Driving control methods for tractor units and tractor units

Abstract

This invention discloses a driving control method for a tractor and a tractor itself. The control method includes: acquiring the cab width and trailer width of the tractor; determining an obstruction width value based on the cab width and trailer width; and controlling the tractor according to the obstruction width value upon receiving an automatic driving control command. This method avoids the problem of being unable to switch from manual driving mode to automatic driving mode when the tractor is switched, thus preventing the automatic driving function of the tractor from becoming unavailable.

Description

Technical Field

[0001] This invention relates to the field of tractor technology, and in particular to a driving control method for a tractor and a tractor. Background Technology

[0002] With the popularization of autonomous driving technology, autonomous driving functions are increasingly being used in the transportation process of tractor-trailers. Traditional tractor-trailers use radar and cameras located on the lower side of the front of the vehicle and rearview mirrors to perform perception fusion and detect the perception information on the side and rear of the vehicle. However, when the tractor-trailer is randomly replaced with trailers of different widths, the cameras and radar on the front of the vehicle are easily blocked by the trailers. As a result, when the tractor-trailer switches from manual driving mode to autonomous driving mode, it may be unable to switch, causing the autonomous driving function of the tractor-trailer to become unusable. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a driving control method for a tractor unit that avoids the problem of being unable to switch from manual driving mode to automatic driving mode, thereby preventing the automatic driving function of the tractor unit from becoming unusable.

[0004] The second objective of this invention is to provide a tractor.

[0005] To address the aforementioned problems, a first aspect of the present invention provides a driving control method for a tractor unit. The tractor unit includes a radar device disposed on the front side of the vehicle and a camera disposed on a rearview mirror. Both the radar device and the camera are used to collect perception information behind the tractor unit. The method includes: acquiring the width of the tractor unit's front end and the width of the trailer of the tractor unit; determining an obstruction width value based on the front end width and the trailer width; and controlling the tractor unit according to the obstruction width value upon receiving an automatic driving control command.

[0006] According to the driving control method of the tractor according to the embodiment of the present invention, when receiving an automatic driving control command, the position of the radar equipment and camera of the tractor is adjusted according to the obstruction width value. This can avoid the problem of being unable to switch when the tractor switches from manual driving mode to automatic driving mode, thereby avoiding the problem of the automatic driving function of the tractor being unavailable.

[0007] In some embodiments, determining the obstruction width value based on the width of the tractor and the width of the trailer includes: calculating the width difference between the width of the trailer and the width of the tractor; and using the width difference as the obstruction width value.

[0008] In some embodiments, controlling the tractor based on the obstruction width value includes: if it is determined that the obstruction width value is less than or equal to a first preset value, controlling the tractor to allow it to respond to the automatic driving control command.

[0009] In some embodiments, the tractor further includes a drive motor, a first link, and a second link. The first link is connected to the radar device, and the second link is connected to the camera. The drive motor is used to drive the first link and / or the second link to extend or retract along a first direction. Controlling the tractor according to the obstruction width value includes: when the obstruction width value is determined to be greater than a first preset value and less than or equal to a second preset value, controlling the drive motor to operate according to a first drive command, and controlling the tractor to allow response to the automatic driving control command, wherein the first drive command is used to drive the radar device to move outward a first distance along the first direction under the drive of the first link; when the obstruction width value is determined to be greater than the second preset value and less than or equal to a third preset value, controlling the drive motor to operate according to a second drive command, and controlling the tractor to allow response to the automatic driving control command, wherein the second drive command is used to drive the radar device to move outward a first distance along the first direction under the drive of the first link, and drive the camera to move outward a second distance along the first direction under the drive of the second link.

[0010] In some embodiments, the tractor further includes a drive motor, a first link, and a second link. The first link is connected to the radar device, and the second link is connected to the camera. The drive motor is used to drive the first link and / or the second link to extend or retract along a first direction. Controlling the tractor according to the obstruction width value includes: when it is determined that the obstruction width value is greater than a third preset value and less than or equal to a fourth preset value, controlling the drive motor to operate according to a third drive command, and controlling the tractor to allow response to the automatic driving control command. The third drive command is used to drive the radar device to move outward a third distance along the first direction under the drive of the first link, and drive the camera to move outward a second distance along the first direction under the drive of the second link.

[0011] In some embodiments, the tractor further includes a compensation radar device and a third link disposed at the rearview mirror. The compensation radar device is used to compensate for the side field of view of the radar device. The drive motor is also used to drive the third link to extend or retract along a first direction. The third drive command is also used to drive the compensation radar device to move outward a second distance along the first direction under the action of the third link.

[0012] In some embodiments, the tractor further includes a drive motor, a first link, and a second link. The first link is connected to the radar device, and the second link is connected to the camera. The drive motor is used to drive the first link and / or the second link to extend or retract in a first direction. Controlling the tractor according to the obstruction width value includes: when it is determined that the obstruction width value is greater than a fourth preset value, controlling the tractor to prohibit responding to the automatic driving control command and switching to manual driving mode.

[0013] In some embodiments, the first preset value is 0, the second preset value is the rearview mirror width, the third preset value is the maximum allowable extension distance of the first link, and the fourth preset value is the sum of the maximum allowable extension distance of the second link and the rearview mirror width.

[0014] In some embodiments, the first distance is the obstruction width value, the second distance is the difference between the obstruction width value and the rearview mirror width, and the third distance is the maximum allowable extension distance of the first link.

[0015] A second aspect of the present invention provides a tractor unit, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the at least one processor executes the computer program to implement the driving control method of the tractor unit described in the above embodiment.

[0016] The tractor unit according to the embodiments of the present invention can avoid the problem of being unable to switch from manual driving mode to automatic driving mode, thereby avoiding the problem of the automatic driving function of the tractor unit being unavailable.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a tractor according to an embodiment of the present invention; Figure 2 This is a flowchart of a driving control method for a tractor according to an embodiment of the present invention; Figure 3 This is a schematic diagram of roadside data acquisition according to an embodiment of the present invention; Figure 4 This is a schematic diagram of data transmission according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a tractor with its connecting rod not extended according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the extension of the connecting rod of a tractor according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the extension of the connecting rod of a tractor according to another embodiment of the present invention; Figure 8 This is a schematic diagram of the extension of the connecting rod of a tractor according to another embodiment of the present invention; Figure 9 This is a schematic diagram of the extension of the connecting rod of a tractor according to another embodiment of the present invention; Figure 10 This is a structural block diagram of a tractor according to an embodiment of the present invention.

[0019] Figure label: 100 tractor units; Processor 1; Memory 2; Vehicle unit 3; Controller 4; Drive motor 5; Radar device 6; Camera 7; Compensation radar device 8; First link 9; Second link 10; Third link 11; Cloud platform 12; Roadside camera 13; Roadside lidar 14; Edge computing unit 15; Roadside unit 16. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0021] To address the aforementioned problems, a first aspect of the present invention provides a driving control method for a tractor unit. This method avoids the problem of being unable to switch from manual driving mode to automatic driving mode when the tractor unit switches from manual driving mode to automatic driving mode, thereby preventing the automatic driving function of the tractor unit from becoming unavailable.

[0022] In some embodiments, such as Figure 1 As shown, the tractor unit includes a radar device 6 located on the front side of the vehicle and a camera 7 located at the rearview mirror. Both the radar device 6 and the camera 7 are used to collect perception information behind the tractor unit.

[0023] The following is for reference. Figure 2 A driving control method for a tractor according to an embodiment of the present invention is described, such as... Figure 2 As shown, the method includes steps S1-S3.

[0024] Step S1: Obtain the width of the tractor's cab and the width of the tractor's trailer.

[0025] The trailer width of the tractor unit refers to the horizontal distance between the outermost points of the trailer body.

[0026] Specifically, the roadside sensing equipment monitors the tractor and its image in real time, sending the tractor image to the edge computing unit 15. The edge computing unit 15 determines the tractor's cab width and trailer width based on the tractor image. The cab width and trailer width are as follows: Figure 3 As shown, the width of the tractor's cab and the width of the trailer are sent to the cloud platform 12.

[0027] In addition, the roadside perception device may include a roadside camera 13, which is positioned above a roadside pole and uses a megapixel visual sensor. This camera is primarily used for real-time monitoring of the tractor's cab width W1 and trailer width W2 during daytime scenes. Alternatively, the roadside perception device may include a roadside LiDAR 14, which is positioned above a roadside pole and uses a solid-state LiDAR sensor. This LiDAR is primarily used for real-time scanning of the point cloud information of the tractor's cab width and trailer width in nighttime scenes. Figure 4 As shown, the edge computing unit 15 is preferably used to receive 2D image information from the roadside camera 13 and 3D point cloud information from the roadside lidar 14 for visual fusion, and comprehensively determine the width of the tractor's cab and the width of the tractor's trailer.

[0028] Step S2: Determine the obstruction width value based on the width of the truck head and the width of the trailer.

[0029] Specifically, the obstruction width of the radar device 6 located on the side of the tractor and the camera 7 located at the rearview mirror is determined based on the width of the tractor cab and the width of the trailer.

[0030] Step S3: Upon receiving the automatic driving control command, control the tractor vehicle according to the obstruction width value.

[0031] Specifically, upon receiving an autonomous driving control command, the positions of the radar device 6 and camera 7 on the tractor are adjusted according to the obstruction width value. This avoids the problem of the tractor being unable to switch from manual driving mode to autonomous driving mode, thus preventing the autonomous driving function of the tractor from becoming unusable.

[0032] According to the driving control method of the tractor according to the embodiment of the present invention, when receiving an automatic driving control command, the position of the radar device 6 and the camera 7 of the tractor is adjusted according to the obstruction width value. This can avoid the problem of being unable to switch when the tractor switches from manual driving mode to automatic driving mode, thereby avoiding the problem of the automatic driving function of the tractor being unavailable.

[0033] In some embodiments, determining the obstruction width value based on the width of the tractor and the width of the trailer includes: calculating the width difference between the trailer width and the tractor width; and determining the obstruction width value based on the width difference. Specifically, calculating the width difference between the trailer width and the tractor width involves determining whether the radar device 6 on the tractor side and the camera 7 located at the rearview mirror will be obstructed by the trailer, and multiplying the width difference by 0.5 to obtain the obstruction width value.

[0034] In some embodiments, controlling the tractor based on the obstruction width value includes: if it is determined that the obstruction width value is less than or equal to a first preset value, controlling the tractor to allow it to respond to an automatic driving control command.

[0035] The first preset value can be understood as a pre-set difference of 0 based on the premise that the trailer will not obstruct the radar equipment 6 and camera 7 at the front of the vehicle.

[0036] Specifically, after receiving the vehicle's command to switch to autonomous driving control, the cloud platform 12 determines whether the radar device 6 located on the front of the vehicle and the camera 7 located at the rearview mirror will be obstructed by the trailer by judging whether the obstruction width value is less than or equal to the first preset value. If the obstruction width value is less than or equal to the first preset value, it means that the radar device 6 located on the front of the vehicle and the camera 7 located at the rearview mirror will not be obstructed by the trailer, thus not affecting the visual perception fusion of the vehicle's side and rear. The visual perception input fusion can be performed normally for autonomous driving. At this time, the tractor will not experience the phenomenon of being unable to switch when the radar device 6 switches from manual driving mode to autonomous driving mode. That is, the autonomous driving function of the tractor is available, and the tractor is controlled to allow the tractor to respond to the autonomous driving control command.

[0037] In some embodiments, such as Figure 5 As shown, the tractor 100 also includes a drive motor 5, a first link 9, and a second link 10. The first link 9 is connected to the radar device 6, and the second link 10 is connected to the camera 7. The drive motor 5 is used to drive the first link 9 and / or the second link 10 to extend or retract in a first direction, controlling the tractor according to the obstruction width value. Figure 6 As shown, the first link 9 and the second link 10 are in the unextended state.

[0038] Based on this, when the obstruction width value is determined to be greater than the first preset value and less than or equal to the second preset value, the drive motor 5 is controlled to operate according to the first drive command, and the tractor is controlled to allow the autonomous driving control command to be responded to. The first drive command is used to drive the radar device 6 to move outward a first distance along the first direction under the drive of the first link 9. When the obstruction width value is determined to be greater than the second preset value and less than or equal to the third preset value, the drive motor 5 is controlled to operate according to the second drive command, and the tractor is controlled to allow the autonomous driving control command to be responded to. The second drive command is used to drive the radar device 6 to move outward a first distance along the first direction under the drive of the first link 9, and drive the camera 7 to move outward a second distance along the first direction under the drive of the second link 10.

[0039] The second preset value can be understood as a pre-set threshold value used to determine whether camera 7 will be blocked.

[0040] Specifically, after receiving the vehicle's command to switch to autonomous driving control, the cloud platform 12 determines whether the radar device 6 located on the front side of the vehicle and the camera 7 located at the rearview mirror will be obstructed by the trailer by judging the obstruction width value. If the obstruction width value is greater than a first preset value and less than or equal to a second preset value, it means that the radar device 6 will be obstructed by the trailer, but the camera 7 will not be obstructed, thus affecting the visual perception fusion of the vehicle's side and rear. To avoid the radar device 6 being obstructed by the trailer, the cloud platform 12 sends a first drive command to the controller 4 of the tractor. The controller 4 controls the drive motor 5 to drive the radar device 6 to move outward a first distance 'a' along a first direction under the action of the first linkage 9, so as to avoid the radar device 6 being obstructed by the trailer. Then, the controller 4 performs normal mode switching for autonomous driving after the perception fusion of the side and rear of the tractor.

[0041] If the obstruction width is determined to be greater than the second preset value and less than or equal to the third preset value, it indicates that the radar device 6 and camera 7 will be obstructed by the trailer. The cloud platform 12 sends a second drive command to the controller 4 of the tractor. The controller 4 drives the radar device 6 to move outward a first distance in the first direction under the action of the first link 9, as per the second drive command. Figure 7 and Figure 8 As shown, the first distance is L1, and the driving camera 7 moves outward a second distance along the first direction under the action of the second link 10, as shown. Figure 8 and Figure 9 As shown, the second distance is aL. At this distance, radar device 6 and camera 7 are not obstructed by the trailer, and the tractor is controlled to respond to the automatic driving control command. Then, the radar device 6 and camera 7 on the side and rear of the tractor are sensed and fused, and the controller 4 normally performs mode switching to carry out automatic driving.

[0042] In some embodiments, such as Figure 5 As shown, the tractor also includes a drive motor 5, a first link 9 and a second link 10. The first link 9 is connected to the radar device 6, and the second link 10 is connected to the camera 7. The drive motor 5 is used to drive the first link 9 and / or the second link 10 to extend and retract in a first direction, and to control the tractor according to the obstruction width value.

[0043] Based on this, when the occlusion width value is determined to be greater than the third preset value and less than or equal to the fourth preset value, the drive motor 5 is controlled to move according to the third drive command, and the tractor is controlled to allow the autonomous driving control command to be responded to. The third drive command is used to drive the radar device 6 to move outward a third distance along the first direction under the drive of the first link 9, and drive the camera 7 to move outward a second distance along the first direction under the drive of the second link 10.

[0044] Specifically, after receiving the vehicle's command to switch to autonomous driving control, the cloud platform 12 determines whether the radar device 6 located on the front of the vehicle and the camera 7 located at the rearview mirror will be obstructed by the trailer by judging the obstruction width value. If the obstruction width value is greater than a third preset value and less than or equal to a fourth preset value, then the radar device 6 and the camera 7 are obstructed by the trailer. The cloud platform 12 then sends a third drive command to the controller 4 of the tractor. The controller 4, according to the third drive command, drives the radar device 6 to move outward a third distance in the first direction under the action of the first link 9. Figure 5 As shown, the third distance is L1, and the driving camera 7 moves outward a second distance in the first direction under the action of the second link 10. At this time, the radar device 6 and the camera 7 are not obstructed by the trailer, and the tractor is controlled to allow the automatic driving control command to be responded to.

[0045] In some embodiments, the tractor also includes a compensation radar device 8 and a third link 11 disposed at the rearview mirror. The compensation radar device 8 is used to compensate for the side view of the radar device 6, and the drive motor 5 is also used to drive the third link 11 to extend or retract along a first direction. A third drive command is also used to drive the compensation radar device 8 to move outward a second distance along the first direction under the action of the third link 11. That is, the controller 4 switches the compensation radar device 8 from a dormant state to an awake state to monitor the image behind the tractor and to compensate for the view obstruction caused by the side millimeter-wave radar.

[0046] In some embodiments, the tractor also includes a drive motor 5, a first link 9 and a second link 10, the first link 9 being connected to a radar device 6 and the second link 10 being connected to a camera 7. The drive motor 5 is used to drive the first link 9 and / or the second link 10 to extend and retract in a first direction. Controlling the tractor according to the obstruction width value includes: when it is determined that the obstruction width value is greater than a fourth preset value, controlling the tractor to prohibit responding to the automatic driving control command and switching to manual driving mode.

[0047] Specifically, after receiving the vehicle's command to switch to autonomous driving control, the cloud platform 12 determines whether the radar device 6 located on the front of the vehicle and the camera 7 located at the rearview mirror will be obstructed by the trailer by judging the obstruction width value. If the obstruction width value is greater than the fourth preset value, it is recognized that the radar device 6 and the camera 7 are both obstructed by the rear cargo box and both exceed the movement range of the radar device 6 and the camera 7. The tractor cannot meet the autonomous driving requirements and manual intervention is required. The cloud platform 12 sends a mode-disabling command to the controller 4 of the tractor, controlling the tractor to prohibit responding to the autonomous driving control command and switch to manual driving mode. The tractor continues to drive in manual driving mode.

[0048] In some embodiments, the first preset value is 0, the second preset value is the rearview mirror width, the third preset value is the maximum allowable extension distance L1 of the first link 9, and the fourth preset value is the sum of the maximum allowable extension distance L2 of the second link 10 and the rearview mirror width L.

[0049] In some embodiments, the first distance is the obstruction width value, the second distance is the difference between the obstruction width value and the rearview mirror width, and the third distance is the maximum allowable extension distance of the first link 9.

[0050] In this embodiment, if the cloud platform determines that the obstruction width value is greater than the fourth preset value, it will determine that the radar equipment and camera are both obstructed by the rear compartment and exceed the movement range of the radar equipment and camera. At this time, the cloud platform will send a command to the controller. If the state of the radar equipment and camera does not meet the requirements of autonomous driving, manual takeover is required. The controller will not switch modes and will continue to drive in manual mode. If the cloud platform does not receive the command information to switch the autonomous driving mode, the cloud platform will not send any command.

[0051] A second aspect of the present invention provides a tractor unit, such as... Figure 10 As shown, the tractor 100 includes: at least one processor 1 and a memory 2 communicatively connected to at least one processor 1.

[0052] The memory stores a computer program that can be executed by at least one processor, and when the at least one processor executes the computer program, it implements the driving control method of the tractor in the above embodiment.

[0053] The tractor unit according to the embodiments of the present invention can avoid the problem of being unable to switch from manual driving mode to automatic driving mode, thereby avoiding the problem of the automatic driving function of the tractor unit being unavailable.

[0054] In an embodiment, such as Figure 1 , Figure 3 and Figure 4As shown, the roadside unit 16 is positioned above the roadside poles, receiving instruction information from the cloud platform 12 and transmitting it to the vehicle-mounted unit 3, which in turn transmits it to the controller 4 of the tractor. Simultaneously, it transmits the instruction information from the controller 4 to switch from manual driving mode to automatic driving mode to the cloud platform 12. The vehicle-mounted unit 3, positioned at the bottom of the tractor, receives instructions from the roadside unit 16 and transmits them to the cloud platform 12. It also transmits these instructions to the controller 4 and sends the instruction information from the controller 4 to switch from manual driving mode to automatic driving mode back to the roadside unit 16, which then transmits it to the cloud platform 12. The controller 4, positioned at the bottom of the tractor, receives instructions from the vehicle-mounted unit 3 and the cloud platform 12, controlling the drive motor 5 to control the positions of the camera 7, radar device 6, and compensation radar device 8. It also transmits the instruction information to the cloud platform 12 indicating whether to switch from manual driving mode to automatic driving mode. The drive motor 5 communicates with the controller 4 via CAN (Controller Area Communication). The network (controller 4 local area network) is used for communication. It receives drive commands from the controller 4 to drive the first link 9 connected to the radar device 6 and the second link 10 connected to the camera 7, and compensates for the extension and retraction of the third link 11 connected to the radar device 8. The first link 9, connected to the radar device 6, is a telescopic structure located on the side of the bottom of the vehicle front. It can extend outwards under the action of the drive motor 5 to prevent the radar device 6's field of vision from being obstructed by the trailer. The second link 10, connected to the camera 7, is a telescopic structure located on the side of the exterior rearview mirror. It can extend outwards under the action of the drive motor 5 to prevent the camera 7's field of vision from being obstructed by the rear trailer. The third link 11, connected to the compensation radar device 8, is a telescopic structure located on the side of the exterior rearview mirror. It can extend outwards under the action of the drive motor 5 to compensate for the radar device 6's field of vision when the radar on the opposite side is obstructed. Radar device 6, located on the side of the bottom of the vehicle's front, has a field of view (FOV) of 150°. It can detect obstacles to the side and rear of the vehicle, perceive the side and rear of the vehicle, and transmit the image to controller 4 for fusion with the perception information from camera 7. Camera 7, located on the side of the tractor's exterior rearview mirror, also has a FOV of 150°. It can detect obstacles to the side and rear of the vehicle, perceive the side and rear of the vehicle, and transmit the image to the autonomous driving controller 4 for fusion with the perception information from radar device 6. Compensation radar device 8, located at the bottom of the vehicle's exterior rearview mirror, has a FOV of 60°. It is in a dormant state when it does not receive the third drive command from cloud platform 12, and is powered on when it receives the third drive command. At the same time, it transmits the perception information to controller 4 for visual fusion with the field of view compensation of radar device 6.

[0055] Therefore, this application solves the problem of autonomous driving function when the tractor is equipped with different trailers by using vehicle-road-cloud integrated technology, avoiding the problem that the autonomous driving function is limited by the width of the trailer of the tractor.

[0056] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0057] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method of driving control of a tractor, characterized by, For a towing vehicle, the towing vehicle includes a radar device mounted on the front side and a camera mounted on the rearview mirror, both the radar device and the camera being used to collect sensing information behind the towing vehicle, the method comprising: Obtain the width of the tractor's cab and the width of the tractor's trailer; The obstruction width value is determined based on the width of the vehicle head and the width of the trailer; Upon receiving an autonomous driving control command, the tractor is controlled according to the obstruction width value.

2. The driving control method of a tractor according to claim 1, characterized by, The obstruction width value is determined based on the width of the truck cab and the width of the trailer, including: Calculate the width difference between the trailer width and the tractor cab width; The occlusion width value is determined based on the width difference.

3. The driving control method for a tractor according to claim 2, characterized in that, Controlling the tractor vehicle based on the obstruction width value includes: If the obstruction width value is determined to be less than or equal to a first preset value, the tractor is controlled to allow the driver to respond to the automatic driving control command.

4. The driving control method for a tractor according to claim 3, characterized in that, The tractor unit further includes a drive motor, a first link, and a second link. The first link is connected to the radar device, and the second link is connected to the camera. The drive motor is used to drive the first link and / or the second link to extend or retract along a first direction, controlling the tractor unit according to the obstruction width value, including: When it is determined that the obstruction width value is greater than a first preset value and less than or equal to a second preset value, the drive motor is controlled to operate according to the first drive command, and the tractor is controlled to allow the autonomous driving control command to be responded to. The first drive command is used to drive the radar device to move outward a first distance along the first direction under the drive of the first link. If the obstruction width value is determined to be greater than a second preset value and less than or equal to a third preset value, the drive motor is controlled to operate according to the second drive command, and the tractor is controlled to allow the autonomous driving control command to be responded to. The second drive command is used to drive the radar device to move outward a first distance along the first direction under the drive of the first link, and to drive the camera to move outward a second distance along the first direction under the drive of the second link.

5. The driving control method for a tractor according to claim 4, characterized in that, The tractor unit further includes a drive motor, a first link, and a second link. The first link is connected to the radar device, and the second link is connected to the camera. The drive motor is used to drive the first link and / or the second link to extend or retract along a first direction, controlling the tractor unit according to the obstruction width value, including: If the obstruction width value is determined to be greater than a third preset value and less than or equal to a fourth preset value, the drive motor is controlled to operate according to the third drive command, and the tractor is controlled to respond to the automatic driving control command. The third drive command is used to drive the radar device to move outward a third distance along the first direction under the drive of the first link, and to drive the camera to move outward a second distance along the first direction under the drive of the second link.

6. The driving control method for a tractor according to claim 5, characterized in that, The tractor also includes a compensation radar device and a third link disposed at the rearview mirror. The compensation radar device is used to compensate for the side field of view of the radar device, and the drive motor is also used to drive the third link to extend and retract along a first direction. The third driving command is also used to drive the compensation radar device to move outward a second distance along the first direction under the action of the third link.

7. The driving control method for a tractor according to claim 5 or 6, characterized in that, The tractor unit further includes a drive motor, a first link, and a second link. The first link is connected to the radar device, and the second link is connected to the camera. The drive motor is used to drive the first link and / or the second link to extend or retract along a first direction, controlling the tractor unit according to the obstruction width value, including: If the obstruction width value is determined to be greater than the fourth preset value, the tractor is controlled to prohibit responding to the automatic driving control command and switch to manual driving mode.

8. The driving control method for a tractor according to claim 7, characterized in that, The first preset value is 0, the second preset value is the rearview mirror width, the third preset value is the maximum allowable extension distance of the first link, and the fourth preset value is the sum of the maximum allowable extension distance of the second link and the rearview mirror width.

9. The driving control method for a tractor according to claim 7, characterized in that, The first distance is the obstruction width value, the second distance is the difference between the obstruction width value and the rearview mirror width, and the third distance is the maximum allowable extension distance of the first linkage.

10. A tractor unit, characterized in that, include: At least one processor; A memory that is communicatively connected to at least one of the processors; The memory stores a computer program that can be executed by at least one of the processors, and when the at least one processor executes the computer program, it implements the driving control method of the tractor according to any one of claims 1-9.

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