The invention provides a method and device for determining a folding angle, electronic equipment and a storage medium. The method comprises the steps that a first line segment between two sensors installed on the two sides of a tractor and a detection area, corresponding to the two sensors, on a trailer are acquired; determining a second line segment between a first sensor in the two sensors and a first reflection point in the detection area, and a third line segment between a second sensor in the two sensors and a second reflection point in the detection area; determining a hinge point between the tractor and the trailer, wherein the hinge point and the midpoint of the first line segment form a fourth line segment; identifying a first included angle between the first line segment and the second line segment and a second included angle between the first line segment and the third line segment when the tractor and the trailer run on the same straight line; and in the process that the tractor drags the trailer to turn, according to the first line segment, the second line segment, the third line segment, the first included angle, the second included angle and the fourth line segment, the folding angle between the tractor and the trailer in turning driving is determined.
本申请提供一种确定折叠角的方法、装置、电子设备及存储介质。该方法包括:获取安装于牵引车两侧的两个传感器之间的第一线段,挂车上与两个传感器对应的检测区域;确定两个传感器中的第一传感器和检测区域中的第一反射点之间的第二线段,两个传感器中的第二传感器和检测区域中的第二反射点之间的第三线段;确定牵引车和挂车之间的铰接点,铰接点与第一线段的中点构成的第四线段;在牵引车和挂车行驶在一条直线上时识别第一线段与第二线段之间的第一夹角,第一线段与第三线段之间的第二夹角;在牵引车牵引挂车进行转弯的过程中,根据第一线段、第二线段、第三线段、第一夹角、第二夹角和第四线段,确定转弯行驶中的牵引车和挂车之间的折叠角。
Method and device for determining folding angle, electronic equipment and storage medium
确定折叠角的方法、装置、电子设备及存储介质
2024-05-07
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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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