本申请公开一种拖挂车转向角检测方法,其包括:以两个激光测距仪为参照物建立直角坐标系;在牵引车和挂车同轴直线状态下,依据两个激光测距仪发射激光在挂车上的靶面形成的光斑点在直角坐标系中的坐标位置以及该两个激光测距仪反馈距离计算牵引车和挂车之间的初始转向角A1;拖挂车行驶时,依据同时刻t时两个激光测距仪发射激光在挂车上的靶面形成的光斑点在直角坐标系中的坐标位置以及该两个激光测距仪反馈距离计算在该时刻t时牵引车和挂车之间的行驶转向角A2;根据初始角度A1和行驶转向角A2计算时刻t时的牵引车和挂车之间的实际转向夹角A。本申请还提供一种实现前述拖挂车转向角检测方法的检测系统。

    The invention discloses a trailer steering angle detection method. The method comprises the steps that a rectangular coordinate system is established with two laser range finders as reference objects; calculating an initial steering angle A1 between the tractor and the trailer according to the coordinate position of a light spot formed on a target surface of the trailer by laser emitted by the two laser range finders in a rectangular coordinate system and the feedback distance of the two laser range finders in a coaxial straight line state of the tractor and the trailer; when the trailer travels, the traveling steering angle A2 between the tractor and the trailer at the moment t is calculated according to the coordinate position of a light spot formed by laser emitted by the two laser range finders on the target surface of the trailer at the same moment t in the rectangular coordinate system and the feedback distance of the two laser range finders; and calculating an actual steering included angle A between the tractor and the trailer at the moment t according to the initial angle A1 and the driving steering angle A2. The invention further provides a detection system for realizing the trailer steering angle detection method.


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    Title :

    拖挂车转向角检测方法及检测系统


    Publication date :

    2024-05-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge