas such as steel mills, sand and gravel plants, and drilling plants, logistics transfer work usually faces many challenges. These factory areas often have complex environments, limited space, and various adverse factors such as high temperature, dust, and noise. At the same time, loading and unloading operations need to be carried out frequently during the transfer process. In such an environment, high skills and experience are required for drivers. The driver not only needs to constantly pay attention to changes in the surrounding environment but also needs to precisely control the vehicle to ensure the safe and efficient transfer of goods. This high level of mental concentration and physical consumption makes the driver prone to fatigue, thereby increasing the risk of accidents. The reverse operation of a heavy truck with a trailer is a highly technical and difficult task. If a one-time behavior planning strategy is adopted, especially in narrow sites or restricted space scenarios, automatic reverse will fail. Therefore, developing a heavy truck with trailer automatic reverse method and system based on multiple behavior planning is of great significance for improving reverse efficiency, safety, and automation. Summary of the Invention

[0003] The purpose of the present invention is to provide a heavy truck with trailer automatic reverse method and system based on multiple behavior planning in view of the deficiencies of the prior art.

[0004] The present invention is implemented by adopting the following technical solutions: A heavy truck with trailer automatic reverse method based on multiple behavior planning includes the following steps: Step 1: Arrive at the start position of parking, receive the parking task, and proceed to Step 2; Step 2: Enter the reverse behavior planning, plan the driving path of the heavy truck with trailer from the start position of parking to the target position of parking, start reverse driving, and determine whether the current heavy truck with trailer meets the requirements of the storage attitude. If it meets, continue reverse driving and proceed to Step 4; if it does not meet, proceed to Step 3; Step 3: Enter the forward behavior planning, plan the driving path of the heavy truck with trailer from the current position to the forward target position, and start forward driving; if the forward target position is reached or the requirements of the storage attitude are met or there are obstacles ahead, complete the forward driving, stop, and proceed to Step 2; Step 4: Arrive at the target position of parking and complete the parking task.

[0005] As a further description of the invention, vehicle state information, environmental information, and parking position information are obtained; wherein, the vehicle state information includes the position, speed, direction, and the attitudes of the heavy truck and the trailer of the heavy truck with attached trailer; the environmental information includes obstacles and road boundaries; and the parking position information includes the parking target bay and the parking target position. Based on the vehicle state information, environmental information, and parking position information, a reverse driving behavior and a forward driving behavior are planned.

[0006] As a further description of the invention, before determining whether the current heavy truck with attached trailer meets the requirements for the storage attitude, it further includes: During the reverse driving process, based on the vehicle state information and the parking target bay information, it is determined whether the current heavy truck with attached trailer enters the storage attitude detection area or the collision danger area. If it enters, it continues to determine whether the current heavy truck with attached trailer meets the requirements for the storage attitude. If it does not enter, it continues to determine whether the current heavy truck with attached trailer enters the storage attitude detection area or the collision danger area until it enters the storage attitude detection area or the collision danger area.

[0007] As a further description of the invention, the method for determining whether the current heavy truck with attached trailer enters the storage attitude detection area or the collision danger area includes: Determining based on the remaining parking path distance; Or, determining based on the distance between the current position of the heavy truck with attached trailer and the parking target position; Or, taking the area range spreading outwards from the parking target position as the storage attitude detection area or the collision danger area.

[0008] As a further description of the invention, the method for determining whether the current heavy truck with attached trailer meets the requirements for the storage attitude includes: Determining whether the articulated angle between the heavy truck and the trailer is less than the set threshold A; determining whether the horizontal and vertical errors between the current position of the heavy truck with attached trailer and the parking target position are less than the set threshold B; determining whether the orientation error between the current orientation of the heavy truck with attached trailer and the parking target position is less than the set threshold C; if all three determination conditions are met, the result that the current heavy truck with attached trailer meets the requirements for the storage attitude is output. If at least one of the three determination conditions does not meet, the result that the current heavy truck with attached trailer does not meet the requirements for the storage attitude is output.

[0009] As a further description of the invention, step 3 includes: Based on the vehicle state information and the parking target position, the forward target position is calculated.

[0010] As a further description of the invention, the method for determining that the heavy truck with attached trailer cannot move forward due to the presence of an obstacle in front includes: During the forward driving process, the obstacle and the static existence duration of the obstacle are obtained; and it is determined based on the obstacle and the static existence duration of the obstacle.

[0011] As a further description of the invention, a method for calculating the forward target position coordinates includes: Taking the parking target position coordinates G(x0, y0) as a reference, if the forward target distance is given, then according to the given value D1 of the forward target distance, calculate the given forward target position coordinates G1(x1, y1) along the parking direction; Or, taking the parking target position coordinates G(x0, y0) as a reference, if the forward target distance is not given, then when the calculated value D2 of the forward target distance is not greater than the distance between the parking start position and the parking target position, calculate the calculated forward target position coordinates G2(x2, y2) along the parking direction according to the calculated value D2 of the forward target distance; Among them, the parking target position coordinates G(x0, y0) are represented by the ideal parking coordinates projected by the center of the rear axle of the tractor head of the heavy truck with a trailer on the parking target bay.

[0012] The heavy truck with trailer automatic reverse system based on multiple behavior planning includes the heavy truck with trailer automatic reverse method based on multiple behavior planning as described in any one of the above, and it includes: An environment perception module, which obtains vehicle state information, environment information, and parking position information according to various sensors; among them, the vehicle state information includes the position, speed, direction, and postures of the heavy truck and the trailer of the heavy truck with trailer; the environment information includes obstacles and road boundaries; obtain the parking position information offline or online according to the configuration file; among them, the parking position information includes the parking target bay and the parking target position; A path planning module, which obtains the parking target position and plans the driving path of the heavy truck with trailer from the current position to the parking target position and the driving path of the heavy truck with trailer from the current position to the forward target position according to the information obtained by the environment perception module; A behavior planning module with multiple reverse maneuvers, which performs multiple reverse behavior planning according to the information obtained by the environment perception module and according to the information obtained by the path planning module; A control execution module, which controls the movement of the heavy truck with trailer according to the output of the behavior planning module to achieve automatic reverse; A safety monitoring and exception handling module, which continuously performs safety monitoring during the entire reverse process to detect possible abnormal situations; once an abnormal situation is detected, immediately activate the emergency handling mechanism, including emergency braking and audible and visual alarms.

[0013] As a further description of the invention, the response priority of the safety monitoring and exception handling module is higher than that of the control execution module.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects: By intelligently planning the reverse driving behavior, the dependence on manual operation is reduced and the degree of automation is improved; By optimizing the reverse path, the success rate and efficiency of reverse parking are improved; When planning the reverse driving behavior, factors such as vehicle size, steering angle, and road surface conditions are fully considered to ensure the safety of reverse operation; The present invention is applicable to heavy truck and trailer vehicles of different sizes and types, and is applicable to the scenario of parking in a closed park, with strong versatility and adaptability. Brief Description of the Drawings

[0015] Figure 1 is a schematic diagram of the system principle of the present invention; Figure 2 is a schematic diagram of the in-parking detection area or dangerous collision area of the present invention; Figure 3 is a schematic diagram of the forward target position coordinates of the present invention. Detailed Embodiments

[0016] As Figures 1-3 shown, the automatic reverse driving method for heavy truck and trailer based on multiple behavior planning includes the following steps: Step 1: Reach the start position of parking, receive the parking task, and enter Step 2; Step 2: Enter the reverse driving behavior planning, plan the driving path of the heavy truck and trailer vehicle from the start position of parking to the parking target position, start reverse driving, and judge whether the current heavy truck and trailer vehicle meets the requirements of the in-parking posture. If it meets, continue to perform reverse driving and enter Step 4; if it does not meet, enter Step 3; Step 3: Enter the forward driving behavior planning, plan the driving path of the heavy truck and trailer vehicle from the current position to the forward target position, and start forward driving; if the forward target position is reached or the requirements of the in-parking posture are met or there are obstacles ahead, complete the forward driving, stop and enter Step 2; Step 4: Reach the parking target position and complete the parking task.

[0017] Obtain vehicle state information, environmental information, and parking position information; wherein, the vehicle state information includes the position, speed, direction, and postures of the heavy truck and trailer of the heavy truck and trailer vehicle; the environmental information includes obstacles and road boundaries; the parking position information includes the parking target bay and the parking target position; According to the vehicle state information, environmental information, and parking position information, plan the reverse driving behavior and the forward driving behavior.

[0018] Before judging whether the current heavy truck and trailer vehicle meets the requirements of the in-parking posture, it further includes: During the reverse parking process, based on the vehicle status information and the parking target bay information, it is determined whether the current heavy truck with a trailer has entered the warehousing attitude detection area or the collision danger area. If it has entered, it is further determined whether the current heavy truck with a trailer meets the warehousing attitude requirements. If it has not entered, it is continuously determined whether the current heavy truck with a trailer has entered the warehousing attitude detection area or the collision danger area until it enters the warehousing attitude detection area or the collision danger area.

[0019] The method for determining whether the current heavy truck with a trailer has entered the warehousing attitude detection area or the collision danger area includes: The method for determining whether the current heavy truck with a trailer has entered the warehousing attitude detection area or the collision danger area includes: Judging according to the remaining parking path distance; Or, judging according to the distance between the current position of the heavy truck with a trailer and the parking target position; Or, taking the area range spreading outwards from the parking target position as the warehousing attitude detection area or the collision danger area. Preferably, taking Figure 2 as an example, taking the circular range with the parking target position coordinate G(x0, y0) as the center and radius R (the parameter is set according to the actual situation) as the warehousing attitude detection area or the collision danger area.

[0020] The method for determining whether the current heavy truck with a trailer meets the warehousing attitude requirements includes: Judging whether the articulated angle between the heavy truck and the trailer is less than the set threshold A; judging whether the horizontal and vertical errors between the current position of the heavy truck with a trailer and the parking target position are less than the set threshold B; judging whether the orientation error between the current orientation of the heavy truck with a trailer and the parking target position is less than the set threshold C; if all three judgment conditions are met, the result that the current heavy truck with a trailer meets the warehousing attitude requirements is output. If at least one of the three judgment conditions does not meet, the result that the current heavy truck with a trailer does not meet the warehousing attitude requirements is output. It should be noted that during the reverse parking process, taking the ideal parking coordinate of the center of the rear axle of the heavy truck with a trailer's head in the parking target bay as the origin of the coordinate system, taking the deviation between the current coordinate point of the center of the rear axle of the heavy truck with a trailer's head and the origin of the coordinate system as the horizontal and vertical error judgment (that is, the current coordinate point is at a non-origin position in the X-axis direction or the current coordinate point is at a non-origin position in the Y-axis direction), and the orientation error judgment (that is, the included angle between the line connecting the current coordinate point and the origin and the X-axis or Y-axis).

[0021] Step 3 includes: Calculating the forward target position according to the vehicle status information and the parking target position.

[0022] The method for determining that the heavy truck with a trailer cannot move forward due to an obstacle in front includes: During the forward movement, obtain the obstacles and the static existence duration of the obstacles; make a judgment based on the obstacles and the static existence duration of the obstacles.

[0023] A method for calculating the forward target position coordinates includes: Taking the parking target position coordinates G(x0, y0) as a reference, if the forward target distance is given, then according to the given value D1 of the forward target distance, calculate the forward target given position coordinates G1(x1, y1) along the parking direction; Or, taking the parking target position coordinates G(x0, y0) as a reference, if the forward target distance is not given, then when the calculated value D2 of the forward target distance is not greater than the distance between the parking start position and the parking target position, calculate the forward target calculated position coordinates G2(x2, y2) along the parking direction according to the calculated value D2 of the forward target distance; Preferably, taking Figure 3 backward driving as an example, the maximum value of the calculated value D2 of the forward target distance can adopt the straight-line distance between the parking start position and the parking target position along the Y-axis direction; Among them, the parking target position coordinates G(x0, y0) are the ideal parking coordinates projected by the center of the rear axle of the tractor-trailer vehicle at the parking target storage location. Of course, the parking target position coordinates can also be represented by the ideal coordinates projected by other positions of the tractor-trailer vehicle at the parking target storage location.

[0024] A tractor-trailer automatic reverse driving system based on multiple behavior planning, including the tractor-trailer automatic reverse driving method based on multiple behavior planning as described above, includes: An environment perception module, which obtains vehicle state information, environment information, and parking position information according to various sensors; among them, the vehicle state information includes the position, speed, direction, and the attitudes of the tractor and the trailer of the tractor-trailer vehicle; the environment information includes obstacles and road boundaries; obtain the parking position information offline or online according to the configuration file; among them, the parking position information includes the parking target storage location and the parking target position; A path planning module, which obtains the parking target position and plans the driving path of the tractor-trailer vehicle from the current position to the parking target position and the driving path of the tractor-trailer vehicle from the current position to the forward target position according to the information obtained by the environment perception module; A behavior planning module with multiple reverse driving operations, which performs multiple reverse driving behavior planning according to the information obtained by the environment perception module and according to the information obtained by the path planning module; A control execution module, which controls the movement of the tractor-trailer vehicle according to the output of the behavior planning module to achieve automatic reverse driving; A safety monitoring and exception handling module, which continuously performs safety monitoring during the entire reverse driving process to detect possible abnormal situations; once an abnormal situation is found, immediately start an emergency handling mechanism, including emergency braking and audible and visual alarms.

[0025] The response priority of the security monitoring and exception handling module is higher than that of the control execution module.

[0026] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A heavy truck with trailer automatic reverse method based on multi - behavior planning, characterized in that, It includes the following steps: Step 1: Reach the parking start position, receive the parking task, and proceed to Step 2; Step 2: Enter the reverse driving behavior planning, plan the driving path of the heavy truck with trailer from the parking start position to the parking target position, start reverse driving, and determine whether the current heavy truck with trailer meets the requirements of the storage attitude. If it meets the requirements, continue reverse driving and proceed to Step 4. If it does not meet the requirements, proceed to Step 3; Step 3: Enter the forward driving behavior planning, plan the driving path of the heavy truck with trailer from the current position to the forward target position, and start forward driving; if the forward target position is reached, or the requirements of the storage attitude are met, or there is an obstacle ahead, complete the forward driving, stop, and proceed to Step 2; Step 4: Reach the parking target position and complete the parking task.

2. The heavy truck with trailer automatic reverse method based on multiple behavior planning according to claim 1, characterized in that Obtain vehicle status information, environmental information, and parking position information; among them, the vehicle status information includes the position, speed, direction, and the attitudes of the heavy truck and the trailer of the heavy truck with trailer; the environmental information includes obstacles and road boundaries; the parking position information includes the parking target bay and the parking target position; According to the vehicle status information, environmental information, and parking position information, plan the reverse driving behavior and the forward driving behavior.

3. The heavy truck with trailer automatic reverse method based on multiple behavior planning according to claim 2, characterized in that Before determining whether the current heavy truck with trailer meets the requirements of the storage attitude, it also includes: During reverse driving, according to the vehicle status information and the parking target bay information, determine whether the current heavy truck with trailer enters the storage attitude detection area or the collision danger area. If it enters, continue to determine whether the current heavy truck with trailer meets the requirements of the storage attitude. If it does not enter, continue to determine whether the current heavy truck with trailer enters the storage attitude detection area or the collision danger area until it enters the storage attitude detection area or the collision danger area.

4. The heavy truck with trailer automatic reverse method based on multiple behavior planning according to claim 3, characterized in that, The method for determining whether the current heavy truck with trailer enters the storage attitude detection area or the collision danger area includes: Judging according to the remaining parking path distance; Or, judging according to the distance between the current position of the heavy truck with trailer and the parking target position; Or, taking the area range spreading outwards from the parking target position as the storage attitude detection area or the collision danger area.

5. The method for automatically reversing a heavy truck with a trailer based on multi-action planning according to claim 4, wherein The method for determining whether the current heavy truck with trailer meets the requirements of the storage attitude includes: Judge whether the articulated angle between the heavy truck and the trailer is less than the set threshold A; judge whether the horizontal and vertical errors between the current position of the heavy truck with trailer and the parking target position are less than the set threshold B; judge whether the orientation error between the current orientation of the heavy truck with trailer and the orientation of the parking target position is less than the set threshold C; if all three judgment conditions are met, output the result that the current heavy truck with trailer meets the requirements of the storage attitude. If at least one of the three judgment conditions does not meet, output the result that the current heavy truck with trailer does not meet the requirements of the storage attitude.

6. The heavy truck with trailer automatic reverse method based on multiple behavior planning according to claim 5, characterized in that Step 3 includes: Calculate the forward target position according to the vehicle status information and the parking target position.

7. The automatic reversing method for heavy trucks with trailers based on multiple behavior planning according to claim 6, wherein The method for judging that the heavy truck with trailer cannot move forward due to an obstacle ahead includes: During forward driving, obtain the obstacle and the static existence duration of the obstacle; judge according to the obstacle and the static existence duration of the obstacle.

8. The method for automatically reversing a heavy truck with a trailer based on multi - act planning according to claim 7, characterized in that, The calculation method for the coordinates of the forward target position includes: Taking the parking target position coordinates G(x0, y0) as a reference, if the forward target distance is given, then according to the given value D1 of the forward target distance, the forward target given position coordinates G1(x1, y1) are calculated along the parking direction; Or, taking the parking target position coordinates G(x0, y0) as a reference, if the forward target distance is not given, then when the calculated value D2 of the forward target distance is not greater than the distance between the parking start position and the parking target position, according to the calculated value D2 of the forward target distance, the forward target calculated position coordinates G2(x2, y2) are calculated along the parking direction; Among them, the parking target position coordinates G(x0, y0) are represented by the ideal parking coordinates projected by the center of the rear axle of the tractor-trailer vehicle head on the parking target bay.

9. The heavy truck with trailer automatic reverse system based on multi - behavior planning includes the heavy truck with trailer automatic reverse method based on multi - behavior planning as described in any one of claims 1 - 8, characterized in that: Including: An environment perception module that obtains vehicle state information, environment information, and parking position information according to various sensors; among them, the vehicle state information includes the position, speed, direction, and attitudes of the tractor and trailer of the tractor-trailer vehicle; the environment information includes obstacles and road boundaries; the parking position information is obtained offline or online according to the configuration file; among them, the parking position information includes the parking target bay and the parking target position; A path planning module that obtains the parking target position and plans the driving path of the tractor-trailer vehicle from the current position to the parking target position and the driving path of the tractor-trailer vehicle from the current position to the forward target position according to the information obtained by the environment perception module; A behavior planning module with multiple reverse maneuvers that performs multiple reverse behavior planning according to the information obtained by the environment perception module and the information obtained by the path planning module; A control execution module that controls the movement of the tractor-trailer vehicle according to the output of the behavior planning module to achieve automatic reverse; A safety monitoring and exception handling module that continuously performs safety monitoring during the entire reverse process to detect possible abnormal situations; once an abnormal situation is detected, an emergency handling mechanism is immediately activated, including emergency braking and audible and visual alarms.

10. The heavy truck with trailer automatic reverse system based on multiple behavior planning according to claim 9, characterized in that: The response priority of the safety monitoring and exception handling module is higher than that of the control execution module.

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