The present disclosure relates to a method for reversing an articulated vehicle assembly (1) along a road curvature (R) of a road (RS), comprising: obtaining (S1) image data representing a rear view relative to the articulated vehicle assembly, characterized in that the method further comprises: detecting (S2) road edges (REL, RER) of the road in the image data; determining (S3) a plurality of longitudinal and lateral positions of each detected road edge; calculating (S4) a road curvature (R) of the road on the basis of the determined lateral and longitudinal positions; calculating (S5) a vehicle path curvature (PC) for keeping on the road (R); and reversing (S6) the articulated vehicle assembly by automatically steering the articulated vehicle assembly to follow the calculated vehicle path curvature (PC) so as to follow the road curvature (R), in which the road edge is detected by using an image analysis algorithm, the image analysis algorithm is based on a plurality of predefined types of road edges of a plurality of different road types. The present disclosure also relates to a control unit (100) and an articulated vehicle assembly (1).
本公开涉及一种用于使铰接式车辆组合体(1)沿着道路(RS)的道路曲率(R)倒车的方法,包括:获得(S1)表示相对于铰接式车辆组合体的向后视图的图像数据,其特征在于,该方法进一步包括:检测(S2)所述图像数据中的道路的道路边缘(REL、RER);确定(S3)所检测到的各个道路边缘的多个纵向位置和横向位置;基于所确定的横向位置和纵向位置来计算(S4)所述道路的道路曲率(R);计算(S5)用于保持在所述道路(R)上的车辆路径曲率(PC);以及,通过将铰接式车辆组合体自动转向以遵循所计算的车辆路径曲率(PC)从而遵循所述道路曲率(R)来使铰接式车辆组合体倒车(S6),其中,通过使用图像分析算法来检测所述道路边缘,该图像分析算法基于多个不同道路类型的多种预定义类型的道路边缘。本公开还涉及一种控制单元(100)和一种铰接式车辆组合体(1)。
Method for reversing articulated vehicle assembly
用于使铰接式车辆组合体倒车的方法
2022-11-01
Patent
Electronic Resource
Chinese
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