CN109649491A - A kind of vehicle - Google Patents
A kind of vehicle Download PDFInfo
- Publication number
- CN109649491A CN109649491A CN201910057749.2A CN201910057749A CN109649491A CN 109649491 A CN109649491 A CN 109649491A CN 201910057749 A CN201910057749 A CN 201910057749A CN 109649491 A CN109649491 A CN 109649491A
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- length
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- trailer
- tractor
- vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to technical field of vehicle, in particular to a kind of vehicle.The vehicle includes tractor, trailer and the steering angle measuring device being set between the tractor and the trailer, and the steering angle measuring device relatively rotates the steering angle to be formed for measuring the tractor and the trailer.The vehicle turns to angle measuring device because being provided with, and is able to solve the problem of existing vehicle cannot accurately measure the steering angle between the tractor of semitrailer and trailer.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of vehicle.
Background technique
Semitrailer is a kind of transport facility that trailer is connected by towing pin with tractor.With automatic Pilot skill
The development of art, it is more and more to the automatic Pilot technical research of semitrailer.It is in driving process in semitrailer, tractor and extension
Steering angle between vehicle is a very important parameter in the dynamics of vehicle and kinematics model of semitrailer, is to drive automatically
Sail the basis at planning and control point.
But existing semitrailer does not have the steering folder between the tractor and trailer for providing semitrailer generally when leaving the factory
The function at angle, therefore how to accurately measure the steering angle between the tractor of semitrailer and trailer and become a problem.
Summary of the invention
The present invention provides a kind of vehicle, which turns to angle measuring device because being provided with, and is able to solve existing vehicle
The problem of steering angle between the tractor of semitrailer and trailer cannot accurately be measured.
In order to achieve the above objectives, the present invention the following technical schemes are provided:
A kind of vehicle, the vehicle include the tractor and trailer being rotatablely connected by towing pin, further include be set to it is described
Steering angle measuring device between tractor and the trailer, the steering angle measuring device is for measuring the tractor
The steering angle to be formed is relatively rotated with the trailer.
Preferably, the towing pin has the axial line extended along the vertical direction；The driver's cabin of the tractor has court
To the rear end face of the trailer, the rear end face has the rear end face center line with the axis parallel；The trailer has
The front end face being oppositely arranged with the rear end face, the front end face have the front end face center line with the axis parallel；Institute
It states and is connected with into the first horizontal flexible cable between front end face center line and the rear end face center line；
It is described to turn to the measuring unit and computing unit that angle measuring device includes signal connection；
The measuring unit is used to measure the numerical value of the first length, the second length and third length, and measurement is obtained
Numerical value be input to the computing unit；Wherein, first length is that first flexible cable is located at front end face center line
Physical length between rear end face center line, the second length between the axial line and the front end face center line away from
From third length is the distance between axial line and the rear end face center line；
The computing unit is used to calculate the angle for turning to angle according to the numerical information of input.
Preferably, the computing unit calculates the angle for turning to angle according to the numerical information of input, specifically includes:
Judge whether a is less than or equal toWherein, a is first length, and b is second length, and c is described
Third length:
If judging, a is less than or equal toIt then calculates and turns between the tractor and the trailer according to the following formula
To included angle A are as follows:
Preferably, along the width extending direction of the vehicle, the rear end face has the first end and second being oppositely arranged
End；Along the length extending direction of the vehicle, the front end face has the third end opposite with the first end；
The measuring unit is also used to: the numerical value of the 4th length of measurement, and the numerical value of the 4th length is input to meter
Unit is calculated, the 4th length is the distance between the front end face center line and the third end；
The computing unit is also used to: if judging, a is greater thanThe tractor and institute are then calculated according to the following formula
State the steering included angle A between trailer are as follows:
Wherein, d is the 4th length.
Preferably, the second horizontal flexible cable is connected between the first end and the third end；
The measuring unit is also used to measure the numerical value of the 5th length and the 6th length, and the numerical value that measurement is obtained inputs
To the computing unit, the 5th length is reality of second flexible cable between the first end and the third end
Length, the 6th length are the distance between rear end face center line and first end；
The computing unit be also used to according to the first length, the second length, third length, the 4th length, the 5th length and
The numerical value of 6th length determines the orientation information for turning to angle.
Preferably, computing unit is according to the first length, the second length, third length, the 4th length, the 5th length and the 6th
The numerical value of length determines the orientation information for turning to angle, specifically includes:
First angle α is calculated according to the following formula, wherein f is the 6th length:
Second angle β is calculated according to the following formula:
Third angle γ is calculated according to the following formula, and wherein e is the 5th length:
Compare the steering included angle A and (γ-alpha+beta) and (γ+alpha-beta)；
If when A=γ-alpha+beta, it is determined that the steering included angle A is positive value, and assigns following first for the steering included angle A
Orientation information: axial line direction of the trailer relative to the tractor around the towing pin is rotated clockwise；
If when A=γ+alpha-beta, it is determined that the steering included angle A is negative value, and assigns following second for the steering included angle A
Orientation information: axial line direction of the trailer relative to the tractor around the towing pin rotates counterclockwise.
Preferably, first flexible cable is formed by string potentiometer；And/or second flexible cable is by string silk
Potentiometer is formed.
Preferably, the measuring unit is string potentiometer, laser radar range instrument or electronic ruler.
Preferably, the computing unit is electronic control unit ECU.
Compared with prior art, the invention has the following advantages:
The embodiment of the invention provides a kind of vehicle, steering angle of the vehicle by setting between the tractor and the trailer
Measuring device can measure the steering angle between tractor and trailer, and then being able to solve existing vehicle cannot be accurate
The problem of measuring the steering angle between the tractor and trailer of semitrailer.
Detailed description of the invention
Fig. 1 is the simplified structure diagram of vehicle provided in an embodiment of the present invention；
Fig. 2 is the working principle diagram provided in an embodiment of the present invention for turning to angle measuring device；
Fig. 3 is a kind of measuring principle figure of the steering angle of the vehicle provided in Fig. 1；
Fig. 4 is another measuring principle figure of the steering angle of the vehicle provided in Fig. 1；
Fig. 5 is the calculation flow chart provided in an embodiment of the present invention for turning to angle；
Fig. 6 is the calculation flow chart of the orientation information provided in an embodiment of the present invention for turning to angle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of vehicle, which turns to angle measuring device because being provided with, and is able to solve existing
There is the problem of vehicle cannot accurately measure the steering angle between the tractor of semitrailer and trailer.Above-mentioned vehicle can be semi-mounted
Vehicle or any vehicle for adopting tractoration, meanwhile, which can be for by driver-operated common vehicle, can also be with
For automatic driving vehicle, it both can be the trackless vehicles such as automobile, electric vehicle, hybrid electric vehicle, and can also be the railcars such as train
?.
Wherein, Fig. 1, Fig. 2 and Fig. 3, the vehicle 1 that an embodiment of the present invention provides are please referred to, which includes passing through
The tractor 11 and trailer 12 that towing pin 13 is rotatablely connected, above-mentioned vehicle 1 further includes being set between tractor 11 and trailer 12
Steering angle measuring device 14, turn to angle measuring device 14 and be used to measuring tractor 11 and trailer 12 and relatively rotate and formed
Turn to included angle A.
As shown in Fig. 1 structure, vehicle 1 includes tractor 11, and the front end of tractor 11 is provided with driver's cabin 111, tractor
11 rear end is rotatably connected to trailer 12 by towing pin 13, is provided between tractor 11 and trailer 12 and turns to for measuring
The steering angle measuring device 14 of included angle A turns to measuring unit 141 and meter that angle measuring device 14 may include signal connection
Calculate unit 142；Measuring unit 141 turns to various parameters required for included angle A for survey calculation, and computing unit 142 is according to survey
The various parameters that amount unit 141 measures are calculated, to obtain the steering included angle A between tractor 11 and trailer 12；It is measuring
When turning to included angle A, the steering angle A that rotates relative to tractor 11 of trailer 12 can be calculated on the basis of tractor 11, it can also be with
On the basis of trailer 12, the steering angle A that tractor 11 is rotated relative to trailer 12 is calculated, it is in embodiments of the present invention, described
Turning to included angle A is the length extending direction along vehicle 1, and the center line of tractor 11 and the center line of trailer 12 form opening court
To the angle in tractor direction.
Angle measuring device 14 is turned to since above-mentioned vehicle 1 is provided between tractor 11 and trailer 12, it can
The steering included angle A formed between tractor 11 and trailer 12 is measured by turning to angle measuring device 14, to be led
Draw the steering included angle A between vehicle 11 and trailer 12, and then be able to solve existing vehicle 1 cannot accurately measure the traction of semitrailer 12
The problem of steering included angle A between vehicle 11 and trailer 12, is conducive to the accuracy and reliability for improving automatic Pilot.
In a kind of specific embodiment, as shown in Figure 1, Figure 2 and shown in Fig. 3 structure, towing pin 13 with prolonging along the vertical direction
The axial line O stretched；The driver's cabin 111 of tractor 11 has the rear end face 1111 towards trailer 12, and rear end face 1111 has and axis
Heart line O parallel rear end face center line 1112；Trailer 12 has the front end face 121 being oppositely arranged with rear end face 1111, front end face
121 have the front end face center line 1211 parallel with axial line O；Between front end face center line 1211 and rear end face center line 1112
It is connected with into the first horizontal flexible cable 1411；First flexible cable 1411 can be formed by string potentiometer.
As shown in Fig. 2 structure, the measuring unit 141 and computing unit that angle measuring device 14 includes signal connection are turned to
142；
Measuring unit 141 is used to measure the numerical value of the first length a, the second length b and third length c, and will measure
To numerical value be input to computing unit 142；Wherein, the first length a is that the first flexible cable 1411 is located at front end face center line
Physical length between 1211 and rear end face center line 1112；Second length b is between axial line O and front end face center line 1211
Distance；Third length c is the distance between axial line O and rear end face center line 1112.
Computing unit 142 is used to calculate the angle for turning to included angle A according to the numerical information of input.
When calculating steering included angle A using computing unit 142, needs to first pass through measuring unit 141 and measure the first length
A, the specific value of the second length b and third length c, at this point, the first length a, the second length b and third length c are constituted
One triangle, therefore, computing unit 142 can obtain the specific angle value for turning to included angle A according to triangle calculation formula.
In one example, computing unit 142 calculates the angle for turning to included angle A according to the numerical information of input, specifically may be used
It is accomplished by the following way, which may include step A1~step A2, in which:
Step A1, judges whether a is less than or equal toIf so then execute step A2；
Step A2, (1) calculates the steering included angle A between tractor and trailer according to the following formula are as follows:
In formula (1), a is the first length, and b is the second length, and c is third length.
As shown in Fig. 3 structure, when a is less than or equal toWhen, axial line O, the front end face center line 1211 of towing pin 13
And the first length is being learnt according to the calculation formula of triangle in three vertex of the formation triangle of rear end face center line 1112
A, after the second length b and third length c, it can the numerical value of any one angle triangle Nei is calculated；At this point, tractor
The steering included angle A formed between 11 and trailer 12 be in Fig. 3 structure front end face center line 1211 and rear end face center line 1112 it
Between the corresponding angle of line, it is therefore possible to use above-mentioned formula (1) carry out calculate turn to included angle A specific angular values；Together
Reason, when trailer 12 with respect to tractor 11 towards rotating counterclockwise and a is less than or equal toWhen, above-mentioned public affairs can also be used
Formula (1) calculates the specific angular values for turning to included angle A.
As shown in Fig. 3 structure, it can be measured by measuring unit 141 and obtain the first length a, it can also be according to vehicle 1
Fixed dimension parameter directly obtains the second length b and third length c；Then it is calculated by computing unit 142 using mathematical formulae
Obtain steering included angle A.
Since above-mentioned vehicle 1 can carry out real-time measurement to each dimensional parameters by measuring unit 141, and meter can be passed through
It calculates unit 142 and carries out real-time, accurate calculating, therefore, can be obtained in real time, automatically by measuring unit 141 and computing unit 142
Accurate steering included angle A between tractor 11 and trailer 12 without human intervention, controls, and high degree of automation can pass through
The steering included angle A obtained in real time provides accurate data for the driver of vehicle 1 or control unit, is driver and automatic Pilot system
System can be stablized, reliably traveling provides guarantee, so that vehicle 1 can be travelled reliably and securely.
Preferably, in order to further increase the accuracy for turning to included angle A measurement, as shown in Fig. 1 and Fig. 4 structure, along vehicle 1
Width extending direction, rear end face 1111 has the first end 1113 and second end 1114 that are oppositely arranged；Length along vehicle 1 is prolonged
Direction is stretched, front end face 121 has the third end 1212 opposite with first end 1113.Measuring unit 141 is further used for: measurement the
The numerical value of four length d, and the numerical value of the 4th length d is input to computing unit 142, the 4th length d is front end face center line
The distance between 1211 and third end 1212.Computing unit 142 is used to calculate the angle for turning to included angle A according to the numerical information of input
Degree, can specifically be realized, this method may include step A1~step A3 by method flow as shown in Figure 5, in which:
Step A1, judge whether a is less than or equal toIf so then execute step A2, A3 is thened follow the steps if not；
Step A2, the steering included angle A between tractor and trailer is calculated according to aforementioned formula (1), do not repeated herein；
Step A3, the steering included angle A that (2) calculate between tractor and trailer according to the following formula is as follows:
In formula (2), a is the first length, and b is the second length, and c is third length, and d is the 4th length.
When computing unit 142 judges that a is greater thanWhen, as shown in Fig. 4 structure, at this point, connection rear end face center line
1112 and the first flexible cable 1411 of front end face center line 1211 abutted by the third end 1212 of trailer 12, make the first flexible wires
Cable 1411 is bent, and forms two-part structure, wherein one section is the third end 1212 of trailer 12 and the length of front end face center line 1211
Degree, length of the other end between rear end face center line 1112 and third end 1212, at this point, turning to included angle A is two folders in Fig. 4
Therefore the sum at angle can be calculated separately to sum up that you can get it after angle again and turn to by each side length of two triangles and be pressed from both sides
The specific value of angle A.
Preferably, in the embodiment of the present invention, horizontal second is connected between first end 1113 and third end 1212
Flexible cable 1412.In order to further obtain the more accurate angle information for turning to included angle A, except steering included angle A can be obtained
Specific value outside, the directional information for turning to included angle A can also be obtained, measuring unit 141 is also used to measure the 5th length e and the
The numerical value of six length f, and the numerical value that measurement obtains is input to computing unit 142, the 5th length e is the second flexible cable 1412
Physical length between first end 1113 and third end 1212, the 6th length f are rear end face center line 1112 and first end
The distance between 1113；Computing unit 142 be also used to according to the first length a, the second length b, third length c, the 4th length d,
The numerical value of 5th length e and the 6th length f determines the orientation information for turning to included angle A.In one example, 142 basis of computing unit
The determining steering folder of numerical value of first length a, the second length b, third length c, the 4th length d, the 5th length e and the 6th length f
The orientation information of angle A, specifically can be by being realized with method flow as described in Figure 6, the method comprising the steps of B1~step B6,
In:
Step B1, (3) calculate first angle α according to the following formula, wherein f is the 6th length:
Step B2, (4) calculate second angle β according to the following formula:
Step B3, (5) calculate third angle γ according to the following formula, and wherein e is the 5th length:
Step B4 compares and turns to included angle A and (γ-alpha+beta) and (γ+alpha-beta), executes step if turning to included angle A=γ-alpha+beta
Rapid B5, if turning to included angle A=γ+alpha-beta thens follow the steps B6；
Step B5 determines that turning to included angle A is positive value, and assigns following first orientation information: 12 phase of trailer to turn to included angle A
Axial line O direction for tractor 11 around towing pin 13 is rotated clockwise；
Step B6 determines that turning to included angle A is negative value, and assigns following second orientation information: 12 phase of trailer to turn to included angle A
Axial line O direction for tractor 11 around towing pin 13 rotates counterclockwise.
As shown in Fig. 4 structure, when being benchmark with tractor 11, trailer 12 is toward the clockwise direction with respect to tractor 11
When rotation, the steering included angle A between trailer 12 and tractor 11 is positive value, that is, at this point, turning to included angle A=γ-alpha+beta；Similarly,
When being benchmark with tractor 11, when trailer 12 is counterclockwise rotated relative to tractor 11, trailer 12 and tractor
Steering included angle A between 11 is negative value, and turns to included angle A=γ+alpha-beta；In the present invention, the positive value for turning to included angle A indicates to hang
Vehicle 12, towards being rotated clockwise, turns to the opening of included angle A towards 11 direction of tractor with respect to tractor 11；And turn to angle
The negative value of A indicates that trailer 12, towards rotating counterclockwise, turns to the opening of included angle A similarly towards traction with respect to tractor 11
The direction of vehicle 11；That is, positive value and negative value are it is merely meant that turn to the direction of included angle A.
By the second flexible cable 1412 being arranged between first end 1113 and third end 1212, steering folder can be calculated
The direction of angle A can not only obtain the size for turning to included angle A, moreover it is possible to calculate by the second flexible cable 1412 in real time in this way
The direction of included angle A is turned to out, that is, when being benchmark with tractor 11, can accurately measure trailer 12 with respect to tractor
11 be to rotate clockwise also to be directed towards to rotate counterclockwise, in such manner, it is possible to turn to vehicle 1 more accurately
The numerical value of included angle A and direction.Certainly, other than it can accurately measure the directional information for turning to included angle A using the above method, may be used also
To give the information according to the car running computer of vehicle 1 or the acquisition of information being manually entered to turn to the directional information of included angle A, car running computer
Information may include the information such as automatic Pilot information.It can also be and preset and be stored with Vehicular turn and turn to angle
The corresponding relationship in direction, computing unit 142 are determined from the corresponding relationship according to vehicle current direction information and are calculated
Turn to the direction of angle.
Specifically, in above-mentioned vehicle 1, the measurement of the first length a and the 5th length e can using string potentiometer into
Row.
In above-mentioned vehicle 1, while measurement turns to included angle A, moreover it is possible between real-time measurement trailer 12 and tractor 11
Distance, this parameter can also be used as a vehicle 1 safety traffic monitoring data.
Second flexible cable 1412 can not only be provided between first end 1113 and third end 1212, also can be set
Between the other end of the front end face 121 of second end 1114 and trailer 12 corresponding with second end 1114, it can play calculating and turn
To the purpose of included angle A；And the first flexible cable 1411 and/or the second flexible cable 1412 can be by string potentiometer shapes
At.
Since string potentiometer has the advantages that measurement accuracy is high, compact-sized, waterproof performance is good and use cost is low, because
This, measures the first length a using string potentiometer, can reduce the use cost of vehicle 1, and it is quasi- to can be improved measurement ground
True property.
On the basis of above-mentioned various embodiments, above-mentioned measuring unit 141 can be string potentiometer, laser radar range
Instrument or electronic ruler, or other any instruments for being able to carry out measurement.Above-mentioned computing unit 142 can be single for electronic control
First ECU (Electronic Control Unit), or MCU (Microcontroller Unit, micro-control unit),
Single-chip microcontroller etc. is able to carry out the electronic equipment of calculating.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
Bright spirit and scope.In this way, if these modifications and changes of the present invention belongs to the claims in the present invention and its equivalent technologies
Within the scope of, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of vehicle, including the tractor and trailer being rotatablely connected by towing pin, which is characterized in that further include being set to institute
The steering angle measuring device between tractor and the trailer is stated, the steering angle measuring device is for measuring the traction
Vehicle and the trailer relatively rotate the steering angle to be formed.
2. vehicle according to claim 1, which is characterized in that the towing pin has the axle center extended along the vertical direction
Line；The driver's cabin of the tractor has the rear end face towards the trailer, and the rear end face has and the axis parallel
Rear end face center line；The trailer has the front end face that is oppositely arranged with the rear end face, the front end face have with it is described
The front end face center line of axis parallel；Level is connected between the front end face center line and the rear end face center line
First flexible cable；
It is described to turn to the measuring unit and computing unit that angle measuring device includes signal connection；
The measuring unit is used to measure the numerical value of the first length, the second length and third length, and the number that measurement is obtained
Value is input to the computing unit；Wherein, first length is that first flexible cable is located at front end face center line with after
Physical length between end face center line, the second length are the distance between the axial line and the front end face center line, the
Three length are the distance between axial line and the rear end face center line；
The computing unit is used to calculate the angle for turning to angle according to the numerical information of input.
3. vehicle according to claim 2, which is characterized in that the computing unit calculates institute according to the numerical information of input
The angle for turning to angle is stated, is specifically included:
Judge whether a is less than or equal toWherein, a is first length, and b is second length, and c is the third
Length:
If judging, a is less than or equal toThe steering angle between the tractor and the trailer is then calculated according to the following formula
A are as follows:
4. vehicle according to claim 3, which is characterized in that along the width extending direction of the vehicle, the rear end face
With the first end and second end being oppositely arranged；Along the length extending direction of the vehicle, the front end face has and described the
The opposite third end in one end；
The measuring unit is also used to: the numerical value of the 4th length of measurement, and the numerical value of the 4th length is input to calculating list
Member, the 4th length are the distance between the front end face center line and the third end；
The computing unit is also used to: if judging, a is greater thanThe tractor and the extension are then calculated according to the following formula
Steering included angle A between vehicle are as follows:
Wherein, d is the 4th length.
5. vehicle according to claim 4, which is characterized in that be connected between the first end and the third end
The second horizontal flexible cable；
The measuring unit is also used to measure the numerical value of the 5th length and the 6th length, and the numerical value that measurement obtains is input to institute
Computing unit is stated, the 5th length is actual (tube) length of second flexible cable between the first end and the third end
Degree, the 6th length are the distance between rear end face center line and first end；
The computing unit is also used to according to the first length, the second length, third length, the 4th length, the 5th length and the 6th
The numerical value of length determines the orientation information for turning to angle.
6. vehicle according to claim 5, which is characterized in that computing unit is long according to the first length, the second length, third
The numerical value of degree, the 4th length, the 5th length and the 6th length determines the orientation information for turning to angle, specifically includes:
First angle α is calculated according to the following formula, wherein f is the 6th length:
Second angle β is calculated according to the following formula:
Third angle γ is calculated according to the following formula, and wherein e is the 5th length:
Compare the steering included angle A and (γ-alpha+beta) and (γ+alpha-beta)；
If when A=γ-alpha+beta, it is determined that the steering included angle A is positive value, and assigns following first direction for the steering included angle A
Information: axial line direction of the trailer relative to the tractor around the towing pin is rotated clockwise；
If when A=γ+alpha-beta, it is determined that the steering included angle A is negative value, and assigns following second direction for the steering included angle A
Information: axial line direction of the trailer relative to the tractor around the towing pin rotates counterclockwise.
7. vehicle according to claim 5, which is characterized in that first flexible cable is formed by string potentiometer；With/
Or, second flexible cable is formed by string potentiometer.
8. according to the described in any item vehicles of claim 2~7, which is characterized in that the measuring unit is string potentiometer, swashs
Optical radar rangefinder or electronic ruler.
9. according to the described in any item vehicles of claim 2~7, which is characterized in that the computing unit is electronic control unit
ECU。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810301687.0A CN108749923A (en) | 2018-04-04 | 2018-04-04 | A kind of vehicle |
| CN2018103016870 | 2018-04-04 |
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| CN109649491A true CN109649491A (en) | 2019-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810301687.0A Pending CN108749923A (en) | 2018-04-04 | 2018-04-04 | A kind of vehicle |
| CN201920108297.1U Active CN209581619U (en) | 2018-04-04 | 2019-01-22 | A kind of vehicle |
| CN201910057749.2A Pending CN109649491A (en) | 2018-04-04 | 2019-01-22 | A kind of vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810301687.0A Pending CN108749923A (en) | 2018-04-04 | 2018-04-04 | A kind of vehicle |
| CN201920108297.1U Active CN209581619U (en) | 2018-04-04 | 2019-01-22 | A kind of vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112082484A (en) * | 2020-09-11 | 2020-12-15 | 武汉理工大学 | Device and method for detecting engineering vehicle body deviation based on single line laser radar |
| CN112477861A (en) * | 2019-08-20 | 2021-03-12 | 北京图森智途科技有限公司 | Driving control method and device for automatic driving truck and automatic driving truck |
| CN114834528A (en) * | 2022-05-05 | 2022-08-02 | 北京主线科技有限公司 | Angle measuring device and semi-trailer type transport vehicle |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108749923A (en) * | 2018-04-04 | 2018-11-06 | 北京图森未来科技有限公司 | A kind of vehicle |
| CN111366938B (en) * | 2018-12-10 | 2023-03-14 | 北京图森智途科技有限公司 | Trailer included angle measuring method and device and vehicle |
| CN111522237B (en) * | 2020-04-24 | 2021-08-03 | 北京科技大学 | Obstacle avoidance control method for semitrailer |
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| CN112389437B (en) * | 2021-01-21 | 2021-04-13 | 北京主线科技有限公司 | Device and method for measuring and calculating included angle between head and trailer of automatic driving truck |
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| CN114834528A (en) * | 2022-05-05 | 2022-08-02 | 北京主线科技有限公司 | Angle measuring device and semi-trailer type transport vehicle |
| CN114834528B (en) * | 2022-05-05 | 2023-02-28 | 北京主线科技有限公司 | Angle measuring device and semi-trailer type transport vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108749923A (en) | 2018-11-06 |
| CN209581619U (en) | 2019-11-05 |
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