The invention relates to a method for identifying an included angle between a tractor and a trailer compartment. Devices for implementing the method comprise a tractor main vehicle and the trailer compartment.The method comprises the following steps: arranging a camera on the tractor main vehicle to identify a reference line identifier arranged at a front end of the trailer compartment, and calculating the change of the angle of the reference line identifier in a camera image so as to obtain the included angle between the tractor main vehicle and the trailer compartment. According to the method, complex sensors such as a corner sensor do not need to be installed, installation difficulty is reduced, camera cost is low, the measurement method is simple, measurement is conducted through a computer vision image method, precision is high, and the modeling accuracy of the automatic driving truck system is improved.

    本发明是一种牵引车与挂厢夹角的识别方法,包括牵引车主车和挂厢,在所述牵引车主车上设置相机来识别设置在挂厢前端的参考线标识,计算参考线标识在相机图像中角度的变化,从而得到牵引车主车和挂厢的夹角。本发明无需安装转角传感器等复杂的传感器,降低了安装难度,并且相机成本低,测量方法简单,通过计算机视觉图像的方法测量,精度较高,提高了自动驾驶卡车系统的建模准确度。


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    Title :

    Method for identifying an included angle between a tractor and a trailer compartment


    Additional title:

    一种牵引车与挂厢夹角的识别方法


    Contributors:
    ZHANG XU (author) / DU YIGUANG (author) / HAN ZHIHUA (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge



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