The present invention describes a system that is developed for autonomically backing up a tractor-trailer that consists of a tractor, a trailer, a sensor suite that measures the angle between the tractor and the trailer as well as the area suitable for backing up and a planning algorithm test generating a trajectory to back up or turn around the tractor-trailer without the use of pins or with automatic pinning. A genetic algorithm has been developed to determine the best trajectory for the convoy of autonomous vehicles to take from the starting position to the final position in the road network. In addition, other methods such as dynamic programming and other graph optimization methods can also be used to determine the best trajectory for the convoy of autonomous vehicles to take to reach the final destination point. Pose determination of the location of the trailer and the link can be performed using the sensor on the tractor side without having to add sensors to the trailer to significantly improve the cost and usability of the system. A method has been developed to design an autonomous pinning mechanism. Also, the genetic algorithms, dynamic programming, or other graph optimization programs for backing occurs with the double-jointed unpinned trailer while avoiding detecting the trailer except for ground truth. The genetic algorithms, dynamic programming, or other graph optimization programs are used to find the best trajectory from the initial position of the convoy of autonomous vehicles to the final position of the convoy of autonomous vehicles after retrotraverse or straight-line backing.
Retrotraverse of Autonomous Vehicles without Pinning or with Automatic Pinning
2020-11-19
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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