Track optimization method and system of truck, truck and equipment

Abstract

The invention discloses a track optimization method and system of a truck, the truck and equipment. The truck comprises a tractor and a trailer, the tractor and the trailer are flexibly linked through a hinge, and the track optimization method of the truck comprises the following steps: obtaining a truck state space equation and state variables and control variables of the truck according to information of the truck on a curve coordinate system and information of the truck; determining the projection of the tractor to the reference line in the curve coordinate system according to the size of the tractor, and determining the projection of the tractor to the reference line according to the size of the tractor; determining an optimization target and constraint conditions according to the information of the truck on the curve coordinate system, the information of the truck, the projection of the tractor to the reference line and the projection of the trailer to the reference line; and obtaining an optimal solution of the control variable at each moment according to the optimization target and the constraint condition, and obtaining a final trajectory according to the optimal solution. By adopting the method and the device, the track of the truck can be accurately optimized, and the driving safety and reliability are improved.

Description

Technical Field

[0001] The present application relates to the field of truck technology, and in particular to a truck trajectory optimization method, system, truck, and equipment. Background Art

[0002] Trajectory planning techniques are generally categorized into search-based, sampling-based, and optimization-based approaches. Search-based algorithms are typically used in navigation algorithms or as heuristic rough solutions for path planning. Sampling-based approaches use control sampling or state sampling to generate paths and are often used in highway scenarios and low-level autonomous driving solutions. Optimization-based approaches abstract the path planning problem into a quadratic programming problem, using constraints such as obstacle avoidance and numerical optimization techniques to solve it. Optimization-based trajectory planning algorithms are currently the mainstream in academia and industry.

[0003] In related technologies, trajectory planning problems often simplify the vehicle model to a point mass model, ignoring the vehicle's size. Compared to passenger cars, trucks (such as semi-trailers) have two parts: a tractor and a trailer. Both parts are much larger than passenger cars and are flexibly connected by a hinge, forming two rigid bodies. This means that during driving, the tractor and trailer have different trajectories. For trucks, due to their large size and complex geometric and kinematic characteristics, there will be greater errors, resulting in inaccurate trajectory planning and affecting driving safety and reliability. Summary of the Invention

[0004] Based on this, it is necessary to provide a truck trajectory optimization method, system, truck and equipment to address the above technical problems, which can accurately optimize the truck's trajectory, effectively avoid collisions between the truck and obstacles, and thus improve driving safety and reliability.

[0005] In a first aspect, a method for optimizing a trajectory of a truck is provided, wherein the truck includes a tractor and a trailer, wherein the tractor and the trailer are flexibly connected via a hinge, the method comprising:

[0006] According to the information of the truck in the curved coordinate system and the information of the truck, the state space equation of the truck, the state variables and the control variables of the truck are obtained;

[0007] Determining a projection of the tractor onto a reference line in the curvilinear coordinate system based on the dimensions of the tractor, and determining a projection of the trailer onto the reference line based on the dimensions of the trailer;

[0008] Determining an optimization objective and constraints based on information about the truck on the curvilinear coordinate system, information about the truck, a projection of the tractor on a reference line, and a projection of the trailer on the reference line;

[0009] An optimal solution of the control variable at each moment is obtained according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

[0010] In some examples, the information about the truck on the curvilinear coordinate system and the information about the truck include:

[0011] The displacement of the truck on the reference line, the longitudinal speed of the truck, the longitudinal acceleration of the truck, the longitudinal jerk of the truck, the curvature of the driving trajectory of the rear axle center of the tractor, the curvature change rate, the curvature of the truck at the matching point on the reference line, the distance from the hinge point to the rear axle of the trailer, the distance from the rear axle center of the migration vehicle to the hinge point, the distance between the rear axle center of the tractor and the matching point on the reference line, the heading angle deviation between the rear axle center of the tractor and the matching point on the reference line, and the heading angle deviation between the trailer and the tractor.

[0012] In some examples, determining, based on the size of the tractor, a projection of the tractor on the reference line in the curvilinear coordinate system includes:

[0013] Obtain the corresponding circle center coordinates according to the coordinates of the rear axle center of the tractor in the curvilinear coordinate system;

[0014] According to the size of the tractor, the innermost arc radius and the outermost arc radius of the tractor are obtained;

[0015] The corresponding center coordinates, the innermost arc radius and the outermost arc radius of the tractor are obtained according to the coordinates of the rear axle center of the tractor in the curvilinear coordinate system, and the projection of the tractor on the reference line is determined.

[0016] In some examples, determining a projection of the trailer on the reference line based on the size of the trailer includes:

[0017] According to the coordinates of the center of the arc formed by the trailer deformation in the curvilinear coordinate system, the corresponding coordinates of the center of the circle are obtained;

[0018] According to the size of the trailer, the innermost arc radius and the outermost arc radius of the trailer are obtained;

[0019] The corresponding coordinates of the center of the arc formed by the deformation of the trailer are obtained in the curvilinear coordinate system, and the size of the trailer is obtained to obtain the innermost arc radius and the outermost arc radius of the trailer, and determine the projection of the trailer on the reference line.

[0020] In some examples, the optimization conditions include: kinematic constraints, starting point constraints, safety constraints, and truck dynamics constraints.

[0021] In some examples, wherein: the kinematic constraints are determined based on a kinematic model of the truck, the kinematic model of the truck being determined based on a truck state space equation, state variables of the truck, and control variables;

[0022] The safety constraint is determined based on a curvilinear coordinate system projection of an obstacle, a projection of the tractor onto the reference line, and a projection of the trailer onto the reference line.

[0023] In some examples, obtaining a final trajectory according to the optimal solution includes:

[0024] Obtaining a state of the truck at each moment in a curvilinear coordinate system according to the optimal solution and a dynamic model of the truck;

[0025] The final trajectory is obtained through coordinate transformation according to the state of the truck at each moment in the curvilinear coordinate system.

[0026] In a second aspect, a truck trajectory optimization system is provided, comprising:

[0027] an acquisition module, for obtaining a truck state space equation, a truck state variable, and a control variable according to the truck information on the curved coordinate system and the truck information;

[0028] a projection module, configured to determine a projection of the tractor on a reference line in the curvilinear coordinate system based on the size of the tractor, and to determine a projection of the trailer on the reference line based on the size of the trailer;

[0029] a determination module for determining an optimization objective and constraints based on information of the truck on the curvilinear coordinate system, information of the truck, a projection of the tractor on the reference line, and a projection of the trailer on the reference line;

[0030] An optimization module is used to obtain the optimal solution of the control variable at each moment according to the optimization objective and the constraint conditions, so as to obtain the final trajectory according to the optimal solution.

[0031] In a third aspect, a truck is provided, comprising: the truck trajectory optimization system according to the second aspect.

[0032] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the truck trajectory optimization method of the first aspect and any possible implementation of the first aspect are implemented.

[0033] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the truck trajectory optimization method of the above-mentioned first aspect and any possible implementation of the first aspect are implemented.

[0034] In a sixth aspect, a computer program product is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the truck trajectory optimization method of the above-mentioned first aspect and any possible implementation of the first aspect are implemented.

[0035] By adopting the embodiments of the present application, the sizes of the truck's tractor and trailer are fully taken into consideration. According to the geometric relationship between the truck and the center line of the lane, the truck is bent according to a certain curvature, and the projection of any point on the truck to the center line of the lane is calculated using the relationship between the point and the center of the circle. In this way, the trajectory of the truck can be accurately optimized, effectively avoiding collisions between the truck and obstacles, thereby improving the safety and reliability of driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0037] Figure 1 A flowchart of a truck trajectory optimization method provided in an embodiment of the present application;

[0038] Figure 2 The projection of the vehicle body on the reference line is approximately a circular arc.

[0039] Figure 3 A structural block diagram of a truck trajectory optimization system provided in an embodiment of the present application;

[0040] Figure 4 This is a structural block diagram of the computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The present application will be further described in detail below with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant application and are not intended to limit the application. It should also be noted that, for ease of description, only the portions relevant to the application are shown in the accompanying drawings.

[0042] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] The following describes in detail the truck trajectory optimization method, system, truck and equipment according to the embodiments of the present application in conjunction with the accompanying drawings.

[0044] Figure 1 FIG. 1 is a flow chart of a truck trajectory optimization method according to an embodiment of the present application. Figure 1 As shown, according to an embodiment of the present application, a method for optimizing a truck trajectory, wherein the truck includes a tractor and a trailer, wherein the tractor and the trailer are flexibly connected by a hinge, the method for optimizing the truck trajectory includes the following steps:

[0045] S101: Based on the information of the truck in the curved coordinate system and the information of the truck, a truck state space equation, state variables and control variables of the truck are obtained.

[0046] Among them, the information of the truck in the curved coordinate system and the information of the truck include but are not limited to: the displacement of the truck on the reference line, the longitudinal speed of the truck, the longitudinal acceleration of the truck, the longitudinal jerk of the truck, the curvature of the driving trajectory of the rear axle center of the tractor, the curvature change rate, the curvature of the truck at the matching point of the reference line, the distance from the hinge point of the trailer to the rear axle, the distance from the rear axle center of the migration vehicle to the hinge point, the distance between the rear axle center of the tractor and the matching point on the reference line, the heading angle deviation between the rear axle center of the tractor and the matching point on the reference line, and the heading angle deviation between the trailer and the tractor.

[0047] In a specific example, a kinematic model of the truck may be determined based on the truck state space equation, the truck state variables, and the control variables.

[0048] Specifically, the truck state space equation is:

[0049]

[0050] Where s is the displacement of the truck on the reference line, v is the longitudinal velocity of the truck (i.e., along the truck's heading), a is the longitudinal acceleration of the truck, j is the longitudinal jerk of the truck, κ is the curvature of the driving trajectory of the center of the tractor's rear axle, Δκ is the rate of change of curvature, and κ r is the curvature of the truck at the reference line matching point, L2 is the distance from the trailer's hinge point to the rear axle, and L2 is a scalar, i.e., a positive value. d is the distance from the center of the rear axle of the moving vehicle to the hinge point, and d is a vector, i.e., it has a positive or negative sign. When the hinge point is in front of the center of the tractor's rear axle, d < 0, and when the hinge point is behind the center of the tractor's rear axle, d > 0. y is the distance between the center of the tractor's rear axle and the matching point on the reference line, is the heading angle deviation between the center of the tractor's rear axle and the matching point on the reference line, and β is the heading angle deviation between the trailer and tractor.

[0051] Let x and u represent the state variables and control variables of the truck respectively, then:

[0052]

[0053] Among them, formula (1-1) can be expressed as the kinematic model of the truck:

[0054]

[0055] S102: Determine the projection of the tractor on the reference line in the curvilinear coordinate system according to the size of the tractor, and determine the projection of the trailer on the reference line according to the size of the trailer.

[0056] In one embodiment of the present application, determining the projection of the tractor on the reference line in the curvilinear coordinate system based on the size of the tractor includes: obtaining corresponding center coordinates based on the coordinates of the center of the tractor's rear axle in the curvilinear coordinate system; obtaining the innermost arc radius and the outermost arc radius of the tractor based on the size of the tractor; and determining the projection of the tractor on the reference line by obtaining corresponding center coordinates, the innermost arc radius, and the outermost arc radius of the tractor based on the coordinates of the center of the tractor's rear axle in the curvilinear coordinate system.

[0057] Determining the projection of the trailer on the reference line based on the size of the trailer includes: obtaining corresponding center coordinates of the arc formed by the deformation of the trailer in a curvilinear coordinate system; obtaining the innermost arc radius and the outermost arc radius of the trailer based on the size of the trailer; obtaining the innermost arc radius and the outermost arc radius of the trailer based on the corresponding center coordinates of the arc formed by the deformation of the trailer in a curvilinear coordinate system and the size of the trailer, thereby determining the projection of the trailer on the reference line.

[0058] Specifically, since the curvature of the reference line is not always zero, the sl projection of the vehicle body envelope on the reference line will be deformed. Assuming that the curvature of the reference line is the curvature of the matching point of the rear axle center of the tractor, the reference line is bent into a straight line in the opposite direction of the curvature, and the projection of the vehicle body on the reference line is approximated as a circular arc, such as Figure 2 shown.

[0059] Calculation of the projection of the tractor onto the reference line:

[0060] The coordinates of the rear axle center of the tractor in the curvilinear coordinate system are (s, e y ), then the corresponding center coordinates are:

[0061]

[0062] The innermost and outermost arc radii of the tractor are Where w is the width of the tractor (positive on the left and negative on the right), W is the width of any point, R road is the radius of the reference line, which is a scalar, that is, a positive number.

[0063]

[0064] Assume that the coordinates of the points on the vehicle body envelope are but:

[0065]

[0066] It can be deduced that:

[0067]

[0068] in, They are the length and width of the points on the outer envelope of the tractor body.

[0069] Calculation of trailer projection on reference line:

[0070] Since the distance from the hinge point to the center of the tractor's rear axle is very small compared to the size of the truck, we can ignore this distance and assume that it is hinged at the axle to simplify the problem. The coordinates of the center of the arc formed by the trailer deformation in the curvilinear coordinate system are (s, e y ), then the corresponding center coordinates are:

[0071]

[0072] The coordinates of the points on the trailer's outer envelope can be obtained by the same calculation as for the tractor:

[0073]

[0074] in, are the length and width of the points on the outer envelope of the trailer body respectively.

[0075] S103: Determine an optimization target and constraint conditions based on the information of the truck on the curvilinear coordinate system, the information of the truck, the projection of the tractor on the reference line, and the projection of the trailer on the reference line.

[0076] The optimization conditions include, but are not limited to, kinematic constraints, starting point constraints, safety constraints, and truck dynamic constraints. The kinematic constraints are determined based on the truck's kinematic model, which is determined based on the truck's state space equations, state variables, and control variables. The safety constraints are determined based on the obstacle's curved coordinate system projection, the tractor's projection onto the reference line, and the trailer's projection onto the reference line.

[0077] Specifically, the control variable for solving the optimal control problem is u i .

[0078] The optimization goal is:

[0079]

[0080] Among them, w s , w l , w θ , w j , w Δκ is the weight coefficient of each optimization objective.

[0081] Constraints:

[0082] (1) Kinematic constraints: The truck trajectory should satisfy the truck kinematic model (1-3);

[0083] (2) Starting point constraints:

[0084] The starting state of the plan (x, y, θ, β) is the coordinate of the center of the rear axle of the truck tractor, the heading angle, and the angle between the tractor and the trailer. The coordinates of the reference line are also known, so the starting state can be calculated. Then you can set the starting point constraint as:

[0085] (3) Safety constraint: Through the projection of the obstacle curve coordinate system, the safe drivable domain corresponding to each moment i can be calculated, that is, The entire truck body needs to be within the safe driving range. Combining formulas (2-3) and (2-8), a total of k points are sampled on the tractor and trailer. The projection of each point in the curvilinear coordinate system should be within the safe driving domain, so there is a constraint:

[0086]

[0087] (4) Truck dynamic constraints: The truck's acceleration and steering capabilities must be met:

[0088]

[0089] By establishing the optimization objectives and constraints of the optimization problem, for example, using the CILQR technique, the optimal control quantity at each moment can be obtained.

[0090] S104: Obtaining an optimal solution of the control variable at each moment according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

[0091] In one embodiment of the present application, obtaining a final trajectory based on the optimal solution includes: obtaining the state of the truck at each moment in a curved coordinate system based on the optimal solution and the truck's dynamic model; and obtaining the final trajectory through coordinate transformation based on the state of the truck at each moment in the curved coordinate system. Specifically, the state of the truck at each moment in the curved coordinate system can be calculated using the control variable and the truck's dynamic model, and the final trajectory can be obtained through coordinate transformation.

[0092] According to the truck trajectory optimization method of the embodiment of the present application, the sizes of the truck's tractor and trailer are fully considered. According to the geometric relationship between the truck and the lane centerline, the truck is bent according to a certain curvature, and the projection of any point on the truck to the lane centerline is calculated using the relationship between the point and the center of the circle. In this way, the truck's trajectory can be accurately optimized, effectively avoiding collisions between the truck and obstacles, thereby improving driving safety and reliability.

[0093] Figure 3 FIG. 1 is a structural block diagram of a truck trajectory optimization system according to an embodiment of the present application. Figure 3 As shown, the truck trajectory optimization system according to an embodiment of the present application includes: an acquisition module 310, a projection module 320, a determination module 330 and an optimization module 340, wherein:

[0094] An acquisition module 310 is configured to obtain a truck state space equation, state variables, and control variables of the truck based on the information of the truck in the curved coordinate system and the information of the truck;

[0095] A projection module 320 is configured to determine a projection of the tractor on a reference line in the curvilinear coordinate system based on the size of the tractor, and to determine a projection of the trailer on the reference line based on the size of the trailer;

[0096] a determination module 330 for determining an optimization objective and constraints based on information about the truck on the curvilinear coordinate system, information about the truck, a projection of the tractor on the reference line, and a projection of the trailer on the reference line;

[0097] The optimization module 340 is configured to obtain an optimal solution of the control variable at each moment according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

[0098] According to the truck trajectory optimization system of the embodiment of the present application, the sizes of the truck's tractor and trailer are fully considered, and the truck is bent according to a certain curvature based on the geometric relationship between the truck and the lane centerline. The projection of any point on the truck to the lane centerline is calculated using the relationship between the point and the center of the circle. In this way, the truck's trajectory can be accurately optimized, effectively avoiding collisions between the truck and obstacles, thereby improving driving safety and reliability.

[0099] The specific definitions of the truck trajectory optimization system can be found in the definitions of the truck trajectory optimization method above and will not be repeated here. Each module of the truck trajectory optimization system described above can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0100] Furthermore, a truck is provided, comprising: a truck trajectory optimization system according to any of the above embodiments. The truck fully considers the dimensions of the tractor and trailer, bends the truck at a certain curvature based on the geometric relationship between the truck and the lane centerline, and calculates the projection of any point on the truck onto the lane centerline using the relationship between the point and the center of a circle. This accurately optimizes the truck's trajectory, effectively avoiding collisions with obstacles and thereby improving driving safety and reliability.

[0101] The truck is, for example, a tractor-trailer.

[0102] In addition, other structures and functions of the truck according to the embodiment of the present application are known to ordinary technicians in this field and will not be described in detail here.

[0103] In one embodiment, a computer device is provided. Figure 4 This is a block diagram of the computer device provided in the embodiment of the present application, refer to Figure 4 The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the embodiment of the truck trajectory optimization method is implemented. For example, the following is performed: based on the information of the truck in the curved coordinate system and the information of the truck, the truck state space equation, the truck state variables and the control variables are obtained;

[0104] Determining a projection of the tractor onto a reference line in the curvilinear coordinate system based on the dimensions of the tractor, and determining a projection of the trailer onto the reference line based on the dimensions of the trailer;

[0105] Determining an optimization objective and constraints based on information about the truck on the curvilinear coordinate system, information about the truck, a projection of the tractor on a reference line, and a projection of the trailer on the reference line;

[0106] An optimal solution of the control variable at each moment is obtained according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

[0107] The present application also provides a computer-readable storage medium storing a computer program. When a processor executes the computer program, the aforementioned truck trajectory optimization method embodiment is implemented. For example, the method includes: obtaining a truck state space equation, a truck state variable, and a control variable based on the truck information in a curved coordinate system and the truck information;

[0108] Determining a projection of the tractor onto a reference line in the curvilinear coordinate system based on the dimensions of the tractor, and determining a projection of the trailer onto the reference line based on the dimensions of the trailer;

[0109] Determining an optimization objective and constraints based on information about the truck on the curvilinear coordinate system, information about the truck, a projection of the tractor on a reference line, and a projection of the trailer on the reference line;

[0110] An optimal solution of the control variable at each moment is obtained according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

[0111] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the embodiment of the present application is executed. For example, you can execute Figure 1 The various steps of the truck trajectory optimization method shown are, for example, performed as follows: obtaining the truck state space equation, the truck state variables, and the control variables based on the truck information in the curved coordinate system and the truck information;

[0112] Determining a projection of the tractor onto a reference line in the curvilinear coordinate system based on the dimensions of the tractor, and determining a projection of the trailer onto the reference line based on the dimensions of the trailer;

[0113] Determining an optimization objective and constraints based on information about the truck on the curvilinear coordinate system, information about the truck, a projection of the tractor on a reference line, and a projection of the trailer on the reference line;

[0114] An optimal solution of the control variable at each moment is obtained according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

[0115] Those skilled in the art will appreciate that all or part of the processes in the methods for implementing the above embodiments can be accomplished by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include processes of the embodiments of the above methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0116] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are 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.

[0117] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A truck trajectory optimization method, characterized in that: The truck includes a tractor and a trailer, wherein the tractor and the trailer are flexibly connected via a hinge, and the method includes: According to the information of the truck in the curved coordinate system and the information of the truck, the state space equation of the truck, the state variables and the control variables of the truck are obtained; Determining a projection of the tractor onto a reference line in the curvilinear coordinate system based on the dimensions of the tractor, and determining a projection of the trailer onto the reference line based on the dimensions of the trailer; Determining an optimization objective and constraints based on information about the truck on the curvilinear coordinate system, information about the truck, a projection of the tractor on a reference line, and a projection of the trailer on the reference line; An optimal solution of the control variable at each moment is obtained according to the optimization objective and the constraint conditions, so as to obtain a final trajectory according to the optimal solution.

2. The truck trajectory optimization method according to claim 1, characterized in that: The information of the truck on the curvilinear coordinate system and the information of the truck include: The displacement of the truck on the reference line, the longitudinal speed of the truck, the longitudinal acceleration of the truck, the longitudinal jerk of the truck, the curvature of the driving trajectory of the rear axle center of the tractor, the curvature change rate, the curvature of the truck at the matching point on the reference line, the distance from the hinge point to the rear axle of the trailer, the distance from the rear axle center of the migration vehicle to the hinge point, the distance between the rear axle center of the tractor and the matching point on the reference line, the heading angle deviation between the rear axle center of the tractor and the matching point on the reference line, and the heading angle deviation between the trailer and the tractor.

3. The truck trajectory optimization method according to claim 1, characterized in that: Determining the projection of the tractor on the reference line in the curvilinear coordinate system according to the size of the tractor includes: Obtain the corresponding circle center coordinates according to the coordinates of the rear axle center of the tractor in the curvilinear coordinate system; According to the size of the tractor, the innermost arc radius and the outermost arc radius of the tractor are obtained; The corresponding center coordinates, the innermost arc radius and the outermost arc radius of the tractor are obtained according to the coordinates of the rear axle center of the tractor in the curvilinear coordinate system, and the projection of the tractor on the reference line is determined.

4. The truck trajectory optimization method according to claim 1, characterized in that: Determining the projection of the trailer on the reference line according to the size of the trailer includes: According to the coordinates of the center of the arc formed by the trailer deformation in the curvilinear coordinate system, the corresponding coordinates of the center of the circle are obtained; According to the size of the trailer, the innermost arc radius and the outermost arc radius of the trailer are obtained; The corresponding coordinates of the center of the arc formed by the deformation of the trailer are obtained in the curvilinear coordinate system, and the size of the trailer is obtained to obtain the innermost arc radius and the outermost arc radius of the trailer, and determine the projection of the trailer on the reference line.

5. The truck trajectory optimization method according to claim 1, characterized in that: The optimization conditions include: kinematic constraints, starting point constraints, safety constraints and truck dynamic constraints.

6. The truck trajectory optimization method according to claim 5, characterized in that: in: The kinematic constraints are determined based on a kinematic model of the truck, wherein the kinematic model of the truck is determined based on a state space equation of the truck, state variables of the truck, and control variables; The safety constraint is determined based on a curvilinear coordinate system projection of an obstacle, a projection of the tractor onto the reference line, and a projection of the trailer onto the reference line.

7. The truck trajectory optimization method according to claim 5, characterized in that: Obtaining a final trajectory according to the optimal solution includes: Obtaining a state of the truck at each moment in a curvilinear coordinate system according to the optimal solution and a dynamic model of the truck; The final trajectory is obtained through coordinate transformation according to the state of the truck at each moment in the curvilinear coordinate system.

8. A truck trajectory optimization system, characterized in that: The truck includes a tractor and a trailer, wherein the tractor and the trailer are flexibly connected via a hinge, and the system includes: an acquisition module, for obtaining a truck state space equation, a truck state variable, and a control variable according to the truck information on the curved coordinate system and the truck information; a projection module, configured to determine a projection of the tractor on a reference line in the curvilinear coordinate system based on the size of the tractor, and to determine a projection of the trailer on the reference line based on the size of the trailer; a determination module for determining an optimization objective and constraints based on information of the truck on the curvilinear coordinate system, information of the truck, a projection of the tractor on the reference line, and a projection of the trailer on the reference line; An optimization module is used to obtain the optimal solution of the control variable at each moment according to the optimization objective and the constraint conditions, so as to obtain the final trajectory according to the optimal solution.

9. A truck, characterized in that: include: The truck trajectory optimization system according to claim 8.

10. A computer 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 program, the truck trajectory optimization method according to any one of claims 1 to 7 is implemented.

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