The invention provides an automatic driving truck head and trailer included angle measuring and calculating device and method, and relates to the technical field of automatic driving. The measuring and calculating device comprises a first displacement sensor, a second displacement sensor and a controller, the first displacement sensor and the second displacement sensor both arestay wire type, areconnected to the bottom of a trailer, located close to the front end of the trailer and located on the two sides of the center line of the trailer in the width direction. The stay wire end part of thefirst displacement sensor and the stay wire end part of the second displacement sensor are simultaneously connected to a mounting point of a traction saddle of a traction headstock; and the controller can obtain first distance data between the first displacement sensor and the second displacement sensor, obtain second distance data between the mounting point and the traction pin, and obtain current stay wire absolute length data of the first displacement sensor and the second displacement sensor. And a preset function is used for calculating the current included angle between the traction headstock and the trailer.
本申请提供一种自动驾驶卡车车头与挂车夹角测量计算装置及方法,涉及自动驾驶技术领域。自动驾驶卡车车头与挂车夹角测量计算装置,包括:均为拉线式的第一位移传感器和第二位移传感器、控制器;第一位移传感器和第二位移传感器分别连接在挂车底部,位于靠近挂车前端的位置,且分别位于挂车宽度方向的中线两侧;第一位移传感器的拉线端部与第二位移传感器的拉线端部同时连接在牵引车头的牵引鞍座的安装点;其中,控制器能够获得第一位移传感器和第二位移传感器之间的第一距离数据,获得安装点与牵引销之间的第二距离数据,以及能够获得第一位移传感器和第二位移传感器的当前拉线绝对长度数据,并使用预设函数计算获得当前牵引车头和挂车的夹角。
Automatic driving truck head and trailer included angle measuring and calculating device and method
自动驾驶卡车车头与挂车夹角测量计算装置及方法
2021-02-23
Patent
Electronic Resource
Chinese
IPC: | 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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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