CN110949268A - Lateral radar of trailer, and method, device and system for adjusting forward radar of vehicle - Google Patents
Lateral radar of trailer, and method, device and system for adjusting forward radar of vehicle Download PDFInfo
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- CN110949268A CN110949268A CN201911304264.5A CN201911304264A CN110949268A CN 110949268 A CN110949268 A CN 110949268A CN 201911304264 A CN201911304264 A CN 201911304264A CN 110949268 A CN110949268 A CN 110949268A
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- 238000001514 detection method Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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Abstract
The embodiment of the invention provides a method, a device and a system for adjusting a lateral radar of a trailer and a forward radar of a vehicle, wherein the method for adjusting the lateral radar of the trailer comprises the following steps: when the trailer turns, acquiring the rotation angle of the trailer through sensors arranged at the connection part of the vehicle head and the carriage; and adjusting the orientation angle of the lateral radar of the trailer based on the rotation angle. According to the technical scheme provided by the embodiment of the invention, the phenomenon that the main view field of the lateral radar of the trailer is overlapped with the tail part of the trailer can be avoided, the main view field of the lateral radar can be positioned in the side and rear areas of the vehicle when the vehicle turns, and the detection capability of dangerous targets can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a method, a device and a system for adjusting a lateral radar of a trailer and a forward radar of a vehicle.
Background
The radar is widely applied in the field of vehicles, can measure the distance between a vehicle and an obstacle, and transmits the distance to a display screen to display images or warn a driver through a buzzer, so that the driver can know the road conditions around the vehicle and avoid collision with the obstacle.
Wherein, the trailer is as comparatively special vehicle, because the automobile body reason such as longer, except installing the rear-view mirror, generally still need install the side radar at the head of trailer for other vehicles or the object that the detection is close to the trailer, for example, can detect the vehicle of the adjacent way in trailer both sides, and the vehicle at trailer rear. However, when the trailer turns, the main field of view of the lateral radar easily overlaps with the tail of the trailer, and other vehicles or objects in the side area and the rear area of the vehicle cannot be well detected, so that the detection capability of dangerous objects in the driving environment is lost.
Disclosure of Invention
The embodiment of the invention provides a side radar of a trailer, a method and a device for adjusting a forward radar of a vehicle, which can avoid the phenomenon that the main view field of the side radar of the trailer is overlapped with the tail part of the trailer, can enable the main view field of the side radar to be in the side and rear areas of the vehicle when the vehicle turns, and can improve the detection capability of dangerous targets.
In a first aspect, an embodiment of the present invention provides a method for adjusting a lateral radar of a trailer, including:
when the trailer turns, acquiring the rotation angle of the trailer through sensors arranged at the connection part of the vehicle head and the carriage;
and adjusting the orientation angle of the lateral radar of the trailer based on the rotation angle.
In a second aspect, an embodiment of the present invention provides a method for adjusting a forward radar of a vehicle, including:
when the vehicle turns, acquiring sensor data of the vehicle;
determining a turning radius of the vehicle and a speed of the vehicle from the sensor data;
adjusting an orientation angle of a forward radar of the vehicle based on the turning radius and the speed.
In a third aspect, an embodiment of the present invention further provides a lateral radar adjustment device for a trailer, including:
the acquisition module is used for acquiring the rotation angle of the trailer through sensors arranged at the connection part of the vehicle head and the carriage when the trailer turns;
and the adjusting module is used for adjusting the orientation angle of the lateral radar of the vehicle based on the rotation angle.
In a fourth aspect, an embodiment of the present invention provides a lateral radar adjustment system for a trailer, including a lateral radar adjustment device for a trailer as provided in the embodiment of the present invention, further including a driving device and a follower bracket;
a lateral radar is arranged on the follow-up bracket, and the follow-up bracket is fixed on the trailer;
the driving device is used for driving the follow-up support to rotate;
and the sensor is arranged at the connecting part of the vehicle head and the carriage and is used for acquiring the rotation angle of the trailer.
According to the technical scheme provided by the embodiment of the invention, when the trailer turns, the rotation angle of the trailer is obtained through the sensors arranged at the connection part of the vehicle head and the carriage, and the orientation angle of the lateral radar of the trailer is adjusted based on the rotation angle, so that the phenomenon that the main view field of the lateral radar of the trailer is overlapped with the tail part of the trailer can be avoided, the main view field of the lateral radar is positioned in the side and rear areas of the vehicle when the trailer turns, and the detection capability of dangerous targets in the driving environment can be improved. .
Drawings
Fig. 1a is a flowchart of a method for adjusting a lateral radar of a trailer according to an embodiment of the present invention;
FIG. 1b is a schematic view of a trailer according to an embodiment of the present invention when the trailer is not turning;
FIG. 1c is a schematic view of a trailer turning according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for adjusting a lateral radar of a trailer according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for adjusting a forward radar of a vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of a lateral radar adjustment device of a trailer according to an embodiment of the present invention;
FIG. 5 is a block diagram of a lateral radar adjustment system for a trailer according to an embodiment of the present invention;
FIG. 6 is a block diagram of a forward radar adjustment device for a vehicle according to an embodiment of the present invention;
fig. 7 is a block diagram of a lateral radar adjustment system of a trailer according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1a is a flowchart of a method for adjusting a lateral radar of a trailer according to an embodiment of the present invention, where the method may be performed by a lateral radar adjusting apparatus of a trailer, and the apparatus may be implemented by software and/or hardware. The device can be configured in a vehicle controller, and the method provided by the embodiment of the invention is applied to the scene of turning the trailer. As shown in fig. 1a, the technical solution provided by the embodiment of the present invention includes:
s110: when the trailer turns, the rotation angle of the trailer is obtained through the sensors arranged at the connection part of the vehicle head and the carriage.
In the embodiment of the invention, the sensor is arranged at the connecting part of the trailer head and the carriage, when the angle of the trailer head changes, the sensor can detect the rotation angle in real time, and the vehicle controller can acquire data from the sensor in real time or at set time intervals.
S120: and adjusting the orientation angle of the lateral radar of the trailer based on the rotation angle.
In one implementation manner of the embodiment of the present invention, the adjusting an orientation angle of a lateral radar of a trailer based on the rotation angle includes: and controlling a driving device to drive a follow-up support where the lateral radar is located to rotate based on the rotation angle, so that the total variation of the orientation angle of the lateral radar reaches the rotation angle.
Wherein the driving device may be a servo motor or the like. The vehicle controller may determine an adjustment value of the orientation angle of the side radar based on the trailer turning angle obtained by the nose and carriage connection portion sensors, and send a control signal to the driving device so that the driving device drives the follower bracket to turn based on the control signal. The lateral radar in the embodiment of the present invention may detect other vehicles or objects approaching the trailer, and specifically, may detect vehicles or physical vehicles on adjacent lanes on both sides of the trailer, and vehicles or objects behind the trailer.
Wherein, the side radar can set up on the follow-up support, can rotate along with the rotation of follow-up support. Optionally, the follow-up bracket may be disposed at a position where the trailer rearview mirror is disposed, or may have a predetermined distance from the position where the trailer rearview mirror is disposed, so that the side radar is disposed at the position where the trailer rearview mirror is disposed, or may have a predetermined distance from the position where the trailer rearview mirror is disposed. The driving device and the following support can have a mechanical structure connection relationship, when the driving device moves, the following support can be driven to move, the specific structure relationship can refer to the introduction in the related art, and the structure relationship between the driving device and the following support is not limited to a form, as long as any structure relationship that the driving device can drive the following support to rotate is ensured.
When the vehicle controller controls the driving device to drive the follow-up support to rotate, the lateral radar rotates along with the rotation of the follow-up support, so that the total variation of the orientation angle of the lateral radar reaches an adjusting value. When the trailer turns to the left, the follow-up support is driven to rotate so as to enable the lateral radar to rotate to the left, and therefore the total variation of the orientation angle of the lateral radar reaches a determined adjustment value; when the trailer turns to the right, the control driving device drives the follow-up support to rotate so as to enable the lateral radar to rotate to the right, and therefore the total variation of the orientation angle of the lateral radar reaches a determined adjusting value. From this, through the adjustment to the side direction radar angle, can guarantee that the visual field of side direction radar is towards the region of interest always, can make the side direction radar can survey the rear and the side region of trailer always, avoid producing the detection blind area, improve the detectability to dangerous target among the environment of traveling.
As shown in fig. 1B, when the trailer is not turning, the included angle between the head 10 and the carriage 20 of the trailer is B, and then is 180 degrees, the lateral radar 540 is arranged on the position of the rearview mirror of the head, and the scanning area of the lateral radar 540 is q area. When the trailer turns, as shown in fig. 1c, the included angle between the head and the carriage of the trailer is B0, the angle of the lateral radar rotating along with the head changes clockwise from B-B0, and if the scanning area of the lateral radar is still the original scanning area to detect the object in the lateral area of the trailer, the orientation angle of the lateral radar needs to change counterclockwise from B-B0.
According to the method for adjusting the lateral radar of the trailer provided by the embodiment of the invention, when the trailer turns, the angle of the lateral radar is adjusted based on the radius of the trailer and the size of the trailer, so that the phenomenon that the main view field of the lateral radar of the trailer is overlapped with the tail of the trailer can be avoided, the main view field of the lateral radar can be in the side and rear areas of a vehicle when the trailer turns, and the detection capability of dangerous targets in a driving environment can be improved.
Fig. 2 is a flowchart of a method for adjusting a lateral radar of a trailer according to an embodiment of the present invention; as shown in fig. 2, the technical solution provided by the embodiment of the present invention includes:
s210: when the trailer turns, the rotation angle of the trailer is obtained through the sensors arranged at the connection part of the vehicle head and the carriage.
S220: and adjusting the orientation angle of the lateral radar of the trailer based on the rotation angle.
S230: determining a speed of the trailer.
In the embodiment of the present invention, the speed of the trailer may be calculated from data of a vehicle speed sensor, or may be determined by referring to a speed determination method in the vehicle-related art.
S240: determining a rate of change of the heading angle of the lateral radar based on the speed of the trailer and as a target rate of change.
In the embodiment of the present invention, the rate of change of the orientation angle may refer to an amount of change of the orientation angle per unit time. The greater the speed of the trailer, the greater the rate of change of the heading angle of the lateral radar, that is to say the greater the speed of the trailer, the faster the adjustment of the heading angle of the lateral radar.
S250: and taking the rotation angle as an adjustment value of the orientation angle of the side radar.
S260: and adjusting the orientation angle of the lateral radar by adopting the target change rate so as to enable the total change amount of the orientation angle of the lateral radar to reach the adjustment value.
In the embodiment of the present invention, specifically, when the orientation angle of the lateral radar is adjusted, it is ensured that the orientation angle of the lateral radar changes at the target change rate until the total change amount of the orientation angle of the lateral radar reaches the determined adjustment value. For example, when the adjustment value of the heading angle of the side radar is 45 degrees and the target change rate is 15 degrees/s, the total change amount of the heading angle by the 3s side radar reaches 45 degrees.
From this, the rate of change of side direction radar orientation angle is confirmed to speed through the trailer, adjusts the orientation angle of side direction radar through this rate of change to make the total variation of orientation angle of side direction radar reach the adjustment value, can make the side direction radar confirm the speed of orientation angle adjustment based on the speed of trailer, can make the main visual field of side direction radar adapt to the change of trailer speed, avoid producing the hysteresis, improve dangerous target's detectability.
Fig. 3 is a flowchart of a forward radar adjustment method for a vehicle according to an embodiment of the present invention, which may be performed by a forward radar adjustment apparatus for a vehicle, where the apparatus may be implemented by software and/or hardware. The device can be configured in a vehicle controller, and the method provided by the embodiment of the invention is applied to the scene of vehicle turning. As shown in fig. 3, the technical solution provided by the embodiment of the present invention includes:
s310: when the vehicle turns, sensor data of the vehicle is acquired.
In the embodiment of the invention, a plurality of sensors are arranged on the vehicle, and the vehicle controller can acquire data from the sensors in real time or at set time intervals.
S320: a turning radius of the vehicle and a speed of the vehicle are determined from the sensor data.
In embodiments of the invention, the geometric parameters may be calculated from the sensor data to determine the turning radius of the vehicle, or the speed of the vehicle may be determined from a vehicle speed sensor, the yaw rate of the vehicle may be calculated based on other sensor data, and the turning radius of the vehicle may be determined from the yaw rate and the speed of the vehicle. The method of determining the turning radius of the vehicle based on the sensor data may also be other methods, among others.
S330: adjusting an orientation angle of a forward radar of the vehicle based on the turning radius and the speed.
In an implementation manner of the embodiment of the present invention, optionally, adjusting an orientation angle of the forward radar based on the turning radius and the speed includes: determining a rate of change of an orientation angle of the forward radar based on the speed of the vehicle and as a target rate of change; determining a rate of change of an orientation angle of the forward radar based on the speed of the vehicle and as a target rate of change; determining an adjustment value for an orientation angle of the forward radar based on the turning radius; and adjusting the orientation angle of the forward radar by adopting the target change rate so that the total change amount of the orientation angle of the forward radar reaches the adjustment value.
Wherein, the forward radar can set up on the follow-up support, fixes the front end at the vehicle through the follow-up support. The vehicle controller can confirm the adjustment value of the orientation angle of the forward radar based on the turning radius, and sends a control signal to the driving device, so that the driving device drives the follow-up support to rotate based on the control signal, the forward radar rotates, and the purpose of adjusting the orientation angle of the forward radar is achieved. The forward radar in the embodiment of the present invention can detect a vehicle or an object in front of the vehicle. The driving device and the following support can have a mechanical structure connection relationship, when the driving device moves, the following support can be driven to move, the specific structure relationship can refer to the introduction in the related art, and the structure relationship between the driving device and the following support is not limited to a form, as long as any structure relationship that the driving device can drive the following support to rotate is ensured.
When the vehicle controller controls the driving device to drive the follow-up support to rotate, the forward radar rotates along with the rotation of the follow-up support, so that the total variation of the orientation angle of the forward radar reaches a determined adjusting value. When the vehicle turns to the left, the follow-up support is driven to rotate so as to enable the forward radar to rotate to the left, and therefore the total variation of the orientation angle of the forward radar reaches a determined adjusting value; when the vehicle turns to the right, the control driving device drives the follow-up support to rotate so as to enable the forward radar to rotate to the right, and therefore the total variation of the orientation angle of the forward radar reaches a determined adjusting value. Therefore, the forward radar angle is adjusted, the forward radar view field can be enabled to face towards the region of interest all the time, and deviation between the running track of the vehicle and the main view field of the radar is avoided.
In the embodiment of the present invention, a specific method for determining the adjustment value of the orientation angle of the forward radar based on the turning radius may be: a turning angle of the vehicle is determined based on the turning radius, and an adjustment value of a heading angle of the forward radar is determined based on the turning angle. Specifically, the turning angle of the vehicle is used as an adjustment value of the forward radar orientation angle.
In the embodiment of the present invention, the rate of change of the orientation angle may refer to an amount of change of the orientation angle per unit time. The greater the speed of the vehicle, the greater the rate of change of the heading angle of the forward radar, that is to say the greater the speed of the vehicle, the faster the adjustment of the heading angle of the forward radar. Specifically, when the orientation angle of the forward radar is adjusted, the orientation angle of the forward radar is guaranteed to change at the target change rate until the total change amount of the orientation angle of the forward radar reaches the determined adjustment value. From this, the rate of change of radar orientation angle is preceding confirmed through the speed of vehicle, adjust the orientation angle of preceding radar through this rate of change, so that the total change volume of orientation angle of preceding radar reaches the adjustment value, can make the main visual field of preceding radar all the time towards the region of interest, avoid the main visual field of preceding radar and the orbit production deviation of vehicle, improve the ability of discerning dangerous target, and can make the main visual field of preceding radar adapt to the change of vehicle speed, avoid producing the problem that lags and cause and can not in time detect dangerous target.
According to the adjusting method of the forward radar of the vehicle, provided by the embodiment of the invention, when the vehicle turns, the orientation angle of the forward radar is adjusted based on the turning radius and the speed, so that the deviation between the main view field of the forward radar and the running track of the vehicle can be avoided, and the capability of identifying dangerous targets is improved.
Fig. 4 is a block diagram of a lateral radar adjustment device for a trailer according to an embodiment of the present invention, where as shown in fig. 4, the device includes: an acquisition module 410 and an adjustment module 420.
The acquisition module 410 is used for acquiring the rotation angle of the trailer through sensors arranged at the connection part of the vehicle head and the carriage when the trailer turns;
and an adjusting module 420 for adjusting the orientation angle of the lateral radar of the vehicle based on the rotation angle.
Optionally, the adjusting module 420 is configured to control the driving device to drive the following bracket where the lateral radar is located to rotate based on the rotation angle, so that the total variation of the orientation angle of the lateral radar reaches the rotation angle.
Optionally, the adjusting module 420 is configured to: and taking the rotation angle as an adjustment value of the orientation angle of the side radar.
Optionally, the method further includes: a rate of change determination module to:
determining a speed of the trailer;
determining a rate of change of the heading angle of the lateral radar based on the speed of the trailer and as a target rate of change;
an adjustment module 420 configured to:
taking the rotation angle as an adjustment value of the orientation angle of the lateral radar;
and adjusting the orientation angle of the lateral radar by adopting the target change rate so as to enable the total change amount of the orientation angle of the lateral radar to reach the adjustment value.
Optionally, the side radar is arranged at the position of the trailer rearview mirror, or the distance between the arrangement position of the side radar and the rearview mirror is a preset distance.
The device can execute the adjusting method of the lateral radar of the trailer provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the executing method.
Fig. 5 is a block diagram of a lateral radar adjustment system of a trailer according to an embodiment of the present invention, and as shown in fig. 5, the system includes an adjustment device 500 of a lateral radar of a trailer according to an embodiment of the present invention, and further includes a driving device 510, a follower bracket 520, and a sensor 530 disposed at a connection portion between a vehicle head and a vehicle compartment.
Wherein, a lateral radar 540 is arranged on the follow-up bracket 520, and the follow-up bracket 520 is fixed on the trailer;
the driving device 510 is used for driving the follow-up bracket 520 to rotate;
and the sensor 530 is arranged at the connecting part of the head and the carriage and is used for acquiring the rotation angle of the trailer.
According to the system provided by the embodiment of the invention, when the trailer turns, the angle of the lateral radar is adjusted based on the radius of the trailer and the size of the trailer, so that the phenomenon that the view field of the lateral radar of the trailer is overlapped with the tail of the trailer can be avoided, the view field of the lateral radar can be in the side and rear areas of the vehicle when the trailer turns, and the detection capability of dangerous targets can be improved.
Fig. 6 is a block diagram of a forward radar adjustment apparatus for a vehicle according to an embodiment of the present invention, where, as shown in fig. 6, the apparatus includes: an acquisition module 610, a determination module 620, and an adjustment module 630.
The acquiring module 610 is used for acquiring sensor data of the vehicle when the vehicle turns;
a determination module 620 for determining a turning radius of the vehicle and a speed of the vehicle from the sensor data;
an adjustment module 630 for adjusting an orientation angle of a forward radar of the vehicle based on the turning radius and the speed.
Optionally, the adjusting module 630 is configured to determine a change rate of the heading angle of the forward radar based on the speed of the vehicle, and use the change rate as a target change rate;
determining an adjustment value for an orientation angle of the forward radar based on the turning radius;
and adjusting the orientation angle of the forward radar by adopting the target change rate so as to enable the change amount of the orientation angle of the forward radar to reach the adjustment value.
The product can execute the adjustment method of the forward radar of the trailer provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 7 is a block diagram of a forward radar adjustment system of a vehicle according to an embodiment of the present invention, and as shown in fig. 7, the system includes an adjustment device 700 of a forward radar of a vehicle according to an embodiment of the present invention, and further includes a driving device 710 and a follower bracket 720.
Wherein, a forward radar 730 is arranged on the follow-up bracket 720, and the follow-up bracket 720 is fixed on the vehicle;
and the driving device 710 is used for driving the follow-up bracket 720 to rotate.
According to the system provided by the embodiment of the invention, when the vehicle turns, the orientation angle of the forward radar can be adjusted based on the turning radius and the speed, so that the deviation between the main view field of the forward radar and the running track of the vehicle can be avoided, and the detection capability of a dangerous target is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of lateral radar adjustment of a trailer, comprising:
when the trailer turns, acquiring the rotation angle of the trailer through sensors arranged at the connection part of the vehicle head and the carriage;
and adjusting the orientation angle of the lateral radar of the trailer based on the rotation angle.
2. The method of claim 1, wherein adjusting the heading angle of the lateral radar of the trailer based on the rotation angle comprises:
and controlling a driving device to drive a follow-up support where the lateral radar is located to rotate based on the rotation angle, so that the total variation of the orientation angle of the lateral radar reaches the rotation angle.
3. The method of claim 1, wherein adjusting an orientation angle of a lateral radar of the trailer based on the rotation angle comprises:
and taking the rotation angle as an adjustment value of the orientation angle of the side radar.
4. The method of claim 1, further comprising:
determining a speed of the trailer;
determining a rate of change of the heading angle of the lateral radar based on the speed of the trailer and as a target rate of change;
adjusting an orientation angle of a lateral radar of the trailer based on the rotation angle, comprising:
taking the rotation angle as an adjustment value of the orientation angle of the lateral radar;
and adjusting the orientation angle of the lateral radar by adopting the target change rate so as to enable the total change amount of the orientation angle of the lateral radar to reach the adjustment value.
5. The method according to claim 1, wherein the side radar is disposed at a position where the trailer rearview mirror is disposed, or a distance between the disposed position of the side radar and the rearview mirror is a preset distance.
6. A method of forward radar adjustment for a vehicle, comprising:
when the vehicle turns, acquiring sensor data of the vehicle;
determining a turning radius of the vehicle and a speed of the vehicle from the sensor data;
adjusting an orientation angle of a forward radar of the vehicle based on the turning radius and the speed.
7. The method of claim 6,
the adjusting a heading angle of a forward radar of the vehicle based on the turning radius and the speed comprises:
determining a rate of change of an orientation angle of the forward radar based on the speed of the vehicle and as a target rate of change;
determining an adjustment value for an orientation angle of the forward radar based on the turning radius;
and adjusting the orientation angle of the forward radar by adopting the target change rate so that the total change amount of the orientation angle of the forward radar reaches the adjustment value.
8. The method of claim 7, wherein the determining an adjustment value for an orientation angle of the forward radar based on the turn radius comprises:
determining a turning angle of the vehicle based on the turning radius;
and taking the rotation angle of the vehicle as an adjustment value of the orientation angle of the forward radar.
9. A lateral radar adjustment device for a trailer, comprising:
the acquisition module is used for acquiring the rotation angle of the trailer through sensors arranged at the connection part of the vehicle head and the carriage when the trailer turns;
and the adjusting module is used for adjusting the orientation angle of the lateral radar of the vehicle based on the rotation angle.
10. A lateral radar adjustment system for a trailer, comprising the apparatus of claim 9, further comprising a drive means and a follower carriage;
a lateral radar is arranged on the follow-up bracket, and the follow-up bracket is fixed on the trailer;
the driving device is used for driving the follow-up support to rotate;
and the sensor is arranged at the connecting part of the vehicle head and the carriage and is used for acquiring the rotation angle of the trailer.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111619557A (en) * | 2020-04-10 | 2020-09-04 | 浙江吉利汽车研究院有限公司 | Dangerous road vehicle control method and device, electronic equipment and storage medium |
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| CN203047062U (en) * | 2012-12-06 | 2013-07-10 | 同济大学第一附属中学 | Detecting and early-warning device in process of turning of vehicle |
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| CN110502004A (en) * | 2019-07-01 | 2019-11-26 | 江苏大学 | A kind of running region importance weight distribution modeling method towards the processing of intelligent vehicle laser radar data |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111619557A (en) * | 2020-04-10 | 2020-09-04 | 浙江吉利汽车研究院有限公司 | Dangerous road vehicle control method and device, electronic equipment and storage medium |
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