The invention relates to a trailer rotation angle estimation method based on a laser radar, and the method needs to install a multi-line laser radar in front of a tractor, and respectively install a high-reflection material at four corner blocks and two wheel eyebrows of the trailer; then a multi-line laser radar scans the high-reflection material to collect laser point cloud data, extracts high-reflection points in laser point cloud as vehicle detection angular points, and numbers the detected angular points; and finally, comparing the numbered angular points with the trailer template to calculate the turning angle of the trailer. The method has the advantages that a laser radar does not need to be additionally arranged on the tractor to monitor the driving condition of the trailer, trailer turning angle estimation can be achieved only through the two main radars of the tractor, the calculation method is simpler, and practicability is higher.
本发明涉及一种基于激光雷达的挂车转角估计方法,该方法需要在牵引车前方安装多线激光雷达,在挂车四个角块和两个轮眉处分别安装一块高反材料;然后多线激光雷达扫描高反材料以采集激光点云数据,并提取激光点云中的高反点作为车辆检测角点,对检测到的角点进行编号;最后将编号后的角点与挂车模板进行比对,以计算挂车转角。本发明的优点是无需在牵引车增加激光雷达监测挂车行驶状况,只需牵引车自带的两个主雷达即可实现挂车转角估计,计算方法更加简单,实用性更强。
Trailer rotation angle estimation method based on laser radar
一种基于激光雷达的挂车转角估计方法
28.03.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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