A trailer attitude detection method of an automatic driving truck comprises the following steps that S1, the included angle yaw1 between a trailer and a tractor is measured through a laser radar, and the yaw angle yaw2 of the tractor is obtained through output of a positioning module in a domain controller; and S2, calculating trailer attitude-trailer yaw velocity yaw rate through the differential of the difference value between the yaw1 of the trailer relative to the tractor and the yaw angle yaw2 of the tractor and the time. According to the method, the included angle between the tractor and the trailer is measured through the laser radar, the trailer attitude-trailer yaw velocity is calculated, the trailer attitude estimation capacity is improved, and the detection performance of a sensor on the trailer is improved.
一种自动驾驶卡车的挂车姿态检测方法,包括如下步骤,步骤S1.通过激光雷达测量出挂车相对与牵引车的夹角为yaw1,通过域控制器中的定位模块的输出获取到牵引车自身横摆角yaw2;步骤S2.通过挂车相对与牵引车的夹yaw1与牵引车自身横摆角yaw2的差值与时间的微分计算出挂车姿态‑挂车横摆角速度yaw rate。该方法利用激光雷达测量出牵引车与挂车夹角,并计算出挂车姿态‑挂车横摆角速度,增加了对挂车姿态的预估能力,提升挂车上传感器的检测性能。
Trailer attitude detection method for automatic driving truck
一种自动驾驶卡车的挂车姿态检测方法
2024-03-26
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 |
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