CN108761479A - Trailer trailer detection method, system and unmanned trailer - Google Patents
Trailer trailer detection method, system and unmanned trailer Download PDFInfo
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- CN108761479A CN108761479A CN201810578127.XA CN201810578127A CN108761479A CN 108761479 A CN108761479 A CN 108761479A CN 201810578127 A CN201810578127 A CN 201810578127A CN 108761479 A CN108761479 A CN 108761479A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment provides a kind of trailer trailer detection method, system and unmanned trailers.Above-mentioned trailer trailer detection method includes：Trailer data are acquired, wherein the trailer data include the information of the position for the first plane for indicating trailer；Position of first plane in the trailer data described in when be in normal connection status according to the trailer and headstock, the determination area-of-interest in the trailer data；In the area-of-interest, the information of the position based on first plane for indicating trailer determines the information about the line segment for indicating first plane；And according to described about the location status for indicating that the information of the line segment of first plane determines the trailer.Above-mentioned technical proposal uses contactless detection mode, significantly improves system lifetim duration；And its testing result is more acurrate.
Description
Technical field
The present invention relates to automatic detection field, relate more specifically to a kind of trailer trailer detection method, system and a kind of nothing
People's driving trailer.
Background technology
With the development of science and technology, automatic measurement technique has been applied to many fields.For example, using contact-sensing
Device realizes the detection of the location status to trailer trailer.
In existing trailer trailer detecting system, generally dragged using touch sensor to determine whether trailer also hangs over
On the headstock of vehicle, so that it is determined that whether trailer is detached from headstock.Due to using contact in this kind of trailer trailer detecting system
Detection mode, so it is easily lost, service life is shorter.
Also in some trailer trailer detecting systems, by calculating the distance between headstock center and trailer center relationship come really
Determine the location status of trailer trailer.The accuracy of detection of this kind of trailer trailer detecting system is low, it is difficult to meet user's actual needs.
Invention content
The present invention is proposed in view of the above problem.According to one aspect of the invention, it provides a kind of inspections of trailer trailer
Survey method, including：
Trailer data are acquired, wherein the trailer data include the information of the position for the first plane for indicating trailer；
Position of first plane in the trailer data described in when being in normal connection status according to the trailer and headstock
It sets, area-of-interest (ROI) is determined in the trailer data；
In the ROI, the information of the position based on first plane for indicating trailer is determined about indicating described the
The information of the line segment of one plane；And
According to described about the location status for indicating that the information of the line segment of first plane determines the trailer.
Illustratively, the method further includes：The trailer data are demarcated, to build the trailer under vehicle coordinate system
Data, wherein the vehicle coordinate system is using the center of headstock transverse direction as origin.
Illustratively, described to determine that ROI includes in the trailer data：
Determine that a part for the X-axis of the vehicle coordinate system is the top edge of the ROI,And according to the trailer with it is described
Headstock is in when normal connection status the origin of the vehicle coordinate system and first plane in the trailer data
The distance between position Dcd is determined in the lower edge of the ROI with the X-axis between maximum point P1 and the X-axis
Distance D1, wherein first threshold<D1-Dcd<The X-axis of second threshold, the vehicle coordinate system was the origin and was parallel to described
The direction of headstock transverse direction.
Illustratively, the lower edge of the ROI is the line segment parallel with the X-axis.
Illustratively, the point P1 is located in the Y-axis of the vehicle coordinate system, wherein the Y-axis of the vehicle coordinate system was institute
State origin and be parallel to the headstock longitudinal direction, the ROI be by line segment L11, line segment L12, line segment L13, line segment L14,
The region that line segment L15 and line segment L16 are surrounded, wherein
The excessively described point P1 of the line segment L11, it is parallel with the X-axis, be equal to described first by the Y-axis decile and its length
Length of the plane in the trailer data；
The lower extreme point of the line segment L12 overlaps with the left end point of the line segment L11, with the line segment L11 at 125 degree of angles simultaneously
And its length is equal to the length of the line segment L11；
The line segment L14 overlaps with the X-axis, length by the Y-axis decile and its length equal to the line segment L11
2 times；
The upper extreme point of the line segment L13 is overlapped with the left end point of the line segment L14, and the lower extreme point of the line segment L13 with
The upper extreme point of the line segment L12 overlaps；
The line segment L15 and line segment L16 is symmetrical about Y-axis with the line segment L13 and the line segment L12 respectively.
Illustratively, the ROI is the region surrounded by line segment L21, line segment L22, line segment L23 and circular arc L24, wherein
The line segment L21 overlaps with the X-axis, is equal to described first by the Y-axis decile of the vehicle coordinate system and its length
2 times of length of the plane in the trailer data, wherein the Y-axis of the vehicle coordinate system was the origin and was parallel to described
Headstock longitudinal direction；
The circular arc L24 is to be equal to first plane described with the distance between the point P1 in the Y-axis
The point P2 of length in trailer data is the center of circle, using length of first plane in the trailer data as radius, and is opened
Semi arch of the mouth towards the Y-axis positive direction；
The upper extreme point of the line segment L22 is overlapped with the left end point of the line segment L21, and the lower extreme point of the line segment L22 with
The left end point of the circular arc L24 overlaps；And
The line segment L23 and the line segment L22 are symmetrical about Y-axis.
Illustratively, the trailer data are laser radar point cloud datas.
Illustratively, described determined based on the information of the position of first plane for indicating trailer in the ROI is closed
Include in the information of the line segment of expression first plane：
Read the laser radar point cloud data in the ROI；
Fitting a straight line is carried out for read laser radar point cloud data, and the pass is determined according to fitting a straight line result
In the information for the line segment for indicating first plane.
Illustratively, described to carry out fitting a straight line for read laser radar point cloud data, and according to fitting a straight line
As a result the information about the line segment for indicating first plane is determined, including：
A fitting a straight line operation is executed for read laser radar point cloud data；
The absolute value that the ordinate of the intersection point of obtained straight line and Y-axis is operated for the secondary fitting a straight line is greater than or equal to
The case where Dcd, determines the line segment for indicating first plane, wherein the vehicle coordinate according to the obtained straight line
The Y-axis of system was the origin and was parallel to the headstock longitudinal direction；
The absolute value of the ordinate of the intersection point of obtained straight line and Y-axis is operated for the secondary fitting a straight line less than Dcd's
Situation is deleted the laser radar point cloud data corresponding to obtained straight line and is executed for remaining laser radar point cloud data
Fitting a straight line operates next time, until there is no the vertical of the intersection point of laser radar point cloud data or the straight line and Y-axis that are obtained
The absolute value of coordinate is greater than or equal to Dcd and determines the line segment for indicating first plane according to the straight line finally obtained.
Illustratively, described to include for read laser radar point cloud data progress fitting a straight line：
Using random sampling unification algorism (RANSAC) straight line is carried out for the read laser radar point cloud data
Fitting.
Illustratively, about the position for indicating that the information of the line segment of first plane determines the trailer described in the basis
The state of setting includes：
Count in the laser radar point cloud data in the ROI with the line segment of first plane for indicating the trailer away from
Number from the point less than third threshold value；
The case where being less than four threshold values for the number determines that the trailer is detached from the headstock.
Illustratively, the acquisition trailer data include：The trailer data are acquired using single line laser radar sensor.
Illustratively, about the position for indicating that the information of the line segment of first plane determines the trailer described in the basis
The state of setting includes：
Determine the linear equation where the line segment for indicating first plane；
According to the linear equation, the angle of the line segment and headstock transverse direction for indicating first plane is determined,
With the posture of the determination trailer.
According to a further aspect of the present invention, a kind of trailer trailer detecting system is additionally provided, including：
Data acquisition device, for acquiring trailer data, wherein the trailer data include indicating the first plane of trailer
Position information；
Computing device, when for being in normal connection status with headstock according to the trailer described in the first plane dragged described
Position in the data that struggle against determines ROI in the trailer data；In the ROI, based on first plane for indicating trailer
Position information, determine the information about the line segment for indicating first plane；And according to described about indicating described the
The information of the line segment of one plane determines the location status of the trailer.
Illustratively, the data acquisition device is single line laser radar sensor.
Illustratively, the system also includes display, the location status for showing the trailer.
According to another aspect of the present invention, a kind of unmanned trailer, including above-mentioned trailer trailer detection system are additionally provided
System.
Trailer trailer detection method and system according to the ... of the embodiment of the present invention with the line segment in detection range by being indicated
The position of some plane of trailer, to determine therefrom that the location status of trailer trailer.Above-mentioned trailer trailer detection method and it is
System uses contactless detection mode, significantly improves system lifetim duration；And its testing result is more acurrate.It is above-mentioned from
It can utilize trailer trailer detecting system automatic in dynamic driving trailer and accurately detect the location status of trailer.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, below the special specific implementation mode for lifting the present invention.
Description of the drawings
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used for providing further understanding the embodiment of the present invention, and constitutes explanation
A part for book is not construed as limiting the invention for explaining the present invention together with the embodiment of the present invention.In the accompanying drawings,
Identical reference label typically represents same parts or step.
Fig. 1 shows the schematic flow chart of trailer trailer detection method according to an embodiment of the invention；
Fig. 2 shows trailer schematic diagrames according to an embodiment of the invention；
Fig. 3 shows trailer number when trailer according to an embodiment of the invention is in normal connection status with headstock
According to；
Fig. 4 shows trailer data shown in Fig. 3 through calibrated result；
Fig. 5 shows the ROI of trailer data according to an embodiment of the invention；
Fig. 6 shows trailer data in accordance with another embodiment of the present invention and ROI therein；
Fig. 7 shows the ROI of the trailer data according to further embodiment of this invention；
Fig. 8 shows trailer data according to an embodiment of the invention and ROI therein；And
Fig. 9 shows trailer data in accordance with another embodiment of the present invention and ROI therein.
Specific implementation mode
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiment of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
In the trailer trailer detection method of the embodiment of the present invention, by indicating trailer with the line segment in detection range
Some plane of trailer, to determine therefrom that the location status of trailer.Because trailer has fixed shape, the plane of trailer
Can be the frontal plane, side plane and rear plane etc. of trailer.The position of these planes can clearly show that the position of trailer
Set state.It is appreciated that the detection of frontal plane is more easily implemented.For the convenience of description, below by taking the frontal plane of trailer as an example, come
The trailer trailer detection method is described.
Trailer trailer detection method according to an embodiment of the invention will be described with reference to figure 1.Fig. 1 is shown according to the present invention
The schematic flow chart of the trailer trailer detection method 100 of one embodiment.As shown in Figure 1, this method 100 includes following step
Suddenly.
Step S110 acquires trailer data.The trailer data include the information about trailer location status, such as indicate to drag
The information of the position of the frontal plane of bucket.
Trailer data can be any suitable including above- mentioned information data.Such as trailer data can be graphics
As the data of the various formats such as data, laser radar point cloud data.In the present embodiment, come by taking laser radar point cloud data as an example
Illustrate this trailer trailer detection method 200.
Trailer data can be acquired by data acquisition device (such as laser radar sensor etc.) and be transmitted to computing device
(such as processor) is handled.In use, data acquisition device can be fixed on the specific position of headstock, in order in fact
When acquire trailer data.It is appreciated that may include all in certain detection range of data acquisition device in trailer data
The location information of object.Fig. 2 shows trailer schematic diagrames according to an embodiment of the invention.In trailer shown in Fig. 2, profit
Trailer data acquisition is carried out with laser radar sensor.Laser radar sensor is mounted on the left hand edge of the headstock of trailer, such as
It is fixed in the prodger of the left hand edge of headstock.Dotted line frame shows the detection range that trailer data are covered in Fig. 2.If dragged
Bucket is in connection status with headstock, then there will be some to put cloud on the corresponding position of the frontal plane of trailer, in trailer data
Data.According to these point cloud datas, it may be determined that the position of the frontal plane of trailer.Otherwise, it is detached from if trailer is in headstock
Corresponding point cloud data may be not present in trailer data in state.At this point, trailer data include indicate trailer frontal plane not
Information in detection range.
In short, indicating that the information of the position of the frontal plane of trailer may include indicating that frontal plane exists respectively in different situations
The data of specific location in trailer data and the information for indicating not include in the corresponding detection range of trailer data frontal plane.
Laser radar sensor round-the-clock can detect the location status of trailer trailer in real time, and be not easily susceptible to environment
Interference.Optionally, above-mentioned laser radar sensor can be single line laser radar sensor.Single line laser radar sensor can
Meet above application need and also it is cheap.In addition, single line laser radar sensor be typically unmanned trailer itself from
The sensor of band can also be compatible with other functions.In short, applying for single line laser radar sensor is ensureing trailer detection
While accuracy, the cost of trailer trailer detecting system can be reduced.
In the context of this application, the front-rear direction of headstock is referred to as longitudinal, and correspondingly, the left and right directions of headstock is referred to as horizontal
To.Plane coordinate system is built in the plane where trailer, in the trailer data under the plane coordinate system, the frontal plane of trailer
Corresponding point cloud data can form an approximate line segment.The line segment can indicate the position of the frontal plane of trailer.
Step S120, position of the frontal plane of trailer in trailer data when being in normal connection status according to trailer and headstock
It sets, ROI is determined in the trailer data.
The lateral section of headstock is referred to as the cross section of headstock, and the lateral section of trailer is the cross section of trailer, wherein
The transverse direction of trailer is the left and right directions of trailer.Claimed the longitudinal axis centered on the longitudinal axis at the center of cross section.Claimed headstock or trailer
The longitudinal axis and perpendicular to the plane on ground be vertical plane.Trailer is in the center longitudinal axis and vehicle that normal connection status refers to trailer with headstock
The center longitudinal axis of head is in same vertical plane and trailer keeps connection status with headstock.It is shown in trailer and headstock in Fig. 2
The heart longitudinal axis, as shown in Fig. 2, trailer is in normal connection status with headstock.
Fig. 3 shows trailer number when trailer according to an embodiment of the invention is in normal connection status with headstock
According to.Wherein, above Fig. 3 include position that right angle is laser radar sensor, the irregular figure of lower section shows expression
The laser radar point cloud data of the frontal plane of trailer.Trailer data normally connect shape it is found that trailer is in headstock as shown in Figure 3
When state, the specific location of the frontal plane of trailer in laser radar point cloud data.Under normal conditions, laser radar sensor is adopted
The point cloud data of collection is based on laser radar sensor coordinate system.In laser radar sensor coordinate system, with laser radar
Sensor is origin, and two sides at right angle are the X-axis and Y-axis of laser radar sensor coordinate system respectively in Fig. 3.
Position of the frontal plane of trailer in trailer data when can be in normal connection status according to trailer and headstock,
ROI is determined in trailer data.An ideal trailer data can be acquired when trailer is in normal connection status with headstock.
Position of the frontal plane of trailer in trailer data is predefined according to the ideal trailer data.And then according to the trailer before
Position of the plane in trailer data determines location informations of the ROI in the ideal trailer data.In all of subsequent acquisition
In trailer data to be detected, ROI can be determined according to the location information.
A part for position of the frontal plane in trailer data when ROI includes at least aforesaid state.For example, trailer and headstock
When in normal connection status, frontal plane substantially forms a line segment, i.e. point cloud number corresponding to frontal plane in trailer data
According to ROI may include all or at least a portion (such as middle section of line segment) of this line segment.
Preferably, include in the roi position of the frontal plane in trailer data when trailer is in normal connection status with headstock
While at least part set, ROI is small as possible, to avoid the mistake introduced caused by other planes or the corresponding data of structure
Difference.
Thus, it is possible to according to the ROI of trailer data, the location status of trailer is determined.In step S130, in the roi, it is based on
It indicates the information of the position of the frontal plane of trailer, determines the information about the line segment for indicating frontal plane.
As previously mentioned, the point cloud data corresponding to the frontal plane of trailer can form an approximate line segment.In other words, the line
Section can be used to indicate that the frontal plane of trailer.In step s 130, the letter of the position of the frontal plane based on the expression trailer in ROI
Breath determines the information about the line segment.Corresponding with the information of position of frontal plane is indicated, the information about the line segment is not
With the information that can respectively include indicating the specific location of the line segment in the roi in situation and indicate that the line segment is not present in ROI
Information.
In one example, step S130 may include following sub-step.First, the laser radar point cloud in ROI is read
Data.Then, for read laser radar point cloud data carry out fitting a straight line, and according to fitting a straight line result determine about
Indicate the information of the line segment of frontal plane.
Optionally, using RANSAC algorithms fitting a straight line is carried out for read laser radar point cloud data.RANSAC
Algorithm can more preferably be fitted laser radar point cloud data, and then obtain the information for the line segment for more accurately indicating frontal plane.
Alternatively, fitting a straight line can also be carried out for read laser radar point cloud data using least square method.
Step S140 determines the location status of trailer according to the information of the line segment determined in step S130.
As described in step S120, ROI be when being in normal connection status according to trailer and headstock frontal plane in trailer data
In location determination.So if the line segment for being not present indicate frontal plane in the roi is determined in step S130, it can
To determine that trailer is detached from headstock.If the line segment for existing indicate frontal plane in the roi is determined in step S130, and further
The specific location of the line segment in the roi is determined, then can the location status of trailer be determined according to the specific location, such as drags
Bucket is detached from or connect with headstock and the posture etc. of trailer.
Above-mentioned trailer trailer detection method 200 is by indicating the position of some plane of trailer with the line segment in detection range
It sets, to determine therefrom that the location status of trailer trailer.The trailer trailer detection method 200 uses contactless detection side
Formula significantly improves system lifetim duration；And its testing result is more acurrate.
It is appreciated that above-mentioned 200 merely illustrative rather than limitation of the present invention of trailer trailer detection method.For example, step
S120 can be executed prior to step S110, and nonessential according to sequence execution as shown above.
Under normal conditions, original trailer data are sensed based on the laser radar established as origin using laser radar sensor
Device coordinate system indicates.This brings difficulty for follow-up calculating.Optionally, for data convenience of calculation, the detection of trailer trailer
Method 200 is further comprising the steps of：Trailer data are demarcated, to build the trailer data under vehicle coordinate system, wherein described
Vehicle coordinate system is using the center of headstock transverse direction as origin.The proving operation is operated by rotation and translation etc. by laser radar sensor
Original trailer data under coordinate system are converted to the trailer data under vehicle coordinate system.Fig. 4 shows trailer data warp shown in Fig. 3
Calibrated result.Right-angle side in Fig. 4 is the X-axis of rectangular coordinate system and the positive axis of Y-axis respectively.As shown in figure 4, being grasped through calibration
After work, trailer data are by more maximum probability status in the centre position of coordinate system.For example, normally connecting shape when trailer is in headstock
When state, the corresponding point cloud data of frontal plane of trailer will be symmetrical about Y-axis.As a result, demarcating steps make trailer data representation and
Calculating is easier.
It is illustrated by taking rectangular coordinate system as an example in above-described embodiment, but it will appreciated by the skilled person that
Other coordinate systems such as polar coordinate system can also be established to indicate trailer data.
Optionally, the step S120 in above-mentioned trailer trailer detection method 200 includes：Determine the X-axis of aforementioned vehicle coordinate system
A part be ROI top edge；And the origin of vehicle coordinate system is with before when being in normal connection status according to trailer and headstock
Distance Dcd between position of the plane in trailer data is determined in the lower edge of ROI with the X-axis under vehicle coordinate system apart from most
Big point the distance between P1 and X-axis D1, wherein first threshold<D1-Dcd<The X-axis of second threshold, the vehicle coordinate system was
The origin and the direction for being parallel to the headstock transverse direction.
The frontal plane of trailer corresponds to some point cloud datas in trailer data.These point cloud datas are substantially organized into a line
Section.Distance Dcd is the distance between origin and the straight line.Distance Dcd substantially determines the spans of ROI in the longitudinal direction.It is above-mentioned away from
It can in advance measure when trailer is in normal connection status with headstock from Dcd, or be rule of thumb arranged.
Fig. 5 shows the ROI of trailer data according to an embodiment of the invention, as shown in dash area in figure.Under Fig. 5
The irregular figure in portion corresponds to the laser radar point cloud data of the frontal plane of trailer.Afore-mentioned distance is also shown in Figure 5
Dcd and distance D1.With the X-axis under vehicle coordinate system apart from maximum point the distance between P1 and X-axis D1 and institute in the lower edge of ROI
The difference for stating distance Dcd is more than first threshold, can allow for trailer data to have certain error, it is ensured that be in trailer and headstock
There is the point cloud data for the frontal plane for corresponding to trailer when connection status in ROI.Even if being dragged in the case of turn in trailer
There are certain angle, such as 10 degree of angles between the frontal plane and X-axis of bucket, it still is able to ensure that in ROI, there are some to correspond to trailer
Frontal plane point cloud data.The difference of distance D1 and distance Dcd is less than second threshold, enables to the range of ROI smaller, has
Effect avoids invalid data and participates in operation, to ensure that the accuracy of trailer testing result.
Optionally, the lower edge of ROI is the line segment parallel with X-axis.As a result, in the lower edge of ROI all the points ordinate
It is equal to the ordinate of aforementioned point P1.For example, ROI can be a rectangle.It, can be simpler if the lower edge of ROI is line segment
Ground reads the trailer data in ROI, to offer convenience for the detection of trailer trailer.
Fig. 6 shows the ROI of trailer data in accordance with another embodiment of the present invention, the wherein lower parts Fig. 6 irregular figure
For laser radar point cloud data.The detailed process for the step S120 for obtaining the ROI is described below.Step S120 may include following
Step.
Step S121, the origin of vehicle coordinate system and the frontal plane of trailer when being in normal connection status according to trailer and headstock
Distance Dcd between position in trailer data determines the intersection point P1 of the lower edge and vehicle coordinate system Y-axis of ROI.Wherein vehicle is sat
The Y-axis of mark system was origin and was parallel to headstock longitudinal direction.Specifically, trailer can be in headstock and normally connect shape
The central point of the frontal plane of trailer when state translates 8 to the 12cm distance corresponded in world coordinate system under Y-axis, obtains
Point P1.Cross the parallel lines L11 that point P1 does X-axis.A part of parallel lines L11 is a part for ROI lower edges.
Step S122, the origin using vehicle coordinate system are the center of circle and using the distance of point P1 to origin as radius, draw circle Cir1, and
The point P2 positioned at the 225 degree and point P3 positioned at 315 degree is chosen on circle Cir1.
Step S123, crosses point P2 respectively and point P3 makees the tangent line L12 and tangent line L16 of circle Cir1, obtains tangent line L12 and straight line
The intersection point P4 of L11 obtains the intersection point P5 of tangent line L16 and straight line L11.Determine through the above way using point P4 and point P as endpoint
Line segment length be substantially equivalent in trailer data trailer frontal plane length.
Step S124 takes point P6 on tangent line L12, wherein the distance of point P2 to point P6 is equal to the distance of point P2 to point P4.
Step S124 takes point P7 on tangent line L16, wherein the distance of point P3 to point P7 is equal to the distance of point P3 to point P5.
Step S125 crosses point P6 respectively and point P7 is parallel to the straight line L13 and L15 of Y-axis, and obtains this two respectively directly
The intersection point P8 and P9 of line and X-axis.
Step S126, tie point P8, P6, P4, P5, P7 and P9 form polygonal region using as ROI, such as 6 institute of attached drawing
Show.
As shown in fig. 6, the lower edge of ROI and the intersection point of Y-axis are point P1.ROI is by line segment L11, line segment L12, line segment
The region that L13, line segment L14, line segment L15 and line segment L16 are surrounded.Wherein, line segment L11 cross point P1, it is parallel with X-axis, by Y-axis decile
And it is approximately equal to the length to length of the frontal plane in trailer data.The lower extreme point of line segment L12 and the left end point weight of line segment L11
It closes, the length with line segment L11 at 125 degree of angles and its length equal to line segment L11.Line segment L14 overlaps with X-axis, by Y-axis decile and
2 times of length of its length equal to line segment L11.The upper extreme point of line segment L13 is overlapped with the left end point of line segment L14, and line segment L13
Lower extreme point is overlapped with the upper extreme point of line segment L12.Line segment L15 and line segment L16 is respectively with line segment L13 and line segment L12 about Y-axis pair
Claim.
Above-mentioned ROI can be while more excluding invalid data, reducing calculation amount, it is ensured that the quantity of valid data.
The accuracy of trailer trailer detection is significantly improved as a result,.
It will appreciated by the skilled person that although the step S120 for obtaining ROI shown in Fig. 6 is described in detail above
A kind of specific implementation, but its be only illustrate, but not to limit the present invention.For example, line segment can be determined first
Then L14 determines other line segments successively according to line segment L14, so that it is determined that ROI.
Fig. 7 shows the ROI of the trailer data according to further embodiment of this invention.As shown in fig. 7, the ROI is by line segment
The region that L21, line segment L22, line segment L23 and circular arc L24 are surrounded.Wherein, line segment L21 is overlapped with X-axis, by Y-axis decile and its length
2 times of degree equal to length of the frontal plane in trailer data.Circular arc L24 be to be equal to the distance between point P1 in Y-axis before
The point P2 of length of the plane in trailer data is the center of circle, using length of the frontal plane in trailer data as radius, and the court that is open
To the semi arch of Y-axis positive direction.The upper extreme point of line segment L22 is overlapped with the left end point of line segment L21, and the lower extreme point of line segment L22 with
The left end point of circular arc L24 overlaps.It is appreciated that line segment L22 is the tangent line of circle where circular arc L24.Line segment L23 is closed with line segment L22
It is symmetrical in Y-axis.
Above-mentioned ROI realizations are easier, and can also be excluded invalid data to a certain extent, be reduced calculation amount, ensure simultaneously
The quantity of valid data.The accuracy of trailer trailer detection is improved as a result,.
After step S120 determines ROI, the information of the position in the roi based on the frontal plane for indicating trailer is determined and is closed
In the information for the line segment for indicating frontal plane.Such as fitting a straight line is carried out for laser radar point cloud data, according to fitting a straight line knot
Fruit determines the information for the line segment for indicating frontal plane.It is appreciated that may include the corresponding difference of multiple and different planes in ROI
Cloud data.Such as Fig. 8 shows trailer data according to an embodiment of the invention and ROI therein.The ROI is with shown in Fig. 6
It is illustrated for ROI.Further include dragging as shown in figure 8, in ROI other than the corresponding point cloud data of the frontal plane of trailer
The corresponding point cloud data of side plane of bucket.When being not at normal connection status especially for trailer and headstock, it is easier to go out
The point cloud data corresponding to other planes other than some existing trailer frontal planes.In trailer trailer detection method implementation procedure,
For each plane, a line segment for indicating the plane accordingly can be fitted.But for indicating that the line segment of frontal plane comes
It says, when trailer and headstock are in normal connection status, the absolute value of the line segment and the ordinate of Y-axis intersection point is minimum.It walks as a result,
Rapid S130 can be realized based on the rule by following steps.
First, a fitting a straight line operation is executed for the laser radar point cloud data read in the roi.The secondary straight line is quasi-
Closing operation can obtain straight line corresponding with a plane.
Determine that the secondary fitting a straight line operates the intersection point of obtained straight line and the Y-axis of vehicle coordinate system.As previously mentioned, above-mentioned vehicle
The Y-axis of coordinate system was the origin of vehicle coordinate system and was parallel to headstock longitudinal direction.
It is greater than or equal to vehicle when trailer is in normal connection status with headstock for the absolute value of the ordinate of the intersection point to sit
The case where marking distance Dcd between the position of origin and the frontal plane of system in trailer data, it is believed that the line correspondences obtained
In the frontal plane of trailer.Fig. 9 shows trailer data in accordance with another embodiment of the present invention and ROI therein.Assuming that dragging
When bucket is in normal connection status with headstock, the point cloud data corresponding to frontal plane is between point P1 and point P12.It is quasi- for straight line
For the straight line L31 that closing operation obtains, the intersection point with Y-axis is point P11.The absolute value of the ordinate of point P11 is more than point P1's
Ordinate, so it is naturally larger than Dcd.It can be considered that straight line L31 is the straight line for indicating trailer frontal plane.As a result, may be used
To determine that obtained straight line L31 is the line segment for indicating frontal plane, the position for the line segment for indicating frontal plane is thus obtained
Information.Step S130 is executed so far, then can terminate, continue to execute step S140.
Assuming that it is straight line L32 that the secondary fitting a straight line operation, which obtains straight line, then its operation will differ from above-mentioned straight line L31.
The absolute value of the ordinate of straight line L32 and the intersection point P10 of Y-axis is less than the ordinate of point P12, so it is certainly less than Dcd.It is right
In such case, deletes the laser radar point cloud data corresponding to obtained straight line L32 and be directed to remaining laser radar point
Cloud data execute fitting a straight line next time and operate.Fitting a straight line operation is repeated, until remaining laser radar can not be passed through
Point cloud data executes fitting a straight line operation (be not present laser radar point cloud data), or the straight line and Y-axis obtained friendship
The absolute value of the ordinate of point is greater than or equal to Dcd (according to the embodiment of Fig. 9, i.e. aforesaid rectilinear L31) and is obtained according to last
Straight line determines the line segment for indicating frontal plane.
The realization method of above-mentioned steps S130 has effectively differentiated the line for the frontal plane that trailer is really indicated in trailer data
Section, avoids the interference of straight line of the side plane corresponding to trailer etc., ensure that trailer trailer detected from the angle of data source
Accuracy.
After the information that step S130 determines the line segment about the frontal plane for indicating trailer, the basis in step S140
The information of aforementioned line segment determines the location status of trailer.
Optionally, step S140 includes following sub-step：
First, it counts in the laser radar point cloud data in ROI at a distance from the line segment about the frontal plane for indicating trailer
Less than the number of the point of third threshold value.If fruit dot is less than third threshold value at a distance from line segment, it is somebody's turn to do then can consider that the point is located at
On line segment, i.e., the point is formed by the frontal plane of trailer.
Then, for counting the case where number of obtained point is less than four threshold values, determine that trailer is detached from headstock；It is no
Then, it is believed that trailer is in connection status with headstock.
It is appreciated that in some cases, the information of the line segment about the frontal plane for indicating trailer shows in the roi currently
There is no the line segments for the frontal plane for indicating trailer, then can directly determine that trailer is detached from headstock accordingly.
Through the above steps, can be by limited calculating, accurately whether detection trailer is detached from headstock automatically.
Optionally, step S140 further includes following sub-step：
First, according to the information of the line segment about the frontal plane for indicating trailer, the line segment for the frontal plane for indicating trailer is determined
The linear equation at place.
Then, according to the linear equation, the angle of the line segment and headstock transverse direction of the frontal plane for indicating trailer is determined, with true
Determine the posture of trailer.
By above-mentioned two sub-step, it is opposite with headstock just can accurately to detect trailer automatically by limited calculation amount
Angular relationship.Whether turn state etc. can be in by automatic decision trailer accordingly.
It will appreciated by the skilled person that although above-described embodiment is laser radar point cloud data with trailer data
For trailer trailer detection method described, but this method can also be realized based on 3 d image data.It is sat in aforementioned vehicle
In the 3 d image data for marking system, the frontal plane of trailer can correspond directly to a line segment.It can be according to the information of the line segment
Determine the location status of trailer.Such as it is dragged according to the determination such as the length of the line segment in ROI and angular relationship of the line segment and X-axis
The location status of bucket.For the length of the line segment in ROI it is shorter or there is no the case where, then it is assumed that trailer is de- with headstock
From.
According to a further aspect of the invention, a kind of trailer trailer detecting system is additionally provided.The trailer trailer detecting system packet
Include data acquisition device and computing device.The data acquisition device is for acquiring trailer data, wherein the trailer data include
Indicate the information of the position of the first plane of trailer.The computing device, which is used to be in headstock according to the trailer, normally connect shape
Position of first plane described in when state in the trailer data determines ROI in the trailer data；In the ROI, base
Information in the position of first plane for indicating trailer, determines the information about the line segment for indicating first plane；With
And according to described about the location status for indicating that the information of the line segment of first plane determines the trailer.
Optionally, which is additionally operable to realize other steps in above-mentioned trailer trailer detection method.
Optionally, which is single line laser radar sensor.
Optionally, which further includes display, the location status for showing trailer.For example, being shown with different colours
Trailer.It is when trailer and headstock are detached from, trailer is shown in red；It is when trailer is connect with headstock, trailer is shown in green.
In another example display is used to show the angle of the frontal plane and headstock transverse direction of trailer.
Those of ordinary skill in the art are by being described above, it is possible to understand that the specific implementation of the trailer trailer detecting system and
Its technique effect, for sake of simplicity, details are not described herein.
According to another aspect of the invention, a kind of unmanned trailer is additionally provided.The unmanned trailer includes aforementioned drags
Vehicle trailer detecting system.The unmanned trailer can automatically and accurately detect trailer using the trailer trailer detecting system
Location status, and cost is relatively low.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of each inventive aspect,
To in the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure,
Or in descriptions thereof.However, the method for the present invention should be construed to reflect following intention：It is i.e. claimed
The present invention claims the more features of feature than being expressly recited in each claim.More precisely, such as corresponding power
As sharp claim reflects, inventive point is that the spy of all features less than some disclosed single embodiment can be used
It levies to solve corresponding technical problem.Therefore, it then follows thus claims of specific implementation mode are expressly incorporated in this specific
Embodiment, wherein each claim itself is as a separate embodiment of the present invention.
It will be understood to those skilled in the art that other than mutually exclusive between feature, any combinations pair may be used
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all processes or unit of equipment are combined.Unless expressly stated otherwise, this specification (including want by adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced by providing the alternative features of identical, equivalent or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of arbitrary
It mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization, or to run on one or more processors
Software module realize, or realized with combination thereof.It will be understood by those of skill in the art that can use in practice
Microprocessor or digital signal processor (DSP) realize one in trailer trailer detecting system according to the ... of the embodiment of the present invention
The some or all functions of a little modules.The present invention be also implemented as a part for executing method as described herein or
The program of device (for example, computer program and computer program product) of person's whole.It is such to realize that the program of the present invention be with
It may be stored on the computer-readable medium, or can be with the form of one or more signal.Such signal can from because
It downloads and obtains on spy's net website, either provide on carrier signal or provide in any other forms.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be by the same hardware branch
To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and be run after fame
Claim.
The above description is merely a specific embodiment or to the explanation of specific implementation mode, protection of the invention
Range is not limited thereto, and any one skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection domain.
Claims (10)
1. a kind of trailer trailer detection method, including：
Trailer data are acquired, wherein the trailer data include the information of the position for the first plane for indicating trailer；
Position of first plane in the trailer data described in when being in normal connection status according to the trailer and headstock,
Area-of-interest is determined in the trailer data；
In the area-of-interest, the information of the position based on first plane for indicating trailer is determined about expression institute
State the information of the line segment of the first plane；And
According to described about the location status for indicating that the information of the line segment of first plane determines the trailer.
2. the method for claim 1, wherein the method further includes：
The trailer data are demarcated, to build the trailer data under vehicle coordinate system, wherein the vehicle coordinate system is with headstock
Lateral center is origin.
3. method as claimed in claim 2, wherein described to determine that area-of-interest includes in the trailer data：
Determine the X-axis of the vehicle coordinate system a part be the area-of-interest top edge, and according to the trailer with
The headstock is in when normal connection status the origin of the vehicle coordinate system and first plane in the trailer data
In the distance between position Dcd, determine in the lower edge of the area-of-interest with the X-axis apart from maximum point P1 and institute
State the distance between X-axis D1, wherein first threshold<D1-Dcd<The X-axis of second threshold, the vehicle coordinate system was the origin
And it is parallel to the direction of the headstock transverse direction.
4. method as claimed in claim 3, wherein the lower edge of the area-of-interest is the line segment parallel with the X-axis.
5. method as claimed in claim 4, wherein the point P1 is located in the Y-axis of the vehicle coordinate system, wherein the vehicle is sat
Mark system Y-axis was the origin and was parallel to the headstock longitudinal direction, the area-of-interest is by line segment L11, line
The region that section L12, line segment L13, line segment L14, line segment L15 and line segment L16 are surrounded, wherein
The excessively described point P1 of the line segment L11, it is parallel with the X-axis, first plane is equal to by the Y-axis decile and its length
Length in the trailer data；
The lower extreme point of the line segment L12 overlaps with the left end point of the line segment L11, with the line segment L11 at 125 degree of angles and its
Length is equal to the length of the line segment L11；
The line segment L14 overlaps with the X-axis, 2 times of length by the Y-axis decile and its length equal to the line segment L11；
The upper extreme point of the line segment L13 is overlapped with the left end point of the line segment L14, and the lower extreme point of the line segment L13 with it is described
The upper extreme point of line segment L12 overlaps；
The line segment L15 and line segment L16 is symmetrical about Y-axis with the line segment L13 and the line segment L12 respectively.
6. method as claimed in claim 3, wherein the area-of-interest be by line segment L21, line segment L22, line segment L23 and
The region that circular arc L24 is surrounded, wherein
The line segment L21 overlaps with the X-axis, is equal to first plane by the Y-axis decile of the vehicle coordinate system and its length
2 times of length in the trailer data, wherein the Y-axis of the vehicle coordinate system was the origin and was parallel to the headstock
Longitudinal direction；
The circular arc L24 is to be equal to first plane in the trailer with the distance between the point P1 in the Y-axis
The point P2 of length in data is the center of circle, using length of first plane in the trailer data as radius, and the court that is open
To the semi arch of the Y-axis positive direction；
The upper extreme point of the line segment L22 is overlapped with the left end point of the line segment L21, and the lower extreme point of the line segment L22 with it is described
The left end point of circular arc L24 overlaps；And
The line segment L23 and the line segment L22 are symmetrical about Y-axis.
7. such as claim 3 to 6 any one of them method, wherein the trailer data are laser radar point cloud datas.
8. the method for claim 7, wherein described to indicate the first of trailer based on described in the area-of-interest
The information of the position of plane determines that the information of the line segment about expression first plane includes：
Read the laser radar point cloud data in the area-of-interest；
Fitting a straight line is carried out for read laser radar point cloud data, and described about table according to the determination of fitting a straight line result
Show the information of the line segment of first plane.
9. method as claimed in claim 8, wherein described quasi- for read laser radar point cloud data progress straight line
It closes, and the information about the line segment for indicating first plane is determined according to fitting a straight line result, including：
A fitting a straight line operation is executed for read laser radar point cloud data；
The absolute value that the ordinate of the intersection point of obtained straight line and Y-axis is operated for the secondary fitting a straight line is greater than or equal to Dcd
The case where, the line segment for indicating first plane is determined according to the obtained straight line, wherein the vehicle coordinate system
Y-axis was the origin and was parallel to the headstock longitudinal direction；
The case where absolute value of the ordinate of the intersection point of obtained straight line and Y-axis is less than Dcd is operated for the secondary fitting a straight line,
It deletes the laser radar point cloud data corresponding to obtained straight line and is executed for remaining laser radar point cloud data next
Secondary fitting a straight line operation, until there is no laser radar point cloud data or the ordinates of the intersection point of the straight line and Y-axis that are obtained
Absolute value be greater than or equal to Dcd and the line segment for indicating first plane determined according to the straight line finally obtained.
10. method as claimed in claim 8 or 9, wherein described to carry out straight line for read laser radar point cloud data
Fitting includes：
Using random sampling unification algorism fitting a straight line is carried out for the read laser radar point cloud data.
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