CN115877850A - Autonomous driving traction-traction system and motion control method and scheduling method thereof - Google Patents
Autonomous driving traction-traction system and motion control method and scheduling method thereof Download PDFInfo
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- CN115877850A CN115877850A CN202310136431.XA CN202310136431A CN115877850A CN 115877850 A CN115877850 A CN 115877850A CN 202310136431 A CN202310136431 A CN 202310136431A CN 115877850 A CN115877850 A CN 115877850A
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Abstract
The invention discloses an autonomous driving traction-traction system, a motion control method and a scheduling method thereof, belonging to the technical field of automatic driving, wherein the traction-traction system comprises: the system comprises a tractor, more than one active trailer and a cloud server; the tractor is sequentially connected with more than one active trailer head and tail; the tractor has an automatic driving function; the active trailer can be controlled to actively move, the front wheel of the active trailer passively steers along with the tractor or the previous active trailer, the rear wheel is oriented and is a driving wheel, and the rear wheel is controlled to follow the tractor or the previous active trailer in an active driving mode; the tractor, the active trailer and the cloud server can be mutually in wireless communication, and the running state information of the tractor and the active trailer is shared; the invention can effectively solve the influence of the uncertainty of the trailer load on the motion efficiency and the driving safety of the automatic driving traction-traction system.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to an autonomous driving towing-towing system, a motion control method and a scheduling method thereof.
Background
Along with the development of the automatic driving technology, the automatic transportation of the goods can be flexibly carried out by the tractor and the trailer system which are driven independently, and the productivity can be effectively liberated.
An existing autonomous driving tractor and trailer system (a traction-traction system) is mainly used for intelligently upgrading a tractor, and autonomous operation of the system is achieved by deploying a sensor, a computing unit and the like to the tractor and using a trailer as a follow-up unit. However, in different application environments, the size, the number of sections, the load and the like of trailers carried by the autonomous tractors are different, so that the conventional system has the following remarkable defects:
(1) The different requirements of the trailer on the driving force and the braking force due to different loads, sections and the like affect the selection of motors, batteries and the like in a power system; if the model is selected according to the common load, resource waste or insufficient power can be caused when the model is applied to different scenes, and the adaptability of the system to different application scenes is influenced;
(2) The difference of the load, the number of joints and the like of the trailer limits the movement capability of the traction-traction system; only by the braking capability of the tractor, the larger inertia can bring larger potential safety hazard when the load is heavier;
(3) The load distribution of the trailer needs to be carefully regulated and controlled, so that the use difficulty is increased; if the load is distributed later, the adhesion force of the tractor can be obviously reduced due to the lever effect, so that the capability of resisting transverse interference is weakened, and the sway instability is easy to occur.
Disclosure of Invention
In view of this, the invention provides an autonomous driving towing-towing system, a motion control method and a scheduling method thereof, which can effectively solve the problem that the uncertainty of the trailer load affects the motion efficiency and the driving safety of the autonomous driving towing-towing system.
The invention is realized by the following technical scheme:
an autonomous driving tow-in-tow system comprising: the system comprises a tractor, more than one active trailer and a cloud server;
the tractor and more than one active trailer are sequentially connected end to end; the tractor, the active trailer and two adjacent active trailers are connected through a trailer hook;
the tractor has an automatic driving function;
the active trailer can be controlled to actively move, the front wheel of the active trailer passively steers along with the tractor or the previous active trailer, the rear wheel is oriented and is a driving wheel, and the rear wheel is controlled to follow the tractor or the previous active trailer in an active driving mode;
the tractor, the active trailer and the cloud server can be mutually in wireless communication, and the running state information of the tractor and the active trailer is shared; the cloud server sends expected speed control instructions to the tractor and the active trailer according to the running state information, or the tractor automatically generates expected speed control instructions according to the running state information and sends the expected speed control instructions to the active trailer at the same time; the tractor automatically drives according to the received expected speed control instruction and sends an expected motion state initial value to the active trailer; and the active trailer is autonomously driven according to the received expected vehicle speed control command and the initial value of the expected motion state so as to actively follow the tractor or the previous active trailer.
Furthermore, besides an automatic driving control system, a towing hook angle monitoring module A, a hook pressure detection module A, a calculation unit A and a wireless communication module A are also mounted on the towing vehicle;
the towing hook angle monitoring module A adopts a camera A arranged at the tail part of the towing vehicle, and the camera A is used for acquiring picture information A at the towing hook part at the tail part of the towing vehicle and sending the picture information A to the computing unit A;
the hook pressure detection module A adopts a circle of pressure sensor group carried at the joint of the tractor and the active trailer, and the pressure sensor group is used for detecting pressure data A and direction information A at the joint of the tractor and the active trailer and sending the pressure data A and the direction information A to the calculation unit A; the pressure sensor group can obtain the pressure component size vertical to the towing hook and the pressure component size parallel to the towing hook;
the calculation unit A is used for monitoring the running state information of the tractor and executing a control algorithm of the tractor, wherein the control algorithm specifically comprises the following steps: the calculating unit A calculates and calculates a relative angle between the connection part of the current tractor and the head part of the active tractor according to the picture information A, wherein the relative angle is a tractor hook angle A; the calculation unit A judges whether the tractor is connected with the active trailer or not according to the pressure data A and the direction information A; wherein the running state information of the tractor comprises: the method comprises the following steps of (1) rotating speed information of wheels of a tractor, position information of the tractor, self weight of the tractor, a towing hook angle A and connection conditions of the tractor and an active trailer;
the wireless communication module A is used for realizing that the tractor carries out wireless communication with the active trailer and the cloud server respectively.
Furthermore, each active trailer is provided with a battery, a driving motor, a wheel speed detection module, a wireless communication module B, a calculation unit B, a positioning module, display equipment, a trailer load calculation module, a hook pressure detection module B and a trailer hook angle measurement module B;
the driving motor is used for driving the rear wheel of the driving trailer;
the wheel speed detection module is used for detecting the rotating speed of the wheels of the active trailer and sending the rotating speed information to the calculation unit B for monitoring;
the positioning module is used for positioning the active trailer to obtain the position information of the active trailer and sending the position information to the computing unit B for monitoring;
the trailer load detection module adopts pressure sensors B respectively carried at four wheel shafts of the active trailer, and the four pressure sensors B are respectively used for detecting pressure information at the four wheel shafts of the active trailer and sending the pressure information to the calculation unit B;
the towing hook angle monitoring module B adopts a camera B arranged at the tail part of the active trailer, and the camera B is used for acquiring picture information B at the towing hook position of the tail part of the active trailer and sending the picture information B to the computing unit B;
the hook pressure detection module B adopts a circle of pressure sensor group carried at the joint of the two-stage active trailer, and the pressure sensor group is used for detecting pressure data B and direction information B at the joint of the two-stage active trailer and sending the pressure data B and the direction information B to the calculation unit B; the pressure sensor group can obtain the pressure component size vertical to the towing hook and the pressure component size parallel to the towing hook;
the computing unit B is configured to monitor the operating state information of the active trailer, and execute a control algorithm of the active trailer, specifically: the calculation unit B calculates the load of the active trailer according to the pressure information; the calculating unit B calculates and calculates a relative angle between the connection position of the current active trailer and the next-stage active trailer according to the picture information B, wherein the relative angle is a trailer hook angle B; the calculation unit B judges whether the current active trailer is connected with the next-stage active trailer or not according to the pressure data B and the direction information B; wherein the operational status information of the active trailer comprises: the method comprises the following steps that rotation speed information of wheels of an active trailer, position information of the active trailer, load of the active trailer, a trailer hook angle B and the connection condition of the current active trailer and a next-stage active trailer are obtained;
the battery is used for supplying power to power utilization components on the active trailer;
the display equipment is used for displaying vehicle codes, electric quantity and fault information;
and the wireless communication module B is used for realizing that the active trailer is in wireless communication with the tractor and the cloud server respectively.
Further, a wireless communication module C is arranged in the cloud server; and the wireless communication module C is used for realizing that the cloud server is in wireless communication with the tractor and the active trailer respectively.
Furthermore, a towing hook is arranged at the tail part of the towing vehicle; the head part of each active trailer is provided with a hook, and the tail part of each active trailer is provided with a towing hook; the connected hook and the towing hook are the towing hook; the towing hook and the hook are both V-shaped frames, a cylinder with an axis arranged along the vertical direction is arranged on the towing hook, a round hole with an axis arranged along the vertical direction is processed on the hook, and the towing hook and the hook are matched through a hole shaft of the cylinder and the round hole to realize pin joint of the towing hook and the hook.
A motion control method of an autonomous driving traction-traction system comprises the following specific steps:
firstly, assuming that a tractor carries a traditional trailer without a driving motor, namely a follow-up trailer, calculating the expected motion state of each stage of follow-up trailer according to the current position and posture information of the tractor, a towing hook angle A at the joint of the tractor and the follow-up trailer, a towing hook angle B between two follow-up trailers, a target track planned by the tractor and a kinematic recursion model of a plurality of stages of follow-up trailers, wherein the expected motion state of each stage of follow-up trailer is used as the expected motion state of each stage of active trailers;
secondly, converting the expected motion state of each stage of active trailer into an expected speed and an expected rotation angle of each stage of active trailer under the respective vehicle coordinate system through coordinate system conversion, and taking the expected speed and the expected rotation angle as an initial value of the expected motion state of the actively following active trailer;
thirdly, decomposing to obtain the pressure parallel to the towing hook and the pressure vertical to the towing hook based on the numerical value of the pressure sensor group at the joint between the two stages of active trailers, calculating the correction amount of the expected speed based on the pressure parallel to the towing hook and the weight of the active trailer, and further obtaining the corrected expected speed of the active trailer; wherein the weight of the active trailer comprises the dead weight and the load of the active trailer;
fourthly, based on the initial value of the expected motion state of the active trailer and the corrected expected speed, the rotating speed of the driving motor of each active trailer is obtained by applying a current and rotating speed double closed-loop control method; controlling corresponding active trailers of all levels to move actively according to the rotating speeds of all the driving motors, wherein the actual motion state of the active trailers of all levels is consistent with the expected motion state of the follow-up trailers of all levels;
when the cloud server simultaneously sends an expected speed control instruction to the tractor and the active trailer, the motion state of the traction-traction system is updated, and the traction-traction system is replanned and controlled in a rolling time domain mode.
A dispatching method of an autonomous driving traction-traction system is characterized in that a cloud server stores a set of all carrying task information of a current application environment which is decomposed and coded in advance; each section of carrying task information comprises cargo type, cargo weight, cargo quantity, a path starting point and a path maximum gradient; selecting a tractor and an empty active trailer, loading the active trailer with goods, and conveying the goods to a destination by a traction-traction system to form a task segment;
the scheduling method comprises the following specific steps:
the method comprises the steps of firstly, collecting position information and electric quantity information of all tractors and collecting position information and electric quantity information of all active trailers;
calculating a predicted path of the carrying task to be executed by the tractor and the active trailer and a predicted load of the active trailer by combining the position information of the tractor and the active trailer and a set of all carrying task information prestored by the cloud server;
thirdly, evaluating the electric quantity demand of the current active trailer according to the carrying task information, the predicted load and the predicted path of the current active trailer; if the electric quantity information of the current active trailer meets the electric quantity requirement, the current task can be completed, the current active trailer can be selected, otherwise, the current active trailer is not selected, and the like, so that the electric quantity requirement evaluation is carried out on all the active trailers;
evaluating the electric quantity requirement of the current tractor according to the carrying task information, the self weight of the tractor and the predicted path, finishing the current task if the electric quantity information of the current tractor meets the electric quantity requirement, selecting the current tractor, or else, not selecting the current tractor, and so on to evaluate the electric quantity requirement of all tractors;
fourthly, when each task segment starts, selecting a tractor and an active trailer which meet the electric quantity requirement according to the carrying task information and the position information of the tractor and the active trailer; the active trailer is selected according to the principle that a combination with high electric quantity consistency is selected on the premise that the quantity of goods is met;
fifthly, loading goods to the selected active trailer according to the tractor and the active trailer selected by the current task segment, and transporting the goods to a destination by a traction-traction system consisting of the tractor and the active trailer to finish the current task segment;
after the current task segment is completed, calculating the next-stage task according to the positions of the current tractor and the active trailer, performing electric quantity accounting, and executing a new task under the condition of sufficient electric quantity; and if the electric quantity is insufficient, executing a charging or battery replacement task.
Furthermore, in the third step, the towing states, the working states and the fault signals of all tractors are monitored in real time, and the towing states, the actual loads, the working states and the fault signals of all active trailers are monitored in real time;
the towing state of the tractor is whether a rear hook is connected or not, and is calculated by a signal of the hook pressure detection module A; the working state of the tractor is state information of the tractor in waiting or conveying and is calculated by position information and a towing state; the fault signal of the tractor is derived by the calculation of the power peak value of a driving motor arranged in the tractor;
the towing state of the active trailer refers to whether a rear hook is connected or not, and is calculated by a signal of the hook pressure detection module B; the working state of the active trailer is the state information that the trailer is empty or full, and is calculated by position information, a towing state and an actual load; the fault monitoring signal of the active trailer is calculated by the power peak value of the driving motor;
the tractor can send a self-vehicle code, electric quantity information, position information, a towing state, self weight, a predicted path, a working state, a fault signal and an electric quantity evaluation result to the cloud server;
the active trailer can send electric quantity information, position information, a towing state, a predicted load, a predicted path, an actual load, a working state, a fault signal and an electric quantity evaluation result to the towing vehicle and the cloud server.
Compared with the prior tractor-trailer system, the invention has the following beneficial effects that the system has the problems of low speed, no load and the like which influence the running efficiency and possibly have the problems of low braking efficiency, unstable swing and the like which influence the running safety when facing the uncertain trailer load:
1) Compared with the existing traction-traction system, the traction-traction system adopts a distributed power source mode, namely, a power unit containing a motor and a battery is added on the existing follow-up trailer, and the power unit is replaced by an active trailer; the traction-traction system adopting the active trailer has the following characteristics:
(1) The dynamic drag ratio is large, the acceleration capability is strong, and the normal operation speed can be recovered in a short time;
(2) The climbing capacity is strong, the climbing can be rapidly realized, the efficiency is improved, and convenience is brought to route planning;
(3) The load distribution is uniform, the span is long, and the requirement on the pavement adhesion is low;
(4) The battery and the motor are more, and the regenerative braking capability is good;
(5) The brake capacity is strong, and the pressure of the inertia of the trailer on a brake system of the tractor is reduced;
(6) The tractor has small load, is easy to lighten and miniaturize, and has wider use scene;
(7) The power demand on the tractor is reduced, and the problem of swing instability caused by the backward distribution of trailer load is relieved;
(8) The motor of the trailer can be reversely braked, and a braking system is not required to be additionally arranged;
(9) The controllability of the trailer is better, and the trailer is easy to resist external disturbance and track expected values;
(10) The state management unit of the trailer is easy to provide additional functions such as fault monitoring and abnormity monitoring.
2) According to the autonomous driving towing-towing system, the towing hook between the towing vehicle and the active towing vehicle adopts a pin joint mode that the cylinder is matched with the hole shaft of the round hole, so that the angle of the towing hook can be calculated conveniently, and the pressure components vertical to the towing hook and parallel to the towing hook can be calculated conveniently.
3) The invention provides a motion control method of an autonomous driving traction-traction system based on the novel autonomous driving traction-traction system, which aims at the motion planning and control of multi-body cascade, so that the traction-traction system can still ensure high motion efficiency and driving safety under the condition of facing random load.
4) The invention provides a scheduling method of an autonomous driving towing-towing system based on the novel autonomous driving towing-towing system, and further improves the high efficiency and adaptability of the autonomous driving towing-towing system to different application environments.
Drawings
FIG. 1 is a schematic structural view of a tractor-trailer system of the present invention;
FIG. 2 is a schematic structural view of an active trailer according to the present invention;
FIG. 3 is a signal transmission diagram of the tractor-trailer system of the present invention;
FIG. 4 is a control flow diagram of the tow-in-tow system of the present invention;
FIG. 5 is a first schematic diagram of a control method of the tow-in-tow system of the present invention;
FIG. 6 is a schematic diagram of a second embodiment of a control method for the tow-in-tow system of the present invention;
FIG. 7 is an exploded view of a mission of the tractor-trailer system of the present invention;
the system comprises a tractor 1, an active trailer 2, a battery 21, a driving motor 22, a wheel speed detection module 23 and a hook pressure detection module B24.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
the present embodiment provides an autonomous driving tow-drag system, see fig. 1, comprising: the system comprises a tractor 1, more than one active trailer 2 and a cloud server;
the tractor 1 and more than one active trailer 2 are sequentially connected end to end; the tractor 1, the driving trailer 2 and two adjacent driving trailers 2 are connected through a towing hook;
the tractor 1 has an automatic driving function;
the active trailer 2 can be controlled to actively move, the front wheel of the active trailer 2 is passively steered along with the tractor 1 or the previous active trailer 2, the rear wheel is oriented and is a driving wheel, and the rear wheel is controlled to follow the tractor 1 or the previous active trailer 2 in an active driving mode;
the tractor 1, the active trailer 2 and the cloud server can be in wireless communication with each other, and the running state information of the tractor 1 and the active trailer 2 is shared; the cloud server sends an expected speed control instruction to the tractor 1 and the active trailer 2 according to the running state information, or the tractor 1 automatically generates an expected speed control instruction according to the running state information and sends the expected speed control instruction to the active trailer 2 at the same time; the tractor 1 automatically drives according to the received expected speed control instruction and sends an expected motion state initial value to the active trailer 2; the active trailer 2 is driven autonomously according to the received expected vehicle speed control command and the initial value of the expected motion state so as to actively follow the tractor 1 or the previous active trailer 2.
Example 2:
in this embodiment, on the basis 2 of embodiment 1, the specific scheme is as follows:
the tail part of the tractor 1 is provided with a towing hook; the head part of each active trailer 2 is provided with a hook, and the tail part is provided with a towing hook; the tractor 1 is sequentially connected with more than one active trailer 2 end to end, namely when the number of the active trailers 2 is more than two, the hook at the head of the active trailer 2 is connected with the tow hook at the tail of the tractor 1, the hook at the head of the first-stage active trailer 2 is connected with the tow hook at the tail of the tractor 1, the hook at the head of the second-stage active trailer 2 is connected with the tow hook at the tail of the first-stage active trailer 2, and so on, the hook at the head of the nth-stage active trailer 2 is connected with the tow hook at the tail of the n-1-stage active trailer 2, and the connected hook and the tow hook are simply called as the tow hook; in the embodiment, the towing hook and the hook are both V-shaped frames, the towing hook is provided with a cylinder with an axis arranged along the vertical direction, the hook is provided with a circular hole with an axis arranged along the vertical direction, and the towing hook and the hook are matched with a hole shaft of the circular hole through the cylinder to realize pin joint of the towing hook and the hook;
the tractor 1 has an automatic driving function, the chassis of the tractor 1 is flexible in selection scheme, and the automatic driving function can be realized, and if the chassis is selected to be the chassis with Ackermann steering;
the tractor 1 is provided with a towing hook angle monitoring module A, a hook pressure detection module A, a calculation unit A and a wireless communication module A besides an automatic driving control system;
the towing hook angle monitoring module A adopts a camera A arranged at the tail of the towing vehicle 1, and the camera A is used for acquiring picture information A at the towing hook at the tail of the towing vehicle 1 and sending the picture information A to the computing unit A;
the hook pressure detection module A adopts a circle of pressure sensor group carried at the joint of the tractor 1 and the active trailer 2, and the pressure sensor group is used for detecting pressure data A and direction information A at the joint of the tractor 1 and the active trailer 2 and sending the pressure data A and the direction information A to the calculation unit A; wherein, the pressure sensor group can obtain the pressure component magnitude vertical to the towing hook (i.e. parallel to the cylindrical axis of the towing hook) and parallel to the towing hook (i.e. vertical to the cylindrical axis of the towing hook);
the calculation unit a is configured to monitor the running state information of the tractor 1, and execute a control algorithm of the tractor 1, where the control algorithm specifically includes: the calculating unit A calculates and calculates a relative angle between a towing hook at the tail of the current tractor 1 and a hook at the head of the active trailer 2 according to the picture information A, wherein the relative angle is a towing hook angle A; the calculation unit A judges whether the tractor 1 is connected with the active trailer 2 or not according to the pressure data A and the direction information A; wherein, the running state information of the tractor 1 comprises: the method comprises the following steps of (1) rotating speed information of wheels of a tractor 1, position information of the tractor 1, self weight of the tractor 1, a towing hook angle A and connection conditions of the tractor 1 and a driving trailer 2; the rotation speed information of the wheels of the tractor 1, the position information of the tractor 1 and the dead weight of the tractor 1 are calculated by an automatic driving control system of the tractor 1;
the wireless communication module A is used for realizing wireless communication between the tractor 1 and the active trailer 2 and between the tractor and the cloud server;
the front wheel of the active trailer 2 is passively steered along with the tractor 1, and the rear wheel is oriented and is a driving wheel; the front wheel selection scheme is flexible, and the first scheme is as follows: two front wheels of the driving trailer 2 are respectively arranged at two ends of a front suspension, and the front suspension of the driving trailer 2 is steered by 360 degrees; the second scheme is as follows: two front wheels of the driving trailer 2 are universal wheels;
referring to fig. 2, each active trailer 2 is provided with a battery 21, a driving motor 22, a wheel speed detection module 23, a wireless communication module B, a calculation unit B, a positioning module, a display device, a trailer load calculation module, a hook pressure detection module B24 and a trailer angle measurement module B;
the driving motor 22 is used for driving the rear wheel of the driving trailer 2;
the wheel speed detection module 23 is configured to detect a rotational speed of a wheel of the active trailer 2, and send information of the rotational speed to the calculation unit B for monitoring;
the positioning module is used for positioning the active trailer 2 to obtain the position information of the active trailer 2 and sending the position information to the computing unit B for monitoring; when the active trailer 2 is indoors, the positioning module can adopt positioning equipment and technology based on ultra wide band, and when the active trailer 2 is outdoors, the positioning module can adopt positioning equipment and technology based on differential GPS;
the trailer load detection module adopts pressure sensors B respectively carried at four wheel shafts of the active trailer 2, and the four pressure sensors B are respectively used for detecting pressure information at the four wheel shafts of the active trailer 2 and sending the pressure information to the calculation unit B;
the towing hook angle monitoring module B adopts a camera B arranged at the tail part of the driving trailer 2, and the camera B is used for acquiring picture information B at the towing hook position at the tail part of the driving trailer 2 and sending the picture information B to the computing unit B;
the hook pressure detection module B24 adopts a circle of pressure sensor group carried at the joint of the two-stage active trailer 2, and the pressure sensor group is used for detecting pressure data B and direction information B at the joint of the two-stage active trailer 2 and sending the pressure data B and the direction information B to the calculation unit B; wherein, the pressure sensor group can obtain the pressure component magnitude vertical to the towing hook (i.e. parallel to the cylindrical axis of the towing hook) and parallel to the towing hook (i.e. vertical to the cylindrical axis of the towing hook);
the computing unit B is configured to monitor the operating state information of the active trailer 2, and execute a control algorithm of the active trailer 2, specifically: the calculation unit B calculates the load of the active trailer 2 according to the pressure information; the calculating unit B calculates and calculates a relative angle between a towing hook at the tail part of the current active trailer 2 and a hook at the head part of the next-stage active trailer 2 according to the picture information B, wherein the relative angle is a towing hook angle B; the calculation unit B judges whether the current active trailer 2 is connected with the next-stage active trailer 2 or not according to the pressure data B and the direction information B; wherein the operation state information of the active trailer 2 includes: the method comprises the following steps that the rotation speed information of wheels of the active trailer 2, the position information of the active trailer 2, the load of the active trailer 2, the towing hook angle B and the connection condition of the current active trailer 2 and the next-stage active trailer 2 are obtained; the computing unit B adopts a low-power-consumption computing unit;
the battery 21 is used for supplying power to the power-consuming components on the active trailer 2;
the display equipment is used for displaying information such as vehicle codes, electric quantity and faults;
referring to fig. 3, the wireless communication module B is configured to enable the active trailer 2 to wirelessly communicate with the tractor 1 and the cloud server respectively;
the cloud server comprises a computing platform and a wireless communication module C, wherein the computing platform is used for generating expected speed control instructions (but not limited to the function) of the tractor 1 and the active trailer 2; the wireless communication module C is used for realizing that the cloud server is in wireless communication with the tractor 1 and the active trailer 2 respectively.
Example 3:
in this embodiment, on the basis of embodiment 2, the active trailer 2 may not carry the independent battery 21, but the tractor 1 supplies power to the power-consuming components on the active trailer 2 through a cable; therefore, the joint of the towing hook of the towing vehicle 1 and the active trailer 2 and the joint of the towing hooks of the two active trailers 2 are both provided with power cable interfaces.
Example 4:
in this embodiment, on the basis of the embodiment 1 and the embodiment 2, a motion control method of an autonomous driving tow-in system is provided, and the towing vehicle 1 is provided with the autonomous driving system, so that the trajectory is planned according to the environment sensing result and then the trajectory tracking control is performed; for the active trailer 2, the active trailer is controlled to follow the tractor 1 or the previous active trailer 2 in a rear wheel active driving mode;
referring to fig. 4-5, the motion control method comprises the following specific steps:
firstly, assuming that a tractor 1 carries a traditional trailer without a driving motor 22, namely a follow-up trailer, calculating the expected motion state of each stage of follow-up trailer according to the current position and posture information of the tractor 1, the current towing hook angle A and a plurality of towing hook angles B, a target track planned by the tractor 1 and a kinematic recursion model of a plurality of stages of follow-up trailers, wherein the expected motion state of each stage of follow-up trailer is used as the expected motion state of each stage of driving trailer 2;
secondly, because the steering of the active trailer 2 is realized by dragging the towing hook and the hook, and the speed driving of the active trailer 2 is realized by actively driving by the rear wheel, the expected motion state of each stage of the active trailer 2 is converted into the expected speed and the rotation angle under the respective vehicle coordinate system of each stage of the active trailer 2 through the coordinate system conversion, and the expected speed and the rotation angle are used as the initial value of the expected motion state of the actively following active trailer 2;
thirdly, decomposing to obtain the pressure parallel to the towing hook and the pressure vertical to the towing hook based on the numerical value of the pressure sensor group at the joint between the two stages of the active trailers 2, and calculating the correction amount of the expected speed based on the pressure parallel to the towing hook and the weight of the active trailer 2 (the weight comprises the self weight and the load of the active trailer 2) so as to obtain the corrected expected speed of the active trailer 2;
fourthly, based on the initial value of the expected motion state of the active trailer 2 and the corrected expected speed, the rotating speed of the driving motor 22 of each active trailer 2 is obtained by applying a current and rotating speed double closed-loop control method; controlling the corresponding active trailers 2 to move actively according to the rotating speeds of all the driving motors 22, wherein the actual motion state of each active trailer 2 is consistent with the expected motion state of each follow-up trailer;
when the cloud server simultaneously sends an expected vehicle speed control instruction to the tractor 1 and the active trailer 2, the motion state of the tractor-trailer system is updated, and the tractor-trailer system is replanned and controlled in a rolling time domain mode.
Example 5:
in this embodiment, on the basis of embodiment 4, in the first step, the angle obtaining manner of the towing hook angle (including the towing hook angle a and the towing hook angle B) may be calculated based on the position information of the towing vehicle 1 and the active towing vehicle 2 or the current active towing vehicle 2 and the next active towing vehicle 2, instead of the visual manner;
the tractor motion state (namely the current position and posture information of the tractor 1, the current towing hook angle A, a plurality of towing hook angles B and a target track planned by the tractor 1) input into the kinematic recursive model of the follow-up trailer can be deduced according to the track tracking control instruction of the tractor 1; and when the trajectory plan of the tractor 1 is at a different update frequency than its trajectory tracking control, the control framework is as shown in fig. 6.
Example 6:
the present embodiment provides a scheduling method for an autonomous driving towing-towing system based on embodiments 2 and 3, in which the cloud server stores a set of all pieces of carrying task information of a current application environment, which are decomposed and encoded in advance; each section of carrying task information comprises cargo type, cargo weight, cargo quantity, a path starting point and a path maximum gradient; a task segment from the selection of tractor 1 and empty active trailer 2, loading of active trailer 2 with cargo, the tow-haul system transporting cargo to the destination;
the scheduling method comprises the following specific steps:
the method comprises the steps of firstly, collecting position information and electric quantity information of all tractors 1, and collecting position information and electric quantity information of all active trailers 2;
secondly, calculating the predicted path of the carrying task to be executed by the tractor 1 and the active trailer 2 and the predicted load of the active trailer 2 by combining the position information of the tractor 1 and the active trailer 2 and the set of all carrying task information prestored by the cloud server; the predicted path is information such as the length and gradient of the path of the carrying task to be executed or being executed, and the predicted load is the load of the carrying task to be executed or being executed;
thirdly, evaluating the power demand of the current active trailer 2 according to the carrying task information, the predicted load and the predicted path of the current active trailer 2 (the power demand is evaluated as the power demand facing the predicted load and the predicted path); if the electric quantity information of the current active trailer 2 meets the electric quantity requirement, the current task can be completed, the current active trailer 2 can be selected, otherwise, the current active trailer 2 is not selected, and the like, so that the electric quantity requirement evaluation is carried out on all the active trailers 2;
evaluating the electric quantity requirement of the current tractor 1 according to the carrying task information, the self weight of the tractor 1 and the predicted path, finishing the current task if the electric quantity information of the current tractor 1 meets the electric quantity requirement, selecting the current tractor 1, or else, not selecting the current tractor 1, and so on, and evaluating the electric quantity requirement of all tractors 1;
the towing state, the working state and the fault signal of all the tractors 1 are monitored in real time, and the towing state, the actual load, the working state and the fault signal of all the active trailers 2 are monitored in real time;
the towing state of the tractor 1 is whether a rear hook is connected or not, and is calculated by a signal of the hook pressure detection module A; the working state of the tractor 1 refers to the state information that the tractor is waiting or transporting, and is calculated according to the position information and the towing state; the fault signal of the tractor 1 is derived by the information of the power peak value and the like of a driving motor arranged in the tractor 1;
the dragging state of the active trailer 2 is whether a rear hook is connected or not, and is calculated by a signal of the hook pressure detection module B24; the working state of the active trailer 2 is the state information that the vehicle is empty or full, etc., and is calculated by position information, the towing state and the actual load; the fault monitoring signal of the active trailer 2 is derived from information such as the power peak value of the driving motor 22;
the tractor 1 can send running state information such as a self-vehicle code, electric quantity information, position information, a towing state, self weight, a predicted path, a working state, a fault signal, an electric quantity evaluation result and the like to the cloud server, as shown in table 1;
the active trailer 2 can send running state information such as electric quantity information, position information, a towing state, a predicted load, a predicted path, an actual load, a working state, a fault signal, an electric quantity evaluation result and the like to the tractor 1 and the cloud server, as shown in table 2;
TABLE 1 operating State information of tractors
Table 2 operational status information of active trailers
Fourthly, when each task segment starts, selecting the tractor 1 and the active trailer 2 meeting the electric quantity requirement according to the carrying task information and the position information of the tractor 1 and the active trailer 2, and referring to a table 3;
TABLE 3 task sets and corresponding tow-tow combinations
The active trailer 2 is selected according to the principle that a combination with high electric quantity consistency is selected on the premise that the quantity of goods is met;
fifthly, loading goods on the selected active trailer 2 according to the tractor 1 and the active trailer 2 selected by the current task segment, and transporting the goods to a destination by a traction-traction system consisting of the tractor 1 and the active trailer 2 to complete the current task segment, as shown in fig. 7;
sixthly, after the current task segment is completed, calculating the next-stage task according to the positions of the current tractor 1 and the active trailer 2, performing electric quantity accounting, and executing a new task under the condition of sufficient electric quantity; and if the electric quantity is insufficient, executing a charging or battery replacement task.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An autonomous driving tow-tow system, comprising: the system comprises a tractor, more than one active trailer and a cloud server;
the tractor is sequentially connected with more than one active trailer head and tail; the tractor, the driving trailer and two adjacent driving trailers are connected through a towing hook;
the tractor has an automatic driving function;
the active trailer can be controlled to actively move, the front wheel of the active trailer passively steers along with the tractor or the previous active trailer, the rear wheel is oriented and is a driving wheel, and the rear wheel is controlled to follow the tractor or the previous active trailer in an active driving mode;
the tractor, the active trailer and the cloud server can be mutually in wireless communication, and the running state information of the tractor and the active trailer is shared; the cloud server sends an expected speed control instruction to the tractor and the active trailer according to the running state information, or the tractor automatically generates an expected speed control instruction according to the running state information and sends the expected speed control instruction to the active trailer at the same time; the tractor automatically drives according to the received expected speed control instruction and sends an expected motion state initial value to the active trailer; and the active trailer is autonomously driven according to the received expected vehicle speed control command and the expected motion state initial value so as to actively follow the tractor or the previous active trailer.
2. The autonomous driving towing-towing system according to claim 1, wherein the towing vehicle is further provided with a towing hook angle monitoring module a, a hook pressure detection module a, a calculation unit a and a wireless communication module a in addition to an autonomous driving control system thereof;
the towing hook angle monitoring module A adopts a camera A arranged at the tail part of the towing vehicle, and the camera A is used for acquiring picture information A at the towing hook part at the tail part of the towing vehicle and sending the picture information A to the computing unit A;
the hook pressure detection module A adopts a circle of pressure sensor group carried at the joint of the tractor and the active trailer, and the pressure sensor group is used for detecting pressure data A and direction information A at the joint of the tractor and the active trailer and sending the pressure data A and the direction information A to the calculation unit A; the pressure sensor group can obtain the pressure component size vertical to the towing hook and the pressure component size parallel to the towing hook;
the calculation unit A is used for monitoring the running state information of the tractor and executing a control algorithm of the tractor, wherein the control algorithm specifically comprises the following steps: the calculating unit A calculates and calculates a relative angle between the connection part of the current tractor and the head part of the active tractor according to the picture information A, wherein the relative angle is a tractor hook angle A; the calculation unit A judges whether the tractor is connected with the active trailer or not according to the pressure data A and the direction information A; wherein the running state information of the tractor comprises: the method comprises the following steps of (1) rotating speed information of wheels of a tractor, position information of the tractor, self weight of the tractor, a towing hook angle A and connection conditions of the tractor and an active trailer;
the wireless communication module A is used for realizing that the tractor carries out wireless communication with the active trailer and the cloud server respectively.
3. The autonomous driving towing system according to claim 2, wherein each active trailer is mounted with a battery, a driving motor, a wheel speed detection module, a wireless communication module B, a calculation unit B, a positioning module, a display device, a trailer load calculation module, a hitch pressure detection module B, and a hitch angle measurement module B;
the driving motor is used for driving the rear wheel of the driving trailer;
the wheel speed detection module is used for detecting the rotating speed of the wheels of the active trailer and sending the rotating speed information to the calculation unit B for monitoring;
the positioning module is used for positioning the active trailer to obtain the position information of the active trailer and sending the position information to the computing unit B for monitoring;
the trailer load detection module adopts pressure sensors B respectively carried at four wheel shafts of the active trailer, and the four pressure sensors B are respectively used for detecting pressure information at the four wheel shafts of the active trailer and sending the pressure information to the calculation unit B;
the towing hook angle monitoring module B adopts a camera B arranged at the tail part of the active trailer, and the camera B is used for acquiring picture information B at the towing hook part at the tail part of the active trailer and sending the picture information B to the computing unit B;
the hook pressure detection module B adopts a circle of pressure sensor group carried at the joint of the two-stage active trailer, and the pressure sensor group is used for detecting pressure data B and direction information B at the joint of the two-stage active trailer and sending the pressure data B and the direction information B to the calculation unit B; the pressure sensor group can obtain the pressure component size vertical to the towing hook and the pressure component size parallel to the towing hook;
the computing unit B is configured to monitor the operating state information of the active trailer, and execute a control algorithm of the active trailer, and specifically includes: the calculation unit B calculates the load of the active trailer according to the pressure information; the calculating unit B calculates a relative angle between the current active trailer and the next-stage active trailer according to the picture information B, wherein the relative angle is a trailer hook angle B; the calculation unit B judges whether the current active trailer is connected with the next-stage active trailer or not according to the pressure data B and the direction information B; wherein the operational status information of the active trailer comprises: the method comprises the following steps that rotation speed information of wheels of an active trailer, position information of the active trailer, load of the active trailer, a trailer hook angle B and the connection condition of the current active trailer and a next-stage active trailer are obtained;
the battery is used for supplying power to power utilization components on the active trailer;
the display equipment is used for displaying vehicle codes, electric quantity and fault information;
and the wireless communication module B is used for realizing that the active trailer is in wireless communication with the tractor and the cloud server respectively.
4. The autonomous driving tow-in system according to any of claims 1-3, wherein a wireless communication module C is provided in the cloud server; and the wireless communication module C is used for realizing that the cloud server is in wireless communication with the tractor and the active trailer respectively.
5. An autonomous driving tow-haul system according to any of claims 1-3, characterized in that the tail of said tow vehicle is provided with a tow hook; the head part of each active trailer is provided with a hook, and the tail part of each active trailer is provided with a towing hook; the connected hook and the towing hook are the towing hook; tow hook and couple are the V-arrangement frame, and are equipped with the cylinder that the axis set up along vertical direction on the tow hook, and processing has the axis to follow the round hole that vertical direction set up on the couple, and the pin joint of tow hook and couple is realized through the hole axle cooperation of cylinder with the round hole to tow hook and couple.
6. A motion control method of an autonomous driving traction-traction system, based on any one of claims 1 to 5, characterized in that the motion control method comprises the following specific steps:
firstly, assuming that a tractor carries a traditional trailer without a driving motor, namely a follow-up trailer, calculating the expected motion state of each stage of follow-up trailer according to the current position and posture information of the tractor, a towing hook angle A at the joint of the tractor and the follow-up trailer, a towing hook angle B between two follow-up trailers, a target track planned by the tractor and a kinematic recursion model of a plurality of stages of follow-up trailers, wherein the expected motion state of each stage of follow-up trailer is used as the expected motion state of each stage of active trailers;
secondly, converting the expected motion state of each stage of active trailer into an expected speed and an expected rotation angle of each stage of active trailer under the respective vehicle coordinate system through coordinate system conversion, and taking the expected speed and the expected rotation angle as an initial value of the expected motion state of the actively following active trailer;
thirdly, decomposing to obtain the pressure parallel to the towing hook and the pressure vertical to the towing hook based on the numerical value of the pressure sensor group at the joint between the two stages of active trailers, calculating the correction amount of the expected speed based on the pressure parallel to the towing hook and the weight of the active trailer, and further obtaining the corrected expected speed of the active trailer; wherein the weight of the active trailer comprises the dead weight and the load of the active trailer;
fourthly, based on the initial value of the expected motion state of the active trailer and the corrected expected speed, the rotating speed of the driving motor of each active trailer is obtained by applying a current and rotating speed double closed-loop control method; controlling corresponding active trailers of all levels to move actively according to the rotating speeds of all the driving motors, wherein the actual motion state of the active trailers of all levels is consistent with the expected motion state of the follow-up trailers of all levels;
when the cloud server simultaneously sends an expected speed control instruction to the tractor and the active trailer, the motion state of the traction-traction system is updated, and the traction-traction system is replanned and controlled in a rolling time domain mode.
7. A scheduling method of an autonomous driving towing system based on the towing-towing system of any one of claims 1 to 5, wherein the cloud server stores a set of all the delivery task information of the current application environment which is decomposed and encoded in advance; each section of carrying task information comprises cargo type, cargo weight, cargo quantity, a path starting point and a path maximum gradient; a task segment from the selection of a tractor and an empty active trailer, loading the active trailer with cargo, and the haul-haul system transporting the cargo to the destination;
the scheduling method comprises the following specific steps:
the method comprises the steps of firstly, collecting position information and electric quantity information of all tractors and collecting position information and electric quantity information of all active trailers;
calculating to obtain a predicted path of a carrying task to be executed by the tractor and the active trailer and a predicted load of the active trailer by combining the position information of the tractor and the active trailer and a set of all carrying task information prestored by the cloud server;
thirdly, evaluating the electric quantity demand of the current active trailer according to the carrying task information, the predicted load and the predicted path of the current active trailer; if the electric quantity information of the current active trailer meets the electric quantity requirement, the current task can be finished, the current active trailer can be selected, otherwise, the current active trailer is not selected, and the like, so that the electric quantity requirement evaluation is carried out on all the active trailers;
evaluating the electric quantity requirement of the current tractor according to the carrying task information, the self weight of the tractor and the predicted path, finishing the current task if the electric quantity information of the current tractor meets the electric quantity requirement, selecting the current tractor, or else, not selecting the current tractor, and so on to evaluate the electric quantity requirement of all tractors;
fourthly, when each task section starts, selecting a tractor and an active trailer which meet the electric quantity requirement according to the carrying task information and the position information of the tractor and the active trailer; the active trailer is selected according to the principle that a combination with high electric quantity consistency is selected on the premise that the quantity of goods is met;
fifthly, loading goods to the selected active trailer according to the tractor and the active trailer selected by the current task segment, and transporting the goods to a destination by a traction-traction system consisting of the tractor and the active trailer to finish the current task segment;
after the current task segment is completed, calculating the next-stage task according to the positions of the current tractor and the active trailer, performing electric quantity accounting, and executing a new task under the condition of sufficient electric quantity; and if the electric quantity is insufficient, executing a charging or battery replacement task.
8. The dispatching method of an autonomous driving tractor-trailer system according to claim 7, wherein in the third step, the towing status, the working status and the fault signal of all the tractors are monitored in real time, and the towing status, the actual load, the working status and the fault signal of all the active trailers are monitored in real time;
the towing state of the tractor is whether a rear hook is connected or not, and is calculated by a signal of the hook pressure detection module A; the working state of the tractor refers to state information of the tractor in waiting or conveying, and is calculated according to position information and a towing state; the fault signal of the tractor is derived by the calculation of the power peak value of a driving motor arranged in the tractor;
the towing state of the active trailer refers to whether a rear hook is connected or not, and is calculated by a signal of the hook pressure detection module B; the working state of the active trailer is the state information that the trailer is empty or full, and is calculated by position information, a towing state and an actual load; the fault monitoring signal of the active trailer is calculated by the power peak value of the driving motor;
the tractor can send a self-vehicle code, electric quantity information, position information, a towing state, self weight, a predicted path, a working state, a fault signal and an electric quantity evaluation result to the cloud server;
the active trailer can send electric quantity information, position information, a towing state, a predicted load, a predicted path, an actual load, a working state, a fault signal and an electric quantity evaluation result to the towing vehicle and the cloud server.
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