CN118876978B - A semi-trailer reversing system and method based on laser radar information fusion - Google Patents
A semi-trailer reversing system and method based on laser radar information fusion Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0003—In analogue systems, e.g. continuous systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
- B60W2300/145—Semi-trailers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The invention relates to the technical field of semi-trailer control, in particular to a semi-trailer reversing system and a method based on laser radar information fusion, which are used for estimating the reversing operation stability index of a semi-trailer by collecting reversing preparation parameters of the semi-trailer and collecting historical operation parameters of the semi-trailer and combining flexible adjustment factors of the semi-trailer, considering the flexibility difference of different vehicles caused by factors such as loads and the like, improving the universality and the accuracy of reversing operation analysis, meanwhile, the actual position information of the semi-trailer with high accuracy and the characteristic information of the target parking area of the semi-trailer are collected by the laser radar are fused, a recommended reversing instruction set of the semi-trailer is obtained and simulated, so that the simulated reversing accuracy of the semi-trailer is judged, feedback early warning is carried out on reversing of the semi-trailer, personalized reversing schemes can be formulated for different operation processes of different operators, and the accuracy and the high efficiency of the reversing process are improved.
Description
Technical Field
The invention relates to the technical field of semi-trailer control, in particular to a semi-trailer reversing system and method based on laser radar information fusion.
Background
In the field of operation of semi-trailer trains, the reversing process is one of the important challenges facing drivers due to the complexity, and the existing reversing control analysis mainly focuses on how to influence the reversing behavior of the vehicle through control input (such as steering wheel rotation angle), but less focuses on the influence of reversing flexibility of the reversing process on reversing operation, so that the influence of various factors cannot be comprehensively considered when the reversing process control is optimized, and the feasibility of the reversing control method is further improved.
For example, the invention patent with the bulletin number of CN109747637B discloses a guiding control method for reversing a semi-trailer train, which is to assist a driver to complete reversing operation by providing a rotating direction and a rotating angle prompt of a steering wheel for the driver according to reversing requirements of the driver.
For example, the invention patent with publication number CN117104231a discloses a reversing method, device, electronic equipment and storage medium for a semi-trailer train, and the method comprises the steps of constructing a cascading model corresponding to a target automobile train and reversing constraints comprising anti-folding constraints, and further determining a final reversing reference track of a tractor in the target automobile train according to an initial control quantity sequence of a last trailer, a pose of the last trailer at a first moment, an initial hinging angle of each vehicle at the first moment, the cascading model and the reversing constraints, so as to track the track, and realize reversing control of the target automobile train.
However, in the process of realizing the embodiment of the application, the technical problems of the technology at least are found that the dynamics characteristic of the reversing process of the semi-trailer train is mainly analyzed when the reversing process of the semi-trailer train is analyzed, so that in some cases, even if the reversing control theory is correct, the ideal reversing effect can not be realized.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a semi-trailer reversing system and a method based on laser radar information fusion, which can effectively solve the problems related to the background art.
The reversing system comprises a reversing stability evaluation module, a reversing instruction simulation module and a simulation feedback module, wherein the reversing stability evaluation module is used for acquiring reversing preparation parameters of a semi-trailer, analyzing flexible adjustment factors of the semi-trailer, collecting historical operation parameters of the semi-trailer, and simultaneously combining the flexible adjustment factors of the semi-trailer to evaluate reversing operation stability indexes of the semi-trailer, the reversing instruction simulation module is used for fusing actual position information of the semi-trailer acquired by a laser radar and characteristic information of a target parking area to which the semi-trailer belongs, matching a recommended reversing instruction set of the semi-trailer, simulating and executing the recommended reversing instruction set of the semi-trailer based on the reversing operation stability indexes of the semi-trailer to obtain simulation process parameters of the recommended reversing instruction set of the semi-trailer, and the simulation feedback module is used for judging reversing accuracy of the semi-trailer based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, so that reversing of the semi-trailer is early warned.
As a further scheme, the method includes the steps that the historical operation parameters of the semi-trailer are collected, specifically, the corresponding operators of the semi-trailer are queried in an automobile control database, and the parameters of the operators of the semi-trailer in the process of operating the historical reversing task are collected, so that the parameters are recorded as the historical operation parameters of the semi-trailer.
The method comprises the steps of acquiring the characteristic information of the actual position information of the semi-trailer by the laser radar, marking the characteristic information as the characteristic set of the semi-trailer, acquiring the characteristic information of the target parking area of the semi-trailer by the laser radar, marking the characteristic set as the target parking area of the semi-trailer, and comprehensively marking the characteristic set of the semi-trailer and the characteristic set of the target parking area of the semi-trailer as the actual characteristic total set, namely the fusion process of the actual position information of the semi-trailer.
The method comprises the steps of obtaining a recommended reversing instruction set of a semi-trailer, wherein the recommended reversing instruction set is corresponding to the characteristic total set, namely the recommended reversing instruction set corresponding to the actual characteristic total set, and is recorded as the recommended reversing instruction set of the semi-trailer.
As a further scheme, the feedback early warning is carried out on the reversing of the semi-trailer, and the specific feedback process is as follows: comparing the simulated reversing accuracy of the semi-trailer with a simulated reversing accuracy threshold, and if the simulated reversing accuracy of the semi-trailer is smaller than the simulated reversing accuracy threshold, carrying out feedback early warning on reversing of the semi-trailer, wherein the specific feedback early warning process is as follows: and carrying out difference processing on the simulated reversing accurate threshold value and the simulated reversing accuracy of the semi-trailer to obtain a simulated reversing accurate difference value, and matching the simulated reversing accurate difference value with an optimized reversing instruction set corresponding to each simulated reversing accurate difference value interval stored in the automobile control database to obtain an optimized reversing instruction set of the semi-trailer, so that feedback early warning is carried out on reversing of the semi-trailer through the optimized reversing instruction set.
The second aspect of the invention provides a method for a semi-trailer reversing system based on laser radar information fusion, which comprises the steps of S1, collecting reversing preparation parameters of the semi-trailer, analyzing flexible adjustment factors of the semi-trailer, collecting historical operation parameters of the semi-trailer, and evaluating reversing operation stability indexes of the semi-trailer by combining the flexible adjustment factors of the semi-trailer, S2, merging actual position information of the semi-trailer collected by a laser radar and characteristic information of a target parking area of the semi-trailer, matching a recommended reversing instruction set of the semi-trailer, and simulating and executing the recommended reversing instruction set of the semi-trailer based on the reversing operation stability indexes of the semi-trailer to obtain simulation process parameters of the recommended reversing instruction set of the semi-trailer, S3, judging the simulation reversing accuracy of the semi-trailer based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, and accordingly feeding back early warning to the reversing of the semi-trailer.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
(1) The invention provides a semi-trailer reversing system and method based on laser radar information fusion, which are characterized in that reversing preliminary parameters of a semi-trailer are collected, flexible adjustment factors of the semi-trailer are analyzed, historical operation parameters of the semi-trailer are collected, reversing operation stability indexes of the semi-trailer are evaluated by combining the flexible adjustment factors of the semi-trailer, flexibility differences of different vehicles due to design, load and the like are considered, universality and accuracy of reversing operation analysis are improved, meanwhile, actual position information of the semi-trailer with high accuracy acquired by a laser radar and each characteristic information of a target parking area of the semi-trailer are fused, a recommended reversing instruction set of the semi-trailer is obtained and simulated, so that simulated reversing accuracy of the semi-trailer is judged, feedback early warning is carried out on reversing of the semi-trailer, and personalized reversing schemes can be formulated for different operation processes of different operators, and therefore, the accuracy and the high efficiency of reversing process are improved.
(2) According to the invention, by combining the reversing preparation parameters of the semi-trailer and the historical operation parameters of the semi-trailer, reversing operation is analyzed from multiple dimensions, so that the stability of the reversing operation process which is more in line with actual conditions can be estimated, and a personalized basis is provided for the simulation execution of the recommended reversing instruction set of the semi-trailer.
(3) According to the invention, the actual position information of the semi-trailer and the characteristic information of the target parking area of the semi-trailer acquired by the laser radar are fused, and meanwhile, the recommended reversing instruction set of the semi-trailer is simulated and executed based on the reversing operation stability index of the semi-trailer, so that the reversing path can be optimized in advance, and the risk in the actual reversing operation process is reduced.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
Fig. 1 is a schematic diagram of a system module connection according to the present invention.
FIG. 2 is a flow chart of the method steps of the present invention.
Fig. 3 is a speed change curve of a history reversing task of a semi-trailer according to the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
Referring to fig. 1, the first aspect of the invention provides a semi-trailer reversing system based on laser radar information fusion, which comprises a reversing stability evaluation module, a reversing instruction simulation module and a reversing simulation feedback module.
The first aspect of the invention provides a semi-mounted car reversing system based on laser radar information fusion, which further comprises a car control database, wherein the car control database is used for storing tire wear corresponding to each pattern average depth interval, impact factors corresponding to steering wheel average steering ratio unit values, impact factors corresponding to tire wear unit values, impact factors corresponding to total weight unit values, impact factors corresponding to semi-mounted car corresponding operators, reference speeds, reference accelerations, weight factors corresponding to flexible adjustment factors, weight factors corresponding to a first reversing operation stability index, weight factors corresponding to a second reversing operation stability index, impact factors corresponding to an operation execution average time unit value, impact factors corresponding to a complete completion rate unit value, a recommended reversing instruction set corresponding to each feature total set, a reversing operation stability index weight factor corresponding to a reversing operation stability index, impact factors corresponding to a hinging total offset angle unit value, an optimized reversing instruction set corresponding to each simulation accurate difference interval and a reversing simulation accurate threshold.
The reversing stability evaluation module is respectively connected with the reversing instruction simulation module and the automobile control database, the reversing instruction simulation module is respectively connected with the reversing simulation feedback module and the automobile control database, and the reversing simulation feedback module is connected with the automobile control database.
The reversing stability evaluation module is used for collecting reversing preliminary parameters of the semi-trailer, analyzing flexible adjustment factors of the semi-trailer, collecting historical operation parameters of the semi-trailer, and evaluating reversing operation stability indexes of the semi-trailer by combining the flexible adjustment factors of the semi-trailer.
In a specific embodiment, the reversing operation is analyzed from multiple dimensions by combining reversing preparation parameters of the semi-trailer and historical operation parameters of the semi-trailer, so that the stability degree of the reversing operation process which is more in line with the actual situation can be estimated, and a personalized basis is provided for the simulation execution of a recommended reversing instruction set of the semi-trailer.
Specifically, the method includes the steps of collecting historical operation parameters of the semi-trailer, specifically, inquiring a corresponding operator of the semi-trailer in an automobile control database, collecting parameters of the operator of the semi-trailer in the process of operating a historical reversing task from the historical operation parameters, and recording the parameters as the historical operation parameters of the semi-trailer, wherein the inquiry of the corresponding operator of the semi-trailer in the automobile control database refers to the step of inquiring a unique ID (identity) corresponding to the operator in the automobile control database, so that the parameters of the operator of the semi-trailer in the process of operating the historical reversing task can be obtained, wherein the historical reversing task refers to a historical adjacent reversing task, and if the unique ID corresponding to an operator is 080720, the parameters of the operator in the process of operating the historical reversing task are inquired, namely the historical operation parameters of the semi-trailer corresponding to the operator 080720.
It should be explained that the above-mentioned backup parameters of the semi-trailer include the steering wheel rotation angle and the steering wheel rotation angle of the tractor to which the semi-trailer belongs under each test rotation, the pattern depth of each tire to which the semi-trailer belongs at each detection position point, and the total weight of the semi-trailer, and the present example can be applied to the above-mentioned parameters as well as other parameters, and the above-mentioned historical operating parameters of the semi-trailer include the issue time point of each sample instruction to which the historical backup task of the semi-trailer belongs, the corresponding execution end time point, and the speed change curve to which the historical backup task of the semi-trailer belongs.
Specifically, the reverse operation stability index of the semi-trailer is evaluated, and the specific evaluation process is as follows:
The method comprises the steps of extracting the sending time point and the corresponding execution ending time point of each sample instruction of a history reversing task of a semi-trailer from the history operation parameters of the semi-trailer, obtaining the operation execution time length of each sample instruction of the history reversing task of the semi-trailer by difference processing, obtaining the operation execution average time length of each sample instruction of the history reversing task of the semi-trailer by average processing, simultaneously counting the total number of sample instructions and the total number of sample instructions, and analyzing the ratio to obtain the complete completion rate of the sample instructions of the history reversing task of the semi-trailer, wherein the sending time point can be obtained by the time stamp recorded in a system log, the execution ending time point can be obtained by the time stamp obtained by the operation execution time point of each sample instruction of the history reversing task of the semi-trailer, and the data collected by a photoelectric corner sensor arranged on a steering column between a steering lock switch and a steering wheel, and the sample instructions can be obtained by the time stamps corresponding to the data, and the sample instructions are completely completed, namely the instructions meeting the operation allowance of an operator can be completely executed by the operation instructions (namely, the instructions can be completely executed by the following operation instructions are completely executed by the operator instructions), and the method is allowed to complete the instructions:
def is_compliant(target_angle, actual_angle, tolerance=5):
"""
Determining whether the operation conforms to the instruction
PARAM TARGET _angle target angle (angle required by instruction)
Param actual_angle: actual angle (angle of operator execution)
Param tolerance, tolerance range
Return if the operation meets the instruction, return True, otherwise return False
"""
if abs(actual_angle - target_angle) <= tolerance:
return True
else:
return False
Example #
def is_compliant(target_angle, actual_angle, tolerance=5):
"""
Target_angle=90# command requires steering wheel right angle
Actual_angle=100# angle actually performed by the operator
Tolerance=5# tolerance range
if is_compliant(target_angle, actual_angle, tolerance):
Print ('operation fully compliant with instruction')
else:
Print ('operation does not fully conform to instruction')
The method comprises the steps of extracting a speed change curve of a history reversing task of a semi-trailer from history operation parameters of the semi-trailer, marking each speed detection point on the speed change curve, obtaining the speed of each speed detection point, carrying out mean processing to obtain the average speed of the history reversing task of the semi-trailer, wherein the speed change curve of the history reversing task of the semi-trailer is obtained, as shown in fig. 3, by collecting the running speed of the semi-trailer provided by a vehicle-mounted diagnosis data receiver through a vehicle-mounted diagnosis interface, transmitting the running speed of the semi-trailer provided by the vehicle-mounted diagnosis interface to matrix laboratory software for denoising processing, and then drawing the running speed of the semi-trailer into a speed change curve, wherein the abscissa of the speed change curve is a history detection time point, the unit is second, the ordinate is the speed, the unit is m/s, the speed change of reversing of an operator in the operation history adjacent reversing task is shown, the history detection time point is corresponding each time point in the history reversing task executing process, and each random time point (the random time point range is in the history detection time point range) is generated through a random number method, and each random time point is corresponding to each speed point on the curve.
The method comprises the steps of performing data processing on a speed change curve of a historical reversing task of a semi-trailer to obtain an acceleration change curve of the historical reversing task of the semi-trailer, obtaining the acceleration of each speed detection point, and performing average processing to obtain the average acceleration of the historical reversing task of the semi-trailer, wherein the acceleration change curve of the historical reversing task of the semi-trailer is obtained through code processing in a matrix laboratory, and the specific data processing process is as follows:
import numpy as np
#v is velocity array
v = np.array([0,1,3,5,7,2,2,4,5,3,1,4,3,1,...,3])
Example speed data #
Dt=1.0 # time interval
Computing acceleration using center difference (ignoring first and last points, velocity array is longer, ignoring first and last data does not affect the overall acceleration profile)
A=np.diff (v, n=2)/(dt×2) # which is actually two points less, because the center difference requires three points
The method for comprehensively evaluating the reversing operation stability index of the semi-trailer by combining the flexible adjustment factor of the semi-trailer comprises the following steps of:
;
Wherein,
;
In this embodiment, the reversing operation stability index of the semi-trailer is obtained by comprehensively analyzing a flexible adjustment factor of the semi-trailer, the first reversing operation stability index and the second reversing operation stability index, and is used for evaluating a numerical value of the stability degree of an operator operating the semi-trailer in a reversing process of the semi-trailer.
The flexible adjustment factor for the semi-trailer is obtained through comprehensive analysis of the average steering ratio, the tire wear and the total weight of a steering wheel of a tractor to which the semi-trailer belongs, and is used for evaluating the numerical value of the flexible adjustment degree of the semi-trailer.
The first reversing operation stability index of the semi-trailer is obtained through comprehensive analysis of the operation execution average duration and the complete completion rate of a sample instruction of a historical reversing task of the semi-trailer and is used for representing the reversing operation stability degree of the first aspect of the semi-trailer.
The second reversing operation stability index of the semi-trailer is obtained through comprehensive analysis of the average speed and the average acceleration of the historical reversing task of the semi-trailer and is used for representing the numerical value of the reversing operation stability degree of the second aspect of the semi-trailer.
The average operation execution duration of the sample instructions for the historical reversing task of the semi-trailer refers to the average time required by each instruction from the start of execution to the end of the reversing task of the semi-trailer.
The complete completion rate of the sample instruction for the history reversing task of the semi-trailer is the proportion of the instruction in the reversing task completed within the tolerance range.
The average speed of the historical reversing task of the semi-trailer is the average speed of the semi-trailer moving in the historical reversing task.
The average acceleration of the historical reversing task of the semi-trailer refers to the average acceleration of the movement of the semi-trailer in the historical reversing task.
And the reference speed preset in the automobile control database is a reference value for analyzing the average speed of the historical reversing task of the semi-trailer.
And the reference acceleration preset in the automobile control database is a reference value for analyzing the average acceleration of the historical reversing task of the semi-trailer.
E is a natural constant, and is a natural constant,For the weight factor corresponding to the preset flexible adjustment factor in the automobile control database, the weight factor corresponding to the flexible adjustment factor is expressed as the proportion of the flexible adjustment factor to the reversing operation stability index, the weight factor corresponding to the flexible adjustment factor can be directly obtained from the automobile control database when the automobile control database is used, the corresponding relation can be a preset mapping relation, for example, the average steering ratio, the tire wear degree and the total weight of the steering wheel are mapped with the weight factor corresponding to the preset flexible adjustment factor in the automobile control database, a mapping set is formed by inputting the real-time average steering ratio, the tire wear degree and the total weight into the mapping set to obtain the weight factor corresponding to the flexible adjustment factor, the mapping relation can be one-to-one or a many-to-one relation, and the value range is [0,1] in the example.
For the weight factor corresponding to the preset first reversing operation stability index in the automobile control database, the weight factor corresponding to the first reversing operation stability index is represented by the proportion of the first reversing operation stability index to the reversing operation stability index, when the reversing operation stability index is used, the weight factor corresponding to the first reversing operation stability index can be directly obtained from the automobile control database, the corresponding relation can be a preset mapping relation, for example, the average operation execution duration and the complete completion rate form a mapping set with the weight factor corresponding to the preset first reversing operation stability index in the automobile control database, the real-time average operation execution duration and the complete completion rate are input into the mapping set to obtain the weight factor corresponding to the first reversing operation stability index, the mapping relation can be one-to-one or one-to-many, and the value range of the mapping relation is [0,1] in the example.
The weight factor corresponding to the second reversing operation stability index preset in the automobile control database represents the proportion of the second reversing operation stability index to the reversing operation stability index, when the vehicle reversing operation stability index is used, the weight factor corresponding to the second reversing operation stability index can be directly obtained from the automobile control database, the corresponding relation can be a preset mapping relation, for example, the average speed and the average acceleration form a mapping set with the weight factor corresponding to the second reversing operation stability index preset in the automobile control database, the real-time average speed and the average acceleration input mapping set are used for obtaining the weight factor corresponding to the second reversing operation stability index, the mapping relation can be one-to-one or a many-to-one relation, and the value range is [0,1] in the example.
The method comprises the steps that an influence factor corresponding to an operation execution average time length unit value preset in an automobile control database represents a value of influence degree of the operation execution average time length unit value on a first reversing operation stability index of a semi-trailer, the influence factor corresponding to the operation execution average time length unit value can be directly obtained from the automobile control database when the method is used, the corresponding relation can be a preset mapping relation, for example, the influence factor corresponding to the operation execution average time length unit value preset in the automobile control database forms a mapping set, the real-time operation execution average time length input mapping set obtains the influence factor corresponding to the operation execution average time length unit value, the mapping relation can be one-to-one or a multi-to-one relation, and the value range of the mapping relation is [0,1].
For the influence factor corresponding to the preset complete completion rate unit value in the automobile control database, the value of the influence degree of the complete completion rate unit value on the first reversing operation stability index of the semi-trailer automobile is expressed, when the influence factor corresponding to the complete completion rate unit value can be directly obtained from the automobile control database during use, the corresponding relation can be a preset mapping relation, for example, the influence factor corresponding to the complete completion rate unit value preset in the automobile control database forms a mapping set, the real-time complete completion rate input mapping set is used for obtaining the influence factor corresponding to the complete completion rate unit value, the mapping relation can be in one-to-one correspondence or in a many-to-one relation, and the value range is [0,1] in the example.
In the formula,The longer the average operation execution duration is, the longer the duration of the operation execution is, the operator of the semi-mounted automobile is indicated to be in charge of receiving the instruction and executing the instruction, the lower the response speed of the operator of the semi-mounted automobile is or the instruction is not consistent, thus the uncertainty in the reversing process is increased, the complete completion rate and stability of the instruction are reduced, the stability of the reversing operation is reduced, meanwhile, the stable control of the speed is crucial in the reversing process, the average speed is close to the preset reference speed, the average acceleration fluctuation is small, the stable speed control is indicated, the vehicle shaking and the instability caused by the speed change are reduced, the continuity and the stability of the completion of the instruction can be reflected from the side, the speed and the acceleration deviate from the reference value obviously, the uncertainty in the reversing process is aggravated, the stability of the reversing process is reduced, the accuracy of the completion of the instruction is reduced, the reversing operation stability of the semi-mounted automobile is further influenced negatively, in this embodiment, the reversing operation stability of the semi-mounted automobile is not only analyzed, but also combined with the parameters in the history operation process of the operator of the semi-mounted automobile, namely, the performance factors of the semi-mounted automobile, namely the semi-mounted automobile can be adjusted from the side face of the side surface to the stability is more flexibly and flexibly adjusted, the situation is more flexibly, and the situation can be better than the situation is avoided, and the stability is better than the performance of the operation factors can be adjusted from the view angle of the side, and the situation.
Specifically, the flexible adjustment factor of the semi-trailer is analyzed, and the specific analysis process is as follows:
The method comprises the steps of extracting steering wheel rotation angles and steering wheel rotation angles of a tractor of a semi-trailer under each test rotation from reversing preparation parameters of the semi-trailer, processing the steering wheel rotation angles by means of average values to obtain steering wheel average rotation angles of the tractor of the semi-trailer under each test rotation, carrying out ratio processing on the steering wheel rotation angles of the tractor of the semi-trailer under each test rotation and corresponding steering wheel average rotation angles to obtain steering wheel steering ratios of the tractor of the semi-trailer under each test rotation, and obtaining the steering wheel average steering ratios of the tractor of the semi-trailer by means of average value processing.
The method comprises the steps of extracting the pattern depth of each tire of a semi-trailer from reversing preparation parameters of the semi-trailer, carrying out mean processing to obtain the pattern average depth of each tire of the semi-trailer, matching the pattern average depth of each tire corresponding to each pattern average depth interval stored in an automobile control database to obtain the tire wear of the semi-trailer, wherein each detection position point is selected by an automobile maintenance manager according to the actual use condition of the tire in the maintenance process, the pattern depth of each tire of the semi-trailer at each detection position point can be extracted from data in historical adjacent maintenance records of the semi-trailer, the specific matching process is that each pattern average depth interval corresponds to the tire wear, and a rule is formulated by an automobile maintenance manager, the pattern average depth of each tire of the semi-trailer is queried to be 2.5mm, the tire wear corresponding to the pattern average depth interval [2.45 mm, 2.55 mm ] is 1 degree, the tire wear corresponding to the pattern average depth of each tire corresponding to the semi-trailer is queried to be 1mm, the tire wear corresponding to the pattern average depth of 1.05 mm, and the tire wear corresponding to the pattern average depth of each tire corresponding to the tire average depth of the semi-trailer is queried to be 1.95 mm, and the tire wear corresponding to the tire wear of the tire average depth of each tire corresponding to the tire average depth of the tire is queried to be 1.95 mm.
The total weight of the semi-trailer is extracted from the reversing preparation parameters of the semi-trailer, so that the analysis method of the flexible adjustment factor of the semi-trailer is obtained through comprehensive analysis, and the total weight of the semi-trailer is measured through weighing.
Further, in the method for analyzing the flexible adjustment factor of the semi-trailer, in this embodiment, the flexible adjustment factor of the semi-trailer is obtained by comprehensively analyzing an average steering ratio, a tire wear degree and a total weight of a steering wheel of a tractor to which the semi-trailer belongs, and is a numerical value for evaluating the flexible adjustment degree of the semi-trailer, as follows:
;
the average steering ratio of the steering wheel of the tractor of the semi-trailer refers to the proportional relation between the rotating angle of the steering wheel and the steering angle of the wheels.
The abrasion degree of the tire of the semi-trailer refers to the abrasion degree of the tire caused by friction and other factors in the use process.
The total weight of the semi-trailer refers to the total mass of the vehicle and the cargo carried by the vehicle.
The method comprises the steps that as an influence factor corresponding to a preset steering wheel average steering ratio unit value in an automobile control database, the value of the influence degree of the steering wheel average steering ratio unit value on a flexibly-adjusted factor of a semi-trailer automobile is represented, when the method is used, the influence factor corresponding to the steering wheel average steering ratio unit value can be directly obtained from the automobile control database, the corresponding relation can be a preset mapping relation, for example, the influence factor corresponding to the steering wheel average steering ratio unit value preset in the automobile control database forms a mapping set, the real-time steering wheel average steering ratio input mapping set is used for obtaining the influence factor corresponding to the steering wheel average steering ratio unit value, the mapping relation can be one-to-one or a multi-to-one relation, and the value range of the mapping relation is [0,1].
The method comprises the steps that when the method is used, the influence factors corresponding to the preset tire abrasion unit values in the automobile control database are obtained, wherein the influence factors represent the influence degree values of the tire abrasion unit values on the flexibly-adjusted factors of the semi-mounted automobile, the influence factors corresponding to the tire abrasion unit values can be directly obtained from the automobile control database, the corresponding relation can be a preset mapping relation, for example, the influence factors corresponding to the tire abrasion unit values preset in the automobile control database form a mapping set, the real-time tire abrasion input mapping set is used for obtaining the influence factors corresponding to the tire abrasion unit values, the mapping relation can be one-to-one or a many-to-one relation, and the value range of the mapping relation is [0,1].
The influence factors corresponding to the preset total weight unit values in the automobile control database represent the influence degree values of the total weight unit values on the flexibly-regulated factors of the semi-trailer automobile, the influence factors corresponding to the total weight unit values can be directly obtained from the automobile control database when the influence factors corresponding to the total weight unit values are used, the corresponding relation can be a preset mapping relation, for example, the influence factors corresponding to the total weight unit values preset in the automobile control database are formed into a mapping set, the real-time total weight input mapping set is used for obtaining the influence factors corresponding to the total weight unit values, the mapping relation can be in one-to-one or in many-to-one relation, and the value range of the influence factors is [0,1] in the example.
Wherein, In this situation, the design of a steering system of the semitrailer, particularly the selection of a steering ratio, becomes particularly critical, if the steering ratio is too small, namely, a steering wheel needs to rotate a larger angle to realize smaller steering of wheels, the response of the semitrailer is slow in the reversing steering process, the flexibility is reduced, the operability and the safety of reversing adjustment of the semitrailer are obviously reduced, and therefore, the comprehensive analysis of the parameters can comprehensively evaluate the capability and the limitation of the semitrailer for carrying out flexible adjustment in the reversing process.
In this exemplary embodiment, the table of the flexible adjustment factor and the corresponding parameter of the semi-trailer is shown in table 1:
TABLE 1 Flexible adjustment factor for semi-trailer and Change Table for corresponding parameters
| Average steering ratio/degree/radian of steering wheel | Tyre wear degree | Total weight per ton | Flexible adjustment factor/percentage |
| 17.5 | 3 | 25 | 141 |
| 15 | 4 | 30 | 138 |
| 12 | 5 | 35 | 134 |
In this example embodiment, the value of the influence factor corresponding to the unit value of the steering wheel average steering ratio is set to 0.34, the value of the influence factor corresponding to the unit value of the tire wear degree is set to 0.28, and the value of the influence factor corresponding to the unit value of the total weight is set to 0.30, and as can be seen from table 1, as the steering wheel average steering ratio decreases (from 17.5 to 12), the tire wear degree increases (from 3 to 5), and the total weight increases (from 25 to 35), the flexible adjustment factor gradually decreases (from 141% to 134%).
The reversing instruction simulation module is used for fusing actual position information of the semi-trailer acquired by the laser radar and characteristic information of a target parking area to which the semi-trailer belongs, matching a recommended reversing instruction set of the semi-trailer, simulating and executing the recommended reversing instruction set of the semi-trailer based on a reversing operation stability index of the semi-trailer, and obtaining simulation process parameters of the recommended reversing instruction set of the semi-trailer.
The above-mentioned recommended reversing instruction set for simulating and executing the semi-trailer specifically refers to inputting the actual feature set of the semi-trailer into the vehicle driving path simulation software through the vehicle driving path simulation software (AutoTURN), constructing the simulated reversing scene of the semi-trailer through the scene construction function of the vehicle driving path simulation software, inputting the recommended reversing instruction set into the vehicle driving path simulation software as the input parameters of simulation, and starting the simulation by setting the reversing operation stability index of the semi-trailer as the additional conditions of simulation, thereby obtaining the simulation process parameters of the recommended reversing instruction set of the semi-trailer.
In a specific embodiment, the method and the device for simulating the backup operation of the semi-trailer have the advantages that the actual position information of the semi-trailer and the characteristic information of the target parking area of the semi-trailer, which are acquired by the laser radar, are fused, and meanwhile, the recommended backup instruction set of the semi-trailer is simulated and executed based on the backup operation stability index of the semi-trailer, so that the backup path can be optimized in advance, and the risk in the actual backup operation process is reduced.
Specifically, the fusion process is that the actual position information of the semi-trailer collected by the laser radar and the characteristic information of the target parking area of the semi-trailer are fused, and the specific fusion process is as follows:
The method comprises the steps of collecting all characteristic information of actual position information of a semi-trailer through a laser radar, marking the characteristic information as a characteristic set of the semi-trailer, collecting all characteristic information of a target parking area of the semi-trailer through the laser radar, marking the characteristic set of the semi-trailer and the characteristic set of the target parking area of the semi-trailer as an actual characteristic total set, namely a fusion process of the actual position information of the semi-trailer, wherein in an example embodiment, all characteristic information of the actual position information of the semi-trailer comprises a central point coordinate (100.5 meters and 23.3 meters) of an automobile, a direction angle of 30 degrees (representing an included angle between a head direction of the semi-trailer and a north direction of the semi-trailer), a length of 15 meters, a width of a body of 2.5 meters, and a contour point set (x 1, y 1), (x 2, y 2), (xn, yn), all characteristic information of the target parking area of the semi-trailer comprises a central point coordinate (105 meters and 100 meters), a boundary frame (20 meters, 10 meters, and a total planned path of the actual parking area, and a total key point (10 meters), and all characteristic information of the target parking area of the semi-trailer is required to be planned, and the total key point coordinate (10 meters, the total characteristic information is shown in the total line, the total planned path is shown as follows:
Actual feature aggregate = {
"Semi-trailer": {
"Center point coordinates": (100.5 m,23.3 m), "direction angle": 30 °,
The length is 15m, and the length of the steel wire is equal to the length of the steel wire,
"Width" is 2.5m, "set of contour points": (x 1, y 1), (x 2, y 2), (xn, yn) ]
},
"Target parking area": {
"Center point coordinates": 105m,100m,
"Bounding box": 100m,20m,110m,30m,
The length is 10m, and the length is the length of the steel wire,
The width is 10m, and the width is 10m,
"Entry points": (100 m,25 m),
}
}。
Specifically, the recommended reversing instruction set of the semi-trailer is matched, and the specific matching process is as follows:
The method comprises the steps of comparing and analyzing an actual feature set with feature sets stored in an automobile control database based on the fusion process of actual position information of the semi-trailer, obtaining a feature set with highest comparison degree with the actual feature set by comparing and analyzing the actual feature set with the feature sets stored in the automobile control database, converting information in the feature set into feature vectors, calculating similarity between the actual feature set and the feature sets stored in the automobile control database by using a similarity measurement method (such as cosine similarity) between the feature sets, and sequentially carrying out comparison analysis on the similarity between the actual feature set and the feature sets stored in the automobile control database according to a first ranking order of the feature sets, namely, the actual feature set is stored in the actual feature control database.
The reversing simulation feedback module is used for judging the simulation reversing accuracy of the semi-trailer based on simulation process parameters of a recommended reversing instruction set of the semi-trailer, so that feedback early warning is carried out on reversing of the semi-trailer.
It should be explained that the above-mentioned parameters of the simulation process of the recommended reverse command set of the semi-trailer include the parking area of the semi-trailer at the end time point of the simulation period and the hinge angle of the semi-trailer at each detection position point in the simulation period, and the present example can be applied to the above-mentioned parameters as well as other parameters.
Specifically, the feedback early warning is carried out on the reversing of the semi-trailer, and the specific feedback process is as follows:
comparing the simulated reversing accuracy of the semi-trailer with a simulated reversing accuracy threshold, and if the simulated reversing accuracy of the semi-trailer is smaller than the simulated reversing accuracy threshold, carrying out feedback early warning on reversing of the semi-trailer, wherein the specific feedback early warning process is as follows:
The method comprises the steps of performing difference processing on a simulated reversing accuracy threshold value of the semi-mounted automobile and a simulated reversing accuracy of the semi-mounted automobile to obtain a simulated reversing accuracy difference value, matching the simulated reversing accuracy difference value with an optimized reversing instruction set corresponding to each simulated reversing accuracy difference value interval stored in an automobile control database to obtain an optimized reversing instruction set of the semi-mounted automobile, and accordingly performing feedback warning on reversing of the semi-mounted automobile through the optimized reversing instruction set, wherein the corresponding rule and the value are formulated by a reversing simulation analysis and extracted from the automobile control database after the simulated reversing accuracy threshold value represents the minimum value of a reasonable range of the simulated reversing accuracy of the semi-mounted automobile, if the simulated reversing accuracy of the semi-mounted automobile is smaller than the simulated reversing accuracy threshold value, indicating that feedback warning is required for reversing of the semi-mounted automobile if the simulated reversing accuracy of the semi-mounted automobile is larger than or equal to the simulated reversing accuracy threshold value, and using the recommended instruction set to guide the operator to reversing operation if the simulated reversing accuracy of the semi-mounted automobile is larger than the simulated reversing accuracy threshold value, and accordingly changing the simulated reversing accuracy of the semi-mounted automobile in the area is difficult to achieve if the simulated reversing accuracy of the simulated reversing instruction set is larger than the simulated reversing accuracy threshold value in the area when the simulated reversing accuracy of the semi-mounted automobile is equal to the simulated reversing accuracy of the simulated reversing instruction set in the optimal reversing instruction set at the area, the operator is instructed to reverse using the optimized reverse instruction set.
In one example embodiment, if based on the simulation process parameters of the recommended reversing instruction set of the semi-trailer, determining that the simulated reversing accuracy of a certain semi-trailer is greater than the simulated reversing accuracy threshold, wherein the recommended reversing instruction set of the semi-trailer comprises the steps of pressing down a reversing gear, slowly releasing a brake, lightly stepping on an accelerator, keeping the vehicle speed between 5.5 and 6 km/h, immediately turning the steering wheel to the right make when the vehicle starts reversing, starting gradually to return to the steering wheel when the vehicle body is about to reach a preset turning point, returning to the half circle first, continuing to finely adjust the steering wheel angle according to the deviation of the actual running track of the vehicle from a preset path, adjusting each time by not more than 1/4 circle, gradually reducing the accelerator and lightly stepping on the brake when the vehicle approaches a parking space or a target position, stepping on the brake to the lowest, and immediately stepping on the brake and hanging in a neutral position after the vehicle is completely stopped; if the simulation process parameters based on the recommended reversing instruction set of the semi-trailer are used for judging that the simulation reversing accuracy of a certain semi-trailer is smaller than the simulation reversing accuracy threshold, and the simulation reversing accuracy difference at the moment is 55 percent, the optimized reversing instruction set obtained by matching from the automobile control database comprises the steps of pressing down a reversing gear, slowly releasing a brake, lightly stepping on an accelerator, keeping the speed of the automobile between 3 and 4.5 km/h, immediately driving the steering wheel to the right for two circles (on the basis of steering wheel alignment) when the automobile starts reversing, starting gradually reversing the steering wheel when the automobile body is about to reach a preset turning point, reversing for half a circle firstly, continuing to finely adjust the steering wheel angle according to the deviation between the actual running track of the automobile and the preset path, adjusting the steering wheel angle for not more than 1/2 circles each time when the automobile approaches a parking space or a target position, gradually reducing accelerator, lightly stepping on brake, reducing the speed of the vehicle to the minimum, immediately stepping on brake and hanging in neutral position after the vehicle is completely stopped, recommending a reversing instruction set and optimizing the reversing instruction set, and visually displaying the actual reversing process and the reversing process simulated according to the instruction through voice broadcasting instructions and a central control screen of the semi-trailer.
Specifically, the determining the analog reversing accuracy of the semi-trailer comprises the following specific determining process:
The method comprises the steps of extracting a target parking area of a semi-trailer under a simulation period ending time point from simulation process parameters of a recommendation reversing instruction set of the semi-trailer, obtaining a reference parking area of the semi-trailer under the simulation period ending time point, and carrying out overlapping comparison with the target parking area of the semi-trailer under the simulation period ending time point, so as to obtain a target parking area deviation area of the semi-trailer under the simulation period ending time point through analysis, wherein the target parking area of the semi-trailer under the simulation period ending time point is determined according to a simulation running track and a final position of the semi-trailer at the simulation period ending time point to be an actual parking area for simulation running, the reference parking area of the semi-trailer under the simulation period ending time point is a preset reference parking area in the recommendation reversing instruction set of the semi-trailer, and the specific analysis process comprises the steps of transmitting data of the target parking area and the reference parking area to vehicle path simulation software, carrying out overlapping comparison on the target parking area and the reference parking area by using a software, and obtaining the target parking area and the reference parking area by overlapping comparison, and the target parking area is the parking area, namely the target parking area deviation area is obtained.
The method comprises the steps of extracting the hinge angles of a semi-trailer under all detection position points in a simulation period from simulation process parameters of a recommended reversing instruction set of the semi-trailer, carrying out difference processing on the hinge angles and reference hinge angles under all detection position points to obtain the hinge total offset angle of the semi-trailer in the simulation period, accumulating to obtain the hinge total offset angle of the semi-trailer in the simulation period, wherein all detection position points refer to a plurality of position points randomly distributed on a driving track of the semi-trailer in the simulation reversing mode, arranging all detection position points on the driving track according to specific conditions (such as turning points) through a track prediction algorithm, determining the hinge angles under all detection position points of the semi-trailer in the simulation period according to the simulation driving track and the running state of the semi-trailer, determining the hinge angles under all detection position points to be actual hinge angles of the simulation operation, accumulating to obtain the hinge angle reference angle of the semi-trailer in the simulation period, carrying out corresponding detection position points to the hinge total offset angle of the semi-trailer in the simulation period, carrying out absolute processing on the hinge total offset angle according to the preset position points in the simulation reversing instruction set of the simulation period, carrying out absolute processing to obtain the hinge angle total offset angle of the hinge angle of the semi-trailer, and carrying out absolute processing to obtain the hinge angle total offset angle of the hinge angle of the semi-trailer, and carrying out absolute angle processing to obtain the hinge angle of the calculated hinge angle by comparing the calculated hinge angle with the calculated hinge angle values, and the calculated hinge angle value of the calculated hinge angle is calculated by the calculated hinge angle.
In this embodiment, the method for determining the accuracy of the simulated backing of the semi-trailer is obtained by comprehensively analyzing the backing operation stability index of the semi-trailer, the target parking area offset area of the semi-trailer at the end time point of the simulation period and the total hinge offset angle of the semi-trailer in the simulation period, and is used for determining the numerical value of the accuracy of the simulated backing of the semi-trailer as follows:
;
The reversing operation stability index of the semi-trailer is obtained through comprehensive analysis of a flexible adjustment factor of the semi-trailer, the first reversing operation stability index and the second reversing operation stability index, and is used for evaluating the numerical value of the stability degree of an operator operating the semi-trailer in the reversing process of the semi-trailer.
The offset area of the target parking area of the semi-trailer under the simulation period ending time point refers to the offset area of the target parking area and the reference parking area of the semi-trailer under the simulation period ending time point.
The total hinge offset angle of the semi-trailer in the simulation period refers to the accumulated value of the hinge offset angles of the semi-trailer in the simulation period.
E is a natural constant, and is a natural constant,For the weight factor corresponding to the preset reversing operation stability index in the automobile control database, the weight factor corresponding to the reversing operation stability index is represented by the proportion of the reversing operation stability index to the simulated reversing accuracy, when the reversing operation stability index is used, the weight factor corresponding to the reversing operation stability index can be directly obtained from the automobile control database, the corresponding relation can be a preset mapping relation, for example, the weight factors corresponding to the first reversing operation stability index and the second reversing operation stability index and the reversing operation stability index preset in the automobile control database form a mapping set, the real-time first reversing operation stability index and the second reversing operation stability index are input into the mapping set to obtain the weight factor corresponding to the reversing operation stability index, the mapping relation can be one-to-one or one-to-many, and the value range of the mapping relation is [0,1] in the example.
The method comprises the steps that as an influence factor corresponding to a preset target parking area deviation area unit value in an automobile control database, the value of the influence degree of the target parking area deviation area unit value on the simulated reversing accuracy of the semi-trailer automobile is represented, when the method is used, the influence factor corresponding to the target parking area deviation area unit value can be directly obtained from the automobile control database, the corresponding relation can be a preset mapping relation, for example, a mapping set is formed by the target parking area deviation area and the influence factor corresponding to the preset target parking area deviation area unit value in the automobile control database, the real-time target parking area deviation area is input into the mapping set to obtain the influence factor corresponding to the target parking area deviation area unit value, the mapping relation can be one-to-one or a many-to-one relation, and the value range is [0,1] in the example.
The method comprises the steps of obtaining an influence factor corresponding to a preset hinge total offset angle unit value in an automobile control database, representing the value of the influence degree of the hinge total offset angle unit value on the simulated reversing accuracy of the semi-trailer automobile, directly obtaining the influence factor corresponding to the hinge total offset angle unit value from the automobile control database when the method is used, wherein the corresponding relation can be a preset mapping relation, for example, the influence factor corresponding to the hinge total offset angle and the preset hinge total offset angle unit value in the automobile control database forms a mapping set, inputting the real-time hinge total offset angle into the mapping set to obtain the influence factor corresponding to the hinge total offset angle unit value, wherein the mapping relation can be one-to-one or a many-to-one relation, and the value range is [0,1] in the example.
Wherein, For the simulation reversing accuracy of the semi-trailer, if the reversing operation stability index of the semi-trailer is smaller, the expected path and gesture of the semi-trailer are difficult to keep when a reversing instruction is executed, so that the accuracy of the semi-trailer in the simulation reversing process is reduced, the total hinging deviation angle of the semi-trailer in a simulation period is further caused to be larger, the generated reversing deviation is continuously accumulated, the target parking area deviation area of the semi-trailer at the ending time point of the simulation period is larger, the three parameters are comprehensively analyzed, the simulation reversing accuracy of the semi-trailer can be comprehensively known, and the matching degree of the recommended reversing instruction set of the semi-trailer in the reversing operation process is reflected, so that the recommended reversing instruction set of the semi-trailer can be further fed back.
In a specific embodiment, the invention provides a semi-trailer reversing system and method based on laser radar information fusion, which are used for acquiring reversing preliminary parameters of a semi-trailer, analyzing flexible adjustment factors of the semi-trailer, collecting historical operation parameters of the semi-trailer, evaluating reversing operation stability indexes of the semi-trailer by combining the flexible adjustment factors of the semi-trailer, considering flexibility differences of different vehicles caused by factors such as design and load, improving universality and accuracy of reversing operation analysis, and simultaneously fusing actual position information of the semi-trailer with high accuracy acquired by a laser radar and characteristic information of a target parking area to which the semi-trailer belongs to, and matching to obtain and simulate a recommended reversing instruction set of the semi-trailer, thereby judging the simulated reversing accuracy of the semi-trailer, and carrying out feedback early warning on reversing of the semi-trailer, so that personalized reversing schemes can be formulated for different operation processes of different operators, and the reversing process is improved.
Referring to FIG. 2, a second aspect of the present invention provides a method for a semi-trailer reversing system based on laser radar information fusion, comprising S1, collecting reversing preliminary parameters of the semi-trailer, analyzing flexible adjustment factors of the semi-trailer, collecting historical operation parameters of the semi-trailer, and evaluating reversing operation stability index of the semi-trailer by combining the flexible adjustment factors of the semi-trailer.
S2, merging actual position information of the semi-trailer acquired by the laser radar and characteristic information of a target parking area of the semi-trailer, matching a recommended reversing instruction set of the semi-trailer, and simulating and executing the recommended reversing instruction set of the semi-trailer based on a reversing operation stability index of the semi-trailer to obtain simulation process parameters of the recommended reversing instruction set of the semi-trailer.
S3, based on simulation process parameters of a recommended reversing instruction set of the semi-trailer, judging the simulation reversing accuracy of the semi-trailer, and accordingly feeding back early warning is conducted on reversing of the semi-trailer.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art of describing particular embodiments without departing from the structures of the invention or exceeding the scope of the invention as defined by the claims.
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| WO2024061472A1 (en) * | 2022-09-23 | 2024-03-28 | Volvo Truck Corporation | Estimating risk of a yaw instability of a vehicle |
| CN116331208A (en) * | 2023-04-17 | 2023-06-27 | 西安深信科创信息技术有限公司 | Reversing control method and controller for semi-trailer train, system and semi-trailer |
| CN118205405A (en) * | 2024-04-30 | 2024-06-18 | 厦门金龙联合汽车工业有限公司 | Driving and braking control method for new energy electric trailer |
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