Method and system for connecting tractor and trailer, storage medium, and vehicle

Abstract

Provided are a method and a system for connecting a tractor and a trailer, a storage medium, and a vehicle. The method for connecting a tractor and a trailer comprises: acquiring a first position of the trailer and path planning information; on the basis of the first position, determining a target position of the tractor, wherein the tractor is to be connected to the trailer at the target position; on the basis of the path planning information, determining a target path along which the tractor automatically drives to the target position; and controlling the tractor to automatically drive to the target position along the target path, so as to connect the tractor to the trailer. In the method, before the tractor is connected to the trailer, the influence of the trailer on the driving of the tractor after the connection is taken into consideration in advance, thereby ensuring that, after the tractor is connected to the trailer, when the tractor drives out according to the target path, the trailer will not cause driving obstruction to the tractor, and ultimately ensuring smooth driving of the tractor after being connected to the trailer.

Description

A method, system, storage medium, and vehicle for connecting a tractor and a trailer.

[0001] This disclosure claims priority to Chinese Patent Application No. 202411939689.4, filed on December 26, 2024, entitled "A method, system, storage medium and vehicle for connecting a tractor and a trailer", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle technology, and more specifically, to a method, system, storage medium, and vehicle for connecting a tractor and a trailer. Background Technology

[0003] A tractor unit is a self-propelled vehicle that can tow a trailer. A trailer is a vehicle that is not self-propelled and needs to be towed by a tractor unit to move. When using a tractor unit, it must first travel to the location of the trailer so that the tractor unit and trailer can be connected.

[0004] In related technologies, autonomous driving technology can be used to control a tractor unit to automatically drive to the location of a trailer. However, since the tractor unit becomes an integral part of the trailer after connection, its movement after connection is still affected by the trailer compared to its movement before connection, which may lead to obstruction of movement after connection. Summary of the Invention

[0005] Based on this, this disclosure provides a method, system, storage medium, and vehicle for connecting a tractor and a trailer to solve the problem of how to ensure smooth driving of the tractor after it is connected to the trailer.

[0006] A first aspect of this disclosure provides a method for connecting a tractor and a trailer, the method comprising: acquiring a first position of the trailer and path planning information, the path planning information including external dimensional parameters of the trailer and / or second positions of obstacles surrounding the trailer; determining a target position of the tractor based on the first position, the tractor connecting to the trailer at the target position; determining a target path for the tractor to automatically travel to the target position based on the path planning information; and controlling the tractor to automatically travel to the target position along the target path, thereby connecting the tractor to the trailer.

[0007] In some exemplary embodiments, determining the target path for the tractor to automatically travel to the target location based on the path planning information includes: determining the target articulation angle between the tractor and the trailer at the target location based on the path planning information; and determining the target path based on the target articulation angle.

[0008] This embodiment first determines the target articulation angle based on path planning information, and then determines the target path based on the target articulation angle. It grasps the key factor that determines whether the trailer can avoid obstacles, thereby improving the flexibility of target path determination and the success rate of the trailer avoiding obstacles.

[0009] In some exemplary embodiments, the path planning information includes the second position, and determining the target articulation angle between the tractor and the trailer based on the path planning information includes: predicting the future movement path of the obstacle based on the second position when the obstacle is in a moving state, and determining the target articulation angle based on the movement path; and determining the target articulation angle based on the second position when the obstacle is in a stationary state.

[0010] This embodiment determines the target articulation angle according to different types of obstacles. When the obstacle is moving, the target articulation angle is determined based on the obstacle's movement path. When the obstacle is stationary, the target articulation angle is determined directly based on the second position. This improves the success rate of smooth driving of the tractor and maximizes the smooth driving of the tractor.

[0011] In some exemplary embodiments, the path planning information includes the external dimension parameters and the second position. Determining the target articulation angle between the tractor and the trailer at the target position based on the path planning information includes: determining a first articulation angle between the tractor and the trailer at the target position based on the external dimension parameters, and determining a second articulation angle between the tractor and the trailer at the target position based on the second position; and determining the larger of the first articulation angle and the second articulation angle as the target articulation angle.

[0012] This embodiment can prevent the hinge angle between the tractor and the trailer from further decreasing to the minimum hinge angle when the tractor is towing the trailer, thereby reducing the probability of a collision between the tractor and the trailer.

[0013] In some exemplary embodiments, determining the target articulation angle between the tractor and the trailer at the target location based on the path planning information includes: determining a plurality of candidate articulation angles between the tractor and the trailer at the target location based on the path planning information; and determining the target articulation angle from the plurality of candidate articulation angles based on a user-triggered selection signal, wherein the selection signal carries information indicating the target articulation angle.

[0014] In this embodiment, the user's intention is also taken into consideration when determining the target articulation angle. The target articulation angle is determined from multiple candidate articulation angles by the selection signal triggered by the user, so that the target articulation angle is more in line with the user's intention, making it easier for the user to manually drive the tractor after the tractor and trailer are connected.

[0015] In some exemplary embodiments, before controlling the tractor to automatically travel to the target location along the target path, the method further includes: adjusting the suspension of the tractor to a first preset height; after controlling the tractor to automatically travel to the target location along the target path, the method further includes: adjusting the suspension of the tractor to a second preset height, wherein the first preset height is lower than the second preset height.

[0016] This embodiment adjusts the height difference between the towing device and the trailer by adjusting the height of the tractor suspension, thereby avoiding the situation where the towing device and the trailer cannot be connected due to an excessive height difference, and ensuring a smooth connection between the towing device and the trailer.

[0017] In some exemplary embodiments, before controlling the tractor to automatically travel along the target path to the target location, the method further includes: determining whether the tailgate of the tractor is closed; controlling the tractor to automatically travel along the target path to the target location includes: when the tailgate of the tractor is closed, controlling the tractor to automatically travel along the target path to the target location.

[0018] In this embodiment, before controlling the tractor to automatically travel to the target location along the target path, the opening and closing status of the tailgate is first determined. Only when the tailgate is closed will the tractor be controlled to automatically travel to the target location along the target path. This avoids the situation where the tailgate cannot be closed after the tractor is connected to the trailer, thus ensuring the driving safety of the tractor.

[0019] A second aspect of this disclosure provides a system for connecting a tractor and a trailer, the system comprising: an acquisition module for acquiring a first position of the trailer and path planning information, the path planning information including external dimensional parameters of the trailer and / or second positions of obstacles surrounding the trailer; a first determination module for determining a target position of the tractor based on the first position, the tractor connecting to the trailer at the target position; a second determination module for determining a target path for the tractor to automatically travel to the target position based on the path planning information; and an execution module for controlling the tractor to automatically travel to the target position along the target path, thereby connecting the tractor to the trailer.

[0020] A third aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method for connecting a tractor and a trailer as described in the second aspect of this disclosure.

[0021] A fourth aspect of this disclosure provides a vehicle including the system for connecting a tractor and a trailer as described in the second aspect of this disclosure, or including a control module for implementing the steps of the method for connecting a tractor and a trailer as described in the first aspect of the application.

[0022] This disclosure provides a method, system, storage medium, and vehicle for connecting a tractor and a trailer. The method includes: acquiring a first position of the trailer and path planning information, the path planning information including external dimensional parameters of the trailer and / or second positions of obstacles around the trailer; determining a target position of the tractor based on the first position, the tractor connecting to the trailer at the target position; determining a target path for the tractor to automatically travel to the target position based on the path planning information; and controlling the tractor to automatically travel to the target position along the target path, thereby connecting the tractor to the trailer.

[0023] In planning the target path for the automatic driving of the tractor, this disclosure takes into account the external dimensions of the trailer and / or the second position of obstacles around the trailer as factors in the target path planning. This allows the tractor to consider the impact of the trailer on its driving after connection with the trailer before the tractor connects with the trailer. This ensures that if the tractor drives out according to the target path after connection with the trailer, the trailer will not cause any driving obstruction to the tractor, thus ultimately ensuring smooth driving of the tractor after connection with the trailer. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 is a flowchart illustrating the steps of a method for connecting a tractor and a trailer according to an embodiment of this disclosure.

[0026] Figure 2 is a schematic diagram of a scenario where a tractor and a trailer are connected according to an embodiment of this disclosure.

[0027] Figure 3 is a flowchart of a target path planning method provided in an embodiment of this disclosure;

[0028] Figure 4 is a schematic diagram of a tractor-trailer connection provided in an embodiment of this disclosure;

[0029] Figure 5 is a schematic diagram of a movement path provided in an embodiment of this disclosure;

[0030] Figure 6 is a flowchart illustrating the steps of a method for determining a target hinge angle according to an embodiment of this disclosure.

[0031] Figure 7 is a flowchart illustrating another method for determining a target hinge angle provided in an embodiment of this disclosure.

[0032] Figure 8 is a schematic diagram of a selection interface provided in an embodiment of this disclosure;

[0033] Figure 9 is a flowchart of a method for connecting a tractor and a trailer according to an embodiment of the present disclosure;

[0034] Figure 10 is a structural schematic diagram of a system for connecting a tractor and a trailer provided in an embodiment of this disclosure. Embodiments of the present invention

[0035] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0036] A tractor unit is a self-propelled vehicle that can tow a trailer. A trailer is a vehicle that is not self-propelled and needs to be towed by a tractor unit to move. When using a tractor unit, it must first travel to the location of the trailer so that the tractor unit and trailer can be connected.

[0037] In related technologies, autonomous driving technology can be used to control a tractor unit to automatically drive to the location of a trailer. However, since the tractor unit becomes an integral part of the trailer after connection, its movement after connection is still affected by the trailer compared to its movement before connection, which may lead to obstruction of movement after connection.

[0038] Based on this, to address the issue of ensuring smooth driving of a tractor unit after connection with a trailer, this disclosure provides a method, system, storage medium, and vehicle for connecting a tractor unit and a trailer. When planning the target path for the tractor unit's automatic driving, the external dimensions of the trailer and the secondary positions of obstacles around the trailer are considered as factors in the target path planning. This allows the impact of the trailer connection on the tractor unit's driving to be considered beforehand, ensuring that if the tractor unit follows the target path after connection, the trailer will not cause any obstruction to the tractor unit's driving, ultimately guaranteeing smooth driving of the tractor unit after connection with the trailer. The specific method is as follows.

[0039] The first aspect of this disclosure provides an embodiment, as shown in FIG1, of a method for connecting a tractor and a trailer. The method is applied to the tractor, specifically to the automatic driving controller of the tractor, and the main steps include the following steps.

[0040] Step S101: Obtain the first position and path planning information of the trailer.

[0041] The path planning information includes the trailer's external dimensions and / or the second location of obstacles around the trailer.

[0042] A tractor unit is a self-propelled vehicle that can tow a trailer. A trailer is a vehicle that is not self-propelled and needs to be towed by a tractor unit. A tractor unit is equipped with a towing device, which may specifically be a tow hook, etc. A trailer unit is equipped with a trailer hitch, which may specifically be a trailer ball, etc. The towing device and the trailer hitch are connected to achieve the connection between the tractor unit and the trailer.

[0043] The first location refers to the position of the trailer, more specifically the position of the trailer hitch. The trailer's external dimensions can include its length, width, and height; the length, width, and height of the trailer hitch; and the position of the trailer hitch on the trailer. The second location refers to the location of obstacles surrounding the trailer. Obstacles can be other vehicles besides the trailer and towing vehicle, or green belts, roadblocks, etc.

[0044] Path planning information refers to information used to plan a target path, which may include the trailer's external dimensions, or the second location of obstacles around the trailer, or the trailer's external dimensions and the second location of obstacles around the trailer.

[0045] In one optional implementation, the trailer's first position and path planning information can be obtained based on image information acquired by an image sensor. Specifically, the image sensor perceives images of the trailer and its surrounding environment, generates image information containing both the trailer and its environment, and sends this image information to the autonomous driving controller. The autonomous driving controller parses the image information to obtain the first position and path planning information. Furthermore, before parsing the image information, images of various types of trailer devices can be pre-stored in the autonomous driving controller, thereby increasing the probability that the controller detects the trailer device.

[0046] In one alternative implementation, the first position of the trailer and the second position of obstacles around the trailer can also be obtained by radar connected to the autopilot controller.

[0047] Step S102: Based on the first position, determine the target position of the tractor.

[0048] The tractor unit is connected to the trailer unit at the target location.

[0049] The target location can be a position immediately adjacent to the first location, or it can be determined based on the dimensions of the towing device and trailer assembly, provided that the trailer assembly can connect with the towing device of the towing vehicle when the towing vehicle is at the target location. The target location is the endpoint of the towing vehicle's automatic driving.

[0050] Step S103: Based on the path planning information, determine the target path for the tractor to automatically travel to the target location.

[0051] The path planning information includes the trailer's external dimensions and the secondary positions of obstacles around the trailer. These dimensions determine whether obstacles will impede the trailer's movement. Therefore, when planning the target path for the tractor unit, the path planning information can be used to predict whether obstacles around the trailer will obstruct its movement after the tractor unit is connected to it, thus planning a target path that avoids obstruction to the tractor unit's movement.

[0052] In one alternative implementation, multiple candidate paths can be pre-planned. Then, using path planning information, obstacle paths that would impede the movement of the trailer are identified from the multiple candidate paths, and these obstacle paths are eliminated from the multiple candidate paths, thereby obtaining the final target path.

[0053] Step S104: Control the tractor to automatically travel to the target location along the target path so that the tractor can connect with the trailer.

[0054] The automatic driving controller is connected to an automatic driving execution system, which includes a steering system, a drive system, and a braking system. Once the automatic driving controller obtains the target path, it determines the desired heading angle and desired speed of the tractor unit at each coordinate in a preset coordinate system. The desired heading angle is then input to the steering system, and the desired speed is input to the drive and braking systems. This ensures that the actual heading angle and speed of the tractor unit at each coordinate match the desired heading angle and desired speed, allowing the tractor unit to automatically travel to the target location. After the tractor unit reaches the target location, the user can manually connect the trailer and the towing device.

[0055] In an optional implementation, when the traction device is an electric trailer hook, the electric trailer hook should be controlled to be in the deployed state before performing step S104.

[0056] In this embodiment, when planning the target path for the automatic driving of the tractor, the external dimensions of the trailer and the second position of the obstacles around the trailer are taken into consideration as factors in the target path planning. This allows the tractor to take into account the impact of the trailer on the tractor's driving after the trailer is connected before the tractor is connected to the trailer. This ensures that if the tractor drives out according to the target path after being connected to the trailer, the trailer will not cause the tractor to be obstructed.

[0057] For example, referring to Figure 2, a schematic diagram of a scenario where a tractor and a trailer are connected is shown. Figure 2 includes a trailer, a tractor, and obstacles. This embodiment plans a target path as shown in Figure 2 based on path planning information. When the tractor travels to the target location according to the target path, the tractor's posture is as shown in Figure 2. Since the tractor starts from the target location and the posture shown in Figure 2 when pulling the trailer, it can continue to travel along the target path after connecting with the trailer. The target path, planned using path planning information, eliminates the risk of collision between the trailer and obstacles. Therefore, the method described in this embodiment ensures that when the tractor pulls the trailer, if it travels along the target path, the trailer will not cause the tractor to experience any obstruction, ultimately ensuring smooth travel of the tractor after connecting with the trailer.

[0058] In some exemplary embodiments, referring to Figure 3, a target path planning method is illustrated. Step S103, which determines the target path for the tractor to automatically travel to the target location based on the path planning information, specifically includes the following steps.

[0059] Step S11: Based on the path planning information, determine the target articulation angle between the tractor and the trailer at the target position.

[0060] Step S12: Determine the target path based on the target hinge angle.

[0061] Referring to Figure 4, which illustrates a connection between a tractor and a trailer, the articulation angle refers to the angle between the axis of the tractor and the axis of the trailer. The articulation angle between the tractor and the trailer reflects the attitude of the tractor relative to the trailer. As the tractor travels along different paths to the target location, the articulation angle between it and the trailer will vary. This difference in articulation angle determines the direction in which the tractor pulls the trailer after connection, and this direction further determines whether the trailer can avoid obstacles. Therefore, based on path planning information, the target articulation angle between the tractor and the trailer at the target location can be determined first. Then, a target path can be planned based on the target articulation angle, so that the articulation angle between the tractor and the trailer after traveling along the target path to the target location is the target articulation angle.

[0062] In one alternative implementation, when the path planning information consists of the trailer's external dimensions, the minimum articulation angle between the tractor and the trailer can be determined based on these dimensions. Then, the target articulation angle is determined as an angle greater than the minimum articulation angle.

[0063] Since the key to whether a trailer can avoid obstacles lies in the direction in which the tractor pulls the trailer, and the direction in which the tractor pulls the trailer is determined by the articulation angle, this embodiment first determines the target articulation angle based on path planning information, and then determines the target path based on the target articulation angle. This grasps the key factor that determines whether a trailer can avoid obstacles, thereby improving the flexibility of target path determination and also increasing the success rate of the trailer avoiding obstacles.

[0064] In some exemplary embodiments, the path planning information includes the second position. Step S11, based on the path planning information, determines the target articulation angle between the tractor and the trailer at the target position, specifically including the following two cases: Case 1, when the obstacle is in a moving state, based on the second position, the future moving path of the obstacle is predicted, and based on the moving path, the target articulation angle is determined; Case 2, when the obstacle is in a stationary state, based on the second position, the target articulation angle is determined.

[0065] The connection process between a tractor and a trailer typically occurs in complex environments. These environments may contain moving vehicles, pedestrians, or stationary obstacles. When path planning information includes a second location, to improve the success rate of smooth tractor movement, the target articulation angle can be determined for different types of obstacles.

[0066] Specifically, the first step is to determine whether the obstacle is moving or stationary. If the obstacle is moving, its position is constantly changing. Therefore, based on this second position, the obstacle's future movement path can be predicted. This allows the target articulation angle to be determined based on the movement path, enabling the trailer to avoid the obstacle's path and maximizing the smooth operation of the tractor.

[0067] When the obstacle is stationary, its position will remain unchanged in the second position, so the target hinge angle can be determined directly based on the second position.

[0068] In one alternative implementation, when the obstacle is a pedestrian or a vehicle, the future movement path of the obstacle can be predicted based on the road orientation of the second location. For example, if the obstacle is detected as a pedestrian and the second location is on a sidewalk, the movement path can be determined to extend along the sidewalk. If the obstacle is detected as a vehicle and the second location is on a lane, the movement path can be determined to extend along the lane, as illustrated in Figure 5. If the obstacle is detected as a vehicle, but the second location is not on a lane, the movement path can be determined to extend along the direction the vehicle is facing.

[0069] This embodiment determines the target articulation angle according to different types of obstacles. When the obstacle is moving, the target articulation angle is determined based on the obstacle's movement path. When the obstacle is stationary, the target articulation angle is determined directly based on the second position. This improves the success rate of smooth driving of the tractor and maximizes the smooth driving of the tractor.

[0070] In some exemplary embodiments, when the path planning information includes the external dimensional parameters and the second position, referring to FIG6, a method step diagram for determining a target articulation angle is shown. Step S11, based on the path planning information, determines the target articulation angle between the tractor and the trailer at the target position, specifically including the following steps.

[0071] Step S21: Based on the external dimensional parameters, determine the first hinge angle between the tractor and the trailer at the target position, and based on the second position, determine the second hinge angle between the tractor and the trailer at the target position.

[0072] Step S22: Determine the larger of the first hinge angle and the second hinge angle as the target hinge angle.

[0073] When the path planning information includes external dimensional parameters and a second position, the first hinge angle and the second hinge angle can be determined based on the external dimensional parameters and the second position, respectively. Since both the first hinge angle and the second hinge angle are determined based on the external dimensional parameters or the second position, the tractor will not collide with the obstacle after forming the first hinge angle or the second hinge angle with the trailer.

[0074] In order to prevent the articulation angle between the tractor and the trailer from further decreasing to the minimum articulation angle while the tractor is towing the trailer, thus causing a collision between the tractor and the trailer, the larger of the first articulation angle and the second articulation angle should be determined as the target articulation angle, thereby reducing the probability of a collision between the tractor and the trailer.

[0075] In some exemplary embodiments, referring to the step diagram of another method for determining the target articulation angle shown in FIG7, step S11, which determines the target articulation angle between the tractor and the trailer at the target position based on the path planning information, may further include the following steps.

[0076] Step S31: Based on the path planning information, determine multiple candidate articulation angles between the tractor and the trailer at the target position.

[0077] Step S32: Based on the user-triggered selection signal, determine the target hinge angle from the plurality of candidate hinge angles.

[0078] The selection signal carries information indicating the target hinge angle.

[0079] Once the tractor unit has automatically traveled to the target location along the target path, it may continue tow the trailer again via autonomous driving, or it may tow the trailer while being driven by the user. Therefore, considering the different driving habits of different users, the user's intention can be taken into account when determining the target articulation angle.

[0080] Specifically, based on path planning information, several candidate articulation angles between the tractor and the trailer at the target location are first determined. These candidate articulation angles are those where obstacles will not impede the trailer's movement. After determining these candidate articulation angles, the user can send a selection signal carrying the target articulation angle information to the tractor according to their intention. The tractor then responds to the selection signal and determines the target articulation angle from the candidate angles.

[0081] In one optional implementation, after determining multiple candidate articulation angles, the tractor can display these angles on the central control screen. The selection signal can be generated based on the user's selection action. For example, the central display screen can show images of three tractors as illustrated in Figure 8, a schematic diagram of a selection interface. Tractor A corresponds to candidate articulation angle A, tractor B corresponds to candidate articulation angle B, and tractor C corresponds to candidate articulation angle C. If the user selects tractor A, the central controller can respond to this selection by generating a selection signal containing information indicating that the target articulation angle is candidate articulation angle A, and further send this selection signal to the automatic driving controller, causing the automatic driving controller to determine candidate articulation angle A as the target articulation angle.

[0082] In this embodiment, the user's intention is also taken into consideration when determining the target articulation angle. The target articulation angle is determined from multiple candidate articulation angles by the selection signal triggered by the user, so that the target articulation angle is more in line with the user's intention, making it easier for the user to manually drive the tractor after the tractor and trailer are connected.

[0083] In some exemplary embodiments, before controlling the tractor to automatically travel along the target path to the target location in step S104, the method further includes the following steps.

[0084] Step S105: Adjust the suspension of the tractor to the first preset height.

[0085] After controlling the tractor to automatically travel to the target location along the target path in step S104, the method further includes the following steps.

[0086] Step S106: Adjust the suspension of the tractor to a second preset height, wherein the first preset height is lower than the second preset height.

[0087] The tractor and trailer need to be connected via a towing device on the tractor and a trailer hitch on the trailer. Because the structural dimensions of the tractor and trailer, as well as the heights of the trailer and towing devices, are not standardized, a significant height difference may exist between the towing device and trailer hitch after the tractor reaches the target location, preventing them from connecting. Therefore, this embodiment proposes a method of adjusting the height of the tractor's suspension to ensure a smooth connection between the towing device and trailer hitch.

[0088] Specifically, before the tractor automatically travels along the target path, the suspension of the tractor is first adjusted to a first preset height, and after the tractor travels to the target position, the height of the tractor suspension is then adjusted to a second preset height that is higher than the first preset height, thereby ensuring the connection between the traction device and the trailer device.

[0089] In one alternative implementation, the first preset height may be the minimum height of the suspension, and the second preset height may be the height required for the tractor to operate normally.

[0090] In one alternative implementation, the suspension can be a hydraulic suspension or an air suspension, and the autopilot controller changes the suspension height by adjusting the volume of hydraulic oil or air filled in the suspension springs.

[0091] This embodiment adjusts the height difference between the towing device and the trailer by adjusting the height of the tractor suspension, thereby avoiding the situation where the towing device and the trailer cannot be connected due to an excessive height difference, and ensuring a smooth connection between the towing device and the trailer.

[0092] In some exemplary embodiments, before controlling the tractor to automatically travel along the target path to the target location in step S104, the method further includes the following steps.

[0093] Step S107: Determine whether the tailgate of the tractor is closed.

[0094] Step S104, controlling the tractor to automatically travel to the target location along the target path, specifically includes: when the tailgate of the tractor is closed, controlling the tractor to automatically travel to the target location along the target path.

[0095] The tailgate of a tractor unit, also known as the trunk lid or rear hatch, is the door located at the rear of the tractor unit used to close and open the trunk. Common tailgate opening methods include lift-up, side-opening, and double-door types. When the tractor unit's speed exceeds a certain speed threshold, or when the tractor unit is traveling on public roads, the tailgate of the tractor unit should be closed.

[0096] Since the tailgate should be closed when the tractor is in normal driving, and regardless of whether it is a liftgate, side-opening, or double-door tailgate, a certain amount of space needs to be reserved at the rear of the tractor to allow the tailgate to move when switching from the open to the closed state. However, when the tractor is connected to the trailer, the trailer will encroach on the space reserved for the tailgate to move, thus preventing the tailgate from switching from the open to the closed state.

[0097] Therefore, before controlling the tractor to travel along the target path to the target location, it is necessary to first determine whether the tailgate is closed. If the tailgate is closed, the tractor should be controlled to automatically travel along the target path to the target location; if the tailgate is open, the tractor should be controlled to automatically travel along the target path to the target location only after the tailgate is closed.

[0098] In this embodiment, before controlling the tractor to automatically travel to the target location along the target path, the opening and closing status of the tailgate is first determined. Only when the tailgate is closed will the tractor be controlled to automatically travel to the target location along the target path. This avoids the situation where the tailgate cannot be closed after the tractor is connected to the trailer, thus ensuring the driving safety of the tractor.

[0099] Based on the above embodiments, and referring to the flowchart of a method for connecting a tractor and a trailer shown in FIG9, the method for connecting a tractor and a trailer described herein will be described exemplarily below.

[0100] The method for connecting a tractor and a trailer as described in this disclosure is applied to a tractor, specifically to the tractor's automatic driving controller. It includes the following steps.

[0101] At the beginning of the method, the first position of the trailer and path planning information are obtained. The path planning information includes the trailer's external dimensions, or the second position of obstacles around the trailer, or both the external dimensions and the second position.

[0102] Next, based on the trailer's initial position, the target position for the tractor-trailer connection is determined. Then, based on path planning information, multiple candidate articulation angles between the tractor-trailer and the target position are identified. Finally, based on a user-triggered selection signal, the target articulation angle is determined from these candidate angles. After determining the target articulation angle, a target path is planned for the tractor-trailer to automatically travel to the target position.

[0103] After determining the target path, adjust the tractor's suspension to the first preset height and check if the tractor's tailgate is closed. With the tractor's suspension at the first preset height and the tailgate closed, control the tractor to automatically drive to the target location along the target path. If the tailgate is not closed, first close the tailgate before controlling the tractor to automatically drive to the target location along the target path.

[0104] Finally, after the tractor automatically travels to the target location along the target path, the tractor's suspension is adjusted to the second preset height.

[0105] Specifically, when determining multiple candidate articulation angles between the tractor and the trailer at the target position based on path planning information, if the path planning information is a second position, then when the obstacle is in a moving state, the future movement path of the obstacle is predicted based on the second position, and multiple candidate articulation angles are determined based on the movement path; when the obstacle is in a stationary state, multiple candidate articulation angles are determined based on the second position. If the path planning information is external dimension parameters and a second position, then multiple first candidate articulation angles between the tractor and the trailer at the target position are determined based on the external dimension parameters, and multiple second candidate articulation angles between the tractor and the trailer are determined based on the second position. The articulation angle greater than a preset angle among the multiple first candidate articulation angles and the multiple second candidate articulation angles is determined as the candidate articulation angle.

[0106] Based on the same inventive concept, this disclosure also provides a system for connecting a tractor and a trailer. As shown in Figure 10, a structural schematic diagram of a system for connecting a tractor and a trailer is provided. The system includes: an acquisition module for acquiring a first position of the trailer and path planning information, the path planning information including the external dimensional parameters of the trailer and / or the second positions of obstacles around the trailer; a first determination module for determining a target position of the tractor based on the first position, wherein the tractor connects to the trailer at the target position; a second determination module for determining a target path for the tractor to automatically travel to the target position based on the path planning information; and an execution module for controlling the tractor to automatically travel to the target position along the target path, so that the tractor connects to the trailer.

[0107] In some exemplary embodiments, the second determining module is further configured to determine, based on the path planning information, a target articulation angle between the tractor and the trailer at the target location; and to determine the target path based on the target articulation angle.

[0108] In some exemplary embodiments, the path planning information includes the second position. The second determining module is further configured to, when the obstacle is in a moving state, predict the future moving path of the obstacle based on the second position and determine the target hinge angle based on the moving path; and when the obstacle is in a stationary state, determine the target hinge angle based on the second position.

[0109] In some exemplary embodiments, the path planning information includes the external dimension parameters and the second position. The second determining module is further configured to determine a first hinge angle between the tractor and the trailer at the target position based on the external dimension parameters, and to determine a second hinge angle between the tractor and the trailer at the target position based on the second position; and to determine the larger of the first hinge angle and the second hinge angle as the target hinge angle.

[0110] In some exemplary embodiments, the second determining module is further configured to determine, based on the path planning information, a plurality of candidate articulation angles between the tractor and the trailer at the target position; and to determine the target articulation angle from the plurality of candidate articulation angles based on a user-triggered selection signal, the selection signal carrying information indicating the target articulation angle.

[0111] In some exemplary embodiments, the execution module is further configured to adjust the suspension of the tractor to a first preset height before controlling the tractor to automatically travel to the target position along the target path; and to adjust the suspension of the tractor to a second preset height after controlling the tractor to automatically travel to the target position along the target path, wherein the first preset height is lower than the second preset height.

[0112] In some exemplary embodiments, the execution module is further configured to determine whether the tailgate of the tractor is closed; if the tailgate of the tractor is closed, control the tractor to automatically travel to the target location along the target path.

[0113] This disclosure also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements a method for connecting a tractor and a trailer as disclosed in this disclosure.

[0114] This disclosure also provides a vehicle, including a system for connecting a tractor and a trailer as provided in this disclosure, or including a control module for implementing the steps of the method for connecting a tractor and a trailer as described in this disclosure.

[0115] This disclosure provides a method, system, storage medium, and vehicle for connecting a tractor and a trailer. The method includes: acquiring a first position of the trailer and path planning information, the path planning information including external dimensional parameters of the trailer and / or second positions of obstacles around the trailer; determining a target position of the tractor based on the first position, the tractor connecting to the trailer at the target position; determining a target path for the tractor to automatically travel to the target position based on the path planning information; and controlling the tractor to automatically travel to the target position along the target path, thereby connecting the tractor to the trailer.

[0116] In planning the target path for the automatic driving of the tractor, this disclosure takes into account the external dimensions of the trailer and the secondary positions of obstacles around the trailer as factors in the target path planning. This allows the tractor to consider the impact of the trailer on its driving after connection with the trailer before the tractor connects with the trailer. This ensures that if the tractor drives out according to the target path after connection with the trailer, the trailer will not cause any driving obstruction to the tractor, thus ensuring smooth driving of the tractor after connection with the trailer.

[0117] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0118] This disclosure describes embodiments of methods, systems, electronic devices, and computer program products according to embodiments of this disclosure with reference to flowchart illustrations and / or block diagrams. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal equipment to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal equipment, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0119] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0120] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0121] While preferred embodiments of the present disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the present disclosure.

[0122] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0123] The foregoing has provided a detailed description of a method, system, storage medium, and vehicle for connecting a tractor and a trailer. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this disclosure. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A method of connecting a tractor and a trailer, wherein, The method comprises: acquiring a first position of the trailer and path planning information, the path planning information comprising appearance size parameters of the trailer and / or a second position of an obstacle around the trailer; determining a target position of the towing vehicle based on the first position, the towing vehicle being connected with the trailer at the target position; determining a target path for the towing vehicle to automatically travel to the target position based on the path planning information; controlling the towing vehicle to automatically travel to the target position along the target path so as to connect the towing vehicle with the trailer.

2. The method of connecting a tractor and trailer as defined in claim 1, wherein, The determining of the target path for the towing vehicle to automatically travel to the target position based on the path planning information comprises: determining a target articulation angle between the towing vehicle and the trailer at the target position based on the path planning information; determining the target path based on the target articulation angle.

3. The method of connecting a tractor and trailer according to claim 2, wherein, The path planning information comprises the second position, and the determining of the target articulation angle between the towing vehicle and the trailer at the target position based on the path planning information comprises: in a case that the obstacle is in a moving state, predicting a future moving path of the obstacle based on the second position, and determining the target articulation angle based on the moving path; in a case that the obstacle is in a static state, determining the target articulation angle based on the second position.

4. The method of connecting a tractor and a trailer of claim 2, wherein, The path planning information is the appearance size parameters of the trailer, and the determining of the target articulation angle between the towing vehicle and the trailer at the target position based on the path planning information comprises: determining a minimum articulation angle between the towing vehicle and the trailer based on the appearance size parameters of the trailer; determining the target articulation angle as an included angle greater than the minimum articulation angle.

5. The method of connecting a tractor and a trailer of claim 2, wherein, The path planning information comprises the appearance size parameters and the second position, and the determining of the target articulation angle between the towing vehicle and the trailer at the target position based on the path planning information comprises: determining a first articulation angle between the towing vehicle and the trailer at the target position based on the appearance size parameters, and determining a second articulation angle between the towing vehicle and the trailer at the target position based on the second position; determining the target articulation angle as a larger one of the first articulation angle and the second articulation angle.

6. The method of connecting a tractor and a trailer of claim 2, wherein, The determining of the target articulation angle between the towing vehicle and the trailer at the target position based on the path planning information comprises: determining a plurality of candidate articulation angles between the towing vehicle and the trailer at the target position based on the path planning information; determining the target articulation angle from the plurality of candidate articulation angles based on a selection signal triggered by a user, the selection signal carrying information indicating the target articulation angle.

7. The method of connecting a tractor and a trailer of claim 1, wherein, Before the controlling of the towing vehicle to automatically travel to the target position along the target path, the method further comprises: adjusting a suspension of the towing vehicle to a first preset height; after the controlling of the towing vehicle to automatically travel to the target position along the target path, the method further comprises: The suspension of the tractor is adjusted to a second preset height, where the first preset height is lower than the second preset height.

8. The method of connecting a tractor and a trailer of claim 7, wherein, The first preset height is the minimum height of the suspension, and the second preset height is the height required for the tractor to operate normally.

9. The method of connecting a tractor and a trailer of claim 1, wherein, Before controlling the tractor to automatically travel along the target path to the target location, the method further includes: Determine whether the tailgate of the tractor is closed; The control of the tractor to automatically travel to the target location along the target path includes: With the tailgate of the tractor closed, the tractor is controlled to automatically travel to the target location along the target path.

10. The method of connecting a tractor and a trailer of claim 1, wherein, The step of determining the target path for the tractor to automatically travel to the target location based on the path planning information includes: Based on the path planning information, it is predicted whether obstacles around the trailer will hinder the movement of the trailer after the tractor unit is connected to the trailer, thereby planning the target path that can avoid obstruction of the tractor unit's movement.

11. The method of connecting a tractor and trailer of claim 10, wherein, The step of determining the target path for the tractor to automatically travel to the target location based on the path planning information includes: Multiple alternative routes are planned in advance; Using the path planning information, an obstacle path is determined from the multiple candidate paths that will impede the movement of the trailer. The obstacle path is eliminated from the multiple candidate paths to obtain the final target path.

12. The method of connecting a tractor and a trailer of claim 1, wherein, The step of controlling the tractor to automatically travel along the target path to the target location, so as to connect the tractor to the trailer, includes: Based on the target path, the desired heading angle and desired speed of the tractor at each coordinate in the preset coordinate system are determined. The desired heading angle is input to the steering system, and the desired vehicle speed is input to the drive system and braking system to ensure that the actual heading angle of the tractor at each coordinate matches the desired heading angle and the actual vehicle speed matches the desired vehicle speed, so that the tractor can automatically drive to the target position.

13. A system for connecting a towing vehicle and a trailer, wherein, The system includes: The acquisition module is used to acquire the first position of the trailer and path planning information, wherein the path planning information includes the external dimensions of the trailer and / or the second position of obstacles around the trailer; A first determining module is configured to determine a target position of the tractor based on the first position, wherein the tractor is connected to the trailer at the target position; The second determining module is used to determine the target path for the tractor to automatically travel to the target location based on the path planning information; An execution module is used to control the tractor to automatically travel to the target location along the target path, so that the tractor can connect with the trailer.

14. A computer readable storage medium having stored thereon a computer program, wherein, When the program is executed by the processor, it implements the steps of the method for connecting the tractor and the trailer as described in any one of claims 1-7.

15. A vehicle, wherein, The system includes the system for connecting the tractor and trailer as described in claim 8, or includes a control module for implementing the steps of the method for connecting the tractor and trailer as described in any one of claims 1-7.

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