The invention discloses a docking method of a tractor and a towed target and electronic equipment, and belongs to the technical field of intelligent driving, the towed target is provided with a docking device and a target, and the tractor is provided with a detection device for detecting the target. The docking method comprises the following steps: when the tractor reaches the docking starting point position, acquiring a target ray which is emitted by a radar and detects the target; calculating an angle distribution state of the target ray relative to the central axis of the radar; and controlling the advancing direction of the tractor based on the angle distribution state so as to realize butt joint of the tractor and the towed target. According to the application, the target ray of the detected target emitted by the radar arranged on the tractor is acquired, the deflection angle of the tractor relative to the towed target can be determined through the included angle between the target ray and the central axis of the radar, and the deflection angle can be adjusted by adjusting the motion direction of the tractor. And the tractor can be smoothly butted with a towed target.
本申请公开一种牵引车和被牵引目标的对接方法和电子设备,属于智能驾驶技术领域,所述被牵引目标上设置有对接装置和靶标,所述牵引车上设置有用于检测所述靶标的检测装置,所述对接方法包括:在所述牵引车到达所述对接起点位置时,获取雷达发射的检测到所述靶标的目标射线;计算所述目标射线相对于所述雷达中心轴线的角度分布状态;基于所述角度分布状态控制所述牵引车的行进方向,以实现所述牵引车与被牵引目标对接。本申请通过获取设置在牵引车上的雷达发射的检测到靶标的目标射线,通过目标射线与雷达中心轴线的夹角能确定牵引车相对于被牵引目标的偏转角度,通过调整牵引车的运动方向能够调整偏转角度,使牵引车与被牵引目标能够顺利对接。
Docking method of tractor and towed target and electronic equipment
牵引车和被牵引目标的对接方法和电子设备
2023-07-14
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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