The invention discloses a semi-trailer train, an on-line estimation method and device for a hinge angle of the semi-trailer train and a storage medium. The method comprises the following steps: acquiring a first hinge angle of the semi-trailer train based on navigation information; estimating a second hinge angle of the semi-trailer train based on the kinematic model; and determining the hinge angle of the semi-trailer train according to the first hinge angle and/or the second hinge angle. Therefore, the measurement accuracy of the hinge angle can be improved, the situation that the hinge angle cannot be measured due to the fact that the measurement method fails when a single measurement method is used can be avoided, and the method is simple, high in applicability, low in cost and convenient to install.
本发明公开了一种半挂汽车列车及其铰接角在线估计方法、装置、存储介质。其中,方法包括:基于导航信息获取半挂汽车列车的第一铰接角;基于运动学模型估算半挂汽车列车的第二铰接角;根据第一铰接角和/或第二铰接角确定半挂汽车列车的铰接角。由此,不仅能够提高铰接角的测量精度,还能够避免在使用单一测量方法时,由于测量方法发生失效而无法实现对铰接角进行测量的情况发生,且该方法简单、适用性强、成本低以及安装方便。
Semi-trailer train, hinge angle online estimation method and device of semi-trailer train and storage medium
半挂汽车列车及其铰接角在线估计方法、装置、存储介质
2023-01-31
Patent
Elektronische Ressource
Chinesisch
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen |
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