CN116534123B

CN116534123B - Trailer transverse control method and device and target trailer

Info

Publication number: CN116534123B
Application number: CN202310808686.6A
Authority: CN
Inventors: 唐建平; 林晓鹏; 胡海龙
Original assignee: Shenzhen Haixing Zhijia Technology Co Ltd
Current assignee: Shenzhen Haixing Zhijia Technology Co Ltd
Priority date: 2023-07-04
Filing date: 2023-07-04
Publication date: 2023-09-29
Anticipated expiration: 2043-07-04
Also published as: CN116534123A

Abstract

The invention relates to the field of intelligent driving, and discloses a trailer transverse control method, a device and a target trailer. The method comprises the following steps: acquiring the current running state of a target trailer; the current running state comprises a forward state and a backward state; determining a preset transverse control method corresponding to the target trailer according to the current running state; calculating the corresponding front wheel corner of the target trailer by using a preset transverse control method; the steering wheel of the target trailer is controlled based on the front wheel steering angle. The method can ensure that the preset transverse control method can meet the control requirements of the target trailer under all working conditions. And further, the accuracy of the calculated front wheel rotation angle corresponding to the target trailer is ensured. Based on the front wheel rotation angle, the steering wheel of the target trailer is controlled, so that the accuracy of controlling the steering wheel of the target trailer is ensured, and the transverse control requirements of the target trailer under various working conditions can be met.

Description

Trailer transverse control method and device and target trailer

Technical Field

The invention relates to the field of intelligent driving, in particular to a trailer transverse control method and device and a target trailer.

Background

In unmanned systems, control systems often employ a lateral-longitudinal decoupling control strategy. The transverse control uses track information of the planning module as a reference standard, and calculates a reasonable steering wheel angle by combining the state quantity of the vehicle, so as to realize accurate track tracking of the vehicle as far as possible.

However, in the prior art, a control method is generally adopted for transverse control, which cannot meet the control requirements of the trailer under all working conditions.

Disclosure of Invention

In view of the above, the application provides a trailer transverse control method and device and a target trailer, so as to solve the problem that transverse control in the prior art cannot meet control requirements of the trailer under all working conditions.

In a first aspect, the present application provides a trailer lateral control method, the method comprising:

acquiring the current running state of a target trailer; the current running state comprises a forward state and a backward state;

determining a preset transverse control method corresponding to the target trailer according to the current running state;

calculating the corresponding front wheel corner of the target trailer by using a preset transverse control method;

the steering wheel of the target trailer is controlled based on the front wheel steering angle.

According to the trailer transverse control method provided by the embodiment of the application, the current running state of the target trailer is obtained, and then the preset transverse control method corresponding to the target trailer is determined according to the current running state, so that the determined preset transverse control method corresponding to the target trailer can meet the current running state of the target trailer, and the control requirements of the preset transverse control method under all working conditions of the target trailer can be met. And then, calculating the front wheel rotation angle corresponding to the target trailer by using a preset transverse control method, so that the accuracy of the calculated front wheel rotation angle corresponding to the target trailer is ensured. Based on the front wheel rotation angle, the steering wheel of the target trailer is controlled, so that the accuracy of controlling the steering wheel of the target trailer is ensured, and the transverse control requirements of the target trailer under various working conditions can be met.

In an alternative embodiment, the determining a preset lateral control method corresponding to the target trailer according to the current driving state includes:

when the current running state is a forward state, determining a preset transverse control method corresponding to the target trailer as a first preset transverse control method;

when the current running state is a backward state, acquiring a trailer state of the target trailer; the pulling state comprises pulling and throwing;

when the target trailer is in a drop-off state, determining a preset transverse control method corresponding to the target trailer as a second preset transverse control method;

when the target trailer is a trailer, determining that the preset transverse control method corresponding to the target trailer is a third preset transverse control method.

According to the trailer transverse control method provided by the embodiment of the application, when the current running state is the forward state, the preset transverse control method corresponding to the target trailer is determined to be the first preset transverse control method, so that the determined first preset transverse control method can meet the transverse control requirement that the target trailer is in the forward state. When the current running state is a backward state, acquiring a trailer state of the target trailer; the pulling state comprises pulling and throwing; when the target trailer is in a drop-off state, determining the corresponding preset transverse control method of the target trailer as a second preset transverse control method, and ensuring that the determined second preset transverse control method can meet the transverse control requirement that the target trailer is in a backward state and in a drop-off state; when the target trailer is in a trailing state, the preset transverse control method corresponding to the target trailer is determined to be a third preset transverse control method, so that the determined third preset transverse control method can meet the transverse control requirement that the target trailer is in a retreating state and in a trailing state.

In an alternative embodiment, when the preset lateral control method is the first preset lateral control method, calculating the front wheel corner corresponding to the target trailer by using the preset lateral control method includes:

obtaining a planning track corresponding to a target trailer, and the current running speed, the current quality and the current transverse error of the target trailer; the current transverse error represents the transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track;

determining a pre-aiming distance according to the current running speed, the current quality and the current transverse error;

determining a pretightening point in the planned track according to the pretightening distance;

according to the pre-aiming point, calculating a target transverse error and a course angle error corresponding to the target trailer; the target transverse error is used for representing the transverse error between the current position of the target trailer and the pre-aiming point;

acquiring the loading state of a target trailer;

determining a first control parameter corresponding to the target trailer according to the corresponding relation between the loading state of the target trailer and the control parameter in a first preset transverse control method; the first control parameter is used for correcting the target transverse error and the course angle error;

And calculating the corresponding front wheel corner of the target trailer according to the target transverse error, the course angle error and the first control parameter.

According to the trailer transverse control method provided by the embodiment of the application, when the preset transverse control method is the first preset transverse control method, the planning track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer are obtained, and then the pre-aiming distance is determined according to the current running speed, the current quality and the current transverse error, so that the accuracy of the determined pre-aiming distance is ensured. And according to the pretightening distance, determining a pretightening point in the planned track, and ensuring the accuracy of the determined pretightening point. According to the pre-aiming point, calculating a target transverse error and a course angle error corresponding to the target trailer, and ensuring the accuracy of the calculated target transverse error and course angle error. Acquiring the loading state of a target trailer; according to the corresponding relation between the loading state of the target trailer and the control parameters in the first preset transverse control method, the first control parameters corresponding to the target trailer are determined, and the accuracy of the determined first control parameters is ensured. And then, calculating the front wheel corner corresponding to the target trailer according to the target transverse error, the course angle error and the first control parameter, so that the accuracy of the calculated front wheel corner corresponding to the target trailer is ensured.

In an alternative embodiment, when the preset lateral control method is the second preset lateral control method, calculating the front wheel corner corresponding to the target trailer by using the preset lateral control method includes:

calculating the angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point;

and calculating the corresponding front wheel corner of the target trailer according to the relation between the pre-aiming distance and the angle difference.

According to the trailer transverse control method provided by the embodiment of the application, when the preset transverse control method is the second preset transverse control method, the planning track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer are obtained, and then the pre-aiming distance is determined according to the current running speed, the current quality and the current transverse error, so that the accuracy of the determined pre-aiming distance is ensured. And according to the pretightening distance, determining a pretightening point in the planned track, and ensuring the accuracy of the determined pretightening point. According to the pre-aiming point, the angle difference between the pre-aiming point and the current position of the target trailer is calculated, and the accuracy of the determined angle difference between the pre-aiming point and the current position of the target trailer is ensured. According to the relation between the pre-aiming distance and the angle difference, the front wheel rotation angle corresponding to the target trailer is calculated, and the accuracy of the calculated front wheel rotation angle corresponding to the target trailer is ensured.

In an alternative embodiment, when the preset lateral control method is a third preset lateral control method, the target trailer includes a tractor and a hopper, and calculating the front wheel corner corresponding to the target trailer by using the preset lateral control method includes:

acquiring a first distance between a hinge point between a tractor and a hopper of a target trailer and an equivalent wheelbase of a rear axle of the tractor;

when the first distance is larger than a preset distance threshold value, a planning track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer are obtained; the current transverse error represents the transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track;

calculating a virtual front wheel corner corresponding to a hopper corresponding to the target trailer according to the relation between the pre-aiming distance and the angle difference; the virtual front wheel steering angle is used for representing the front wheel steering angle corresponding to the hopper before the hopper of the target trailer reaches the pre-aiming point;

Acquiring a hinge angle between a tractor and a hopper and a tractor wheelbase;

and calculating the front wheel corner of the tractor corresponding to the target trailer according to the relation among the virtual front wheel corner, the hinge angle, the first distance and the tractor wheelbase.

According to the trailer transverse control method provided by the embodiment of the application, when the preset transverse control method is a third preset transverse control method, a first distance from a hinge point between a tractor and a hopper of a target trailer to an equivalent wheelbase of a rear axle of the tractor is obtained; and when the first distance is greater than a preset distance threshold, acquiring a planning track corresponding to the target trailer, and the current running speed, the current quality and the current transverse error of the target trailer. And determining the pre-aiming distance according to the current running speed, the current quality and the current transverse error, so that the accuracy of the determined pre-aiming distance is ensured. And according to the pretightening distance, determining a pretightening point in the planned track, and ensuring the accuracy of the determined pretightening point. And then, calculating the angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point, so that the accuracy of the calculated angle difference between the pre-aiming point and the current position of the target trailer is ensured. According to the relation between the pre-aiming distance and the angle difference, calculating the virtual front wheel corner corresponding to the hopper corresponding to the target trailer, and ensuring the accuracy of the calculated virtual front wheel corner corresponding to the hopper corresponding to the target trailer. Acquiring a hinge angle between a tractor and a hopper and a tractor wheelbase; according to the relation among the virtual front wheel corner, the hinge angle, the first distance and the tractor wheelbase, the front wheel corner of the tractor corresponding to the target trailer is calculated, and the accuracy of the calculated front wheel corner of the tractor corresponding to the target trailer is ensured.

In an alternative embodiment, after calculating the virtual front wheel steering angle corresponding to the hopper corresponding to the target trailer according to the relation between the pre-aiming distance and the angle difference, the method further includes:

when the first distance is smaller than or equal to a preset distance threshold value, acquiring a current time heading angle of the hopper, a hopper wheelbase, a current running speed of the target trailer and a hinge angle;

calculating the next moment course angle of the hopper according to the relation among the current moment course angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the hinging angle;

calculating the next time course angle of the tractor according to the relation between the next time course angle of the hopper and the virtual front wheel steering angle;

and calculating the front wheel corner of the tractor corresponding to the target trailer according to the relation between the next moment course angle of the tractor and the current moment course angle of the tractor.

According to the trailer transverse control method provided by the embodiment of the application, when the first distance is smaller than or equal to the preset distance threshold value, the current time course angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the hinge angle are obtained, and the next time course angle of the hopper is calculated according to the relationship among the current time course angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the hinge angle, so that the accuracy of the calculated next time course angle of the hopper is ensured. According to the relation between the next-moment course angle of the hopper and the virtual front wheel steering angle, the next-moment course angle of the tractor is calculated, and the accuracy of the calculated next-moment course angle of the tractor is ensured. According to the relation between the next time course angle of the tractor and the current time course angle of the tractor, the front wheel corner of the tractor corresponding to the target trailer is calculated, and the accuracy of the calculated front wheel corner of the tractor corresponding to the target trailer is ensured.

In an alternative embodiment, controlling the steering wheel of the target trailer based on the front wheel angle comprises:

acquiring a planning track corresponding to a target trailer;

calculating the current transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track;

correcting the current transverse error by using a preset controller to obtain a steering wheel correction amount;

adding the front wheel angle and the steering wheel correction amount to obtain a total front wheel angle;

and controlling the steering wheel of the target trailer according to the total front wheel steering angle.

According to the trailer transverse control method provided by the embodiment of the application, the planning track corresponding to the target trailer is obtained; and calculating the current transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track, so that the accuracy of the calculated current transverse error is ensured. And correcting the current transverse error by using a preset controller to obtain the steering wheel correction quantity, so that the accuracy of the obtained steering wheel correction quantity is ensured. And the front wheel angle and the steering wheel correction amount are added to obtain the total front wheel angle, so that the accuracy of the obtained total front wheel angle is ensured. According to the total front steering angle, the steering wheel of the target trailer is controlled, so that the accuracy of controlling the steering wheel of the target trailer is ensured, and the transverse control requirements of the target trailer under various working conditions can be met.

In an alternative embodiment, the method further comprises:

when the preset transverse control method is switched, acquiring a historical front wheel corner of the target trailer before the preset transverse control method is switched and a future front wheel corner after the preset transverse control method is switched;

and smoothing the front wheel turning angle of the target trailer in the switching process of the preset transverse control method according to the historical front wheel turning angle and the future front wheel turning angle.

According to the trailer transverse control method provided by the embodiment of the application, when the preset transverse control method is switched, the historical front wheel corner of the target trailer before the preset transverse control method is switched and the future front wheel corner after the preset transverse control method is switched are obtained, and the front wheel corner of the target trailer in the switching process of the preset transverse control method is subjected to smooth processing according to the historical front wheel corner and the future front wheel corner, so that the front wheel corner of the target trailer can be ensured to be subjected to smooth control.

In a second aspect, the present application provides a trailer lateral control apparatus, the apparatus comprising:

the first acquisition module is used for acquiring the current running state of the target trailer; the current running state comprises a forward state and a backward state;

The determining module is used for determining a preset transverse control method corresponding to the target trailer according to the current running state;

the calculating module is used for calculating the front wheel corner corresponding to the target trailer by using a preset transverse control method;

and the control module is used for controlling the steering wheel of the target trailer based on the front wheel steering angle.

According to the trailer transverse control device provided by the embodiment of the application, the current running state of the target trailer is obtained, and then the preset transverse control method corresponding to the target trailer is determined according to the current running state, so that the determined preset transverse control method corresponding to the target trailer can meet the current running state of the target trailer, and the control requirements of the preset transverse control method under all working conditions of the target trailer can be met. And then, calculating the front wheel rotation angle corresponding to the target trailer by using a preset transverse control method, so that the accuracy of the calculated front wheel rotation angle corresponding to the target trailer is ensured. Based on the front wheel rotation angle, the steering wheel of the target trailer is controlled, so that the accuracy of controlling the steering wheel of the target trailer is ensured, and the transverse control requirements of the target trailer under various working conditions can be met.

In a third aspect, the present invention provides a target trailer comprising: trailer body and computer equipment. Wherein, the computer device includes: the trailer transverse control method of the first aspect or any corresponding implementation mode thereof is implemented by the processor and the memory, the memory and the processor are in communication connection, and the memory stores computer instructions, and the processor executes the computer instructions.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a trailer lateral control method according to an embodiment of the present invention;

FIG. 2 is a flow chart of another trailer lateral control method according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of calculating target lateral error and heading angle error in accordance with an embodiment of the invention;

FIG. 4 is a schematic illustration of calculating a corresponding front wheel corner of a target trailer from a target lateral error and a heading angle error in accordance with an embodiment of the present invention;

FIG. 5 is a schematic illustration of calculating an angle difference between a pre-aiming point and a current position of a target trailer in accordance with an embodiment of the present invention;

FIG. 6 is a schematic illustration of calculating a virtual front wheel corner for a hopper corresponding to a target trailer in accordance with an embodiment of the present invention;

FIG. 7 is a flow chart of yet another trailer lateral control method in accordance with an embodiment of the present invention;

fig. 8 is a schematic diagram of smoothing a front wheel steering angle of a target trailer in a preset lateral control method switching process according to an embodiment of the present invention;

FIG. 9 is a block diagram of a trailer lateral control arrangement according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

However, in the related art, a control method is generally adopted for transverse control, which cannot meet the control requirements under all trailer working conditions.

Based on the above, the embodiment of the application provides a trailer transverse control method, which is used for acquiring the current running state of a target trailer, then determining the preset transverse control method corresponding to the target trailer according to the current running state, ensuring that the determined preset transverse control method corresponding to the target trailer can meet the current running state of the target trailer, and ensuring that the preset transverse control method can meet the control requirements of the target trailer under all working conditions.

According to an embodiment of the present application, there is provided an embodiment of a trailer lateral control method, it being noted that the steps shown in the flow chart of the drawings may be performed in a computer system such as a set of computer executable instructions, and, although a logical sequence is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than that shown herein.

It should be noted that, in the method for controlling the trailer transverse direction provided by the embodiment of the present application, the execution body may be a device for controlling the trailer transverse direction, and the device for controlling the trailer transverse direction may be implemented by software, hardware or a combination of software and hardware to form part or all of a computer device, where the computer device may be a controller in a target trailer. The execution subject is a computer device as an example.

In this embodiment, a method for controlling the transverse direction of a trailer is provided, which may be used in the above-mentioned computer device, and fig. 1 is a flowchart of a method for controlling the transverse direction of a trailer according to an embodiment of the present application, as shown in fig. 1, where the flowchart includes the following steps:

step S101, a current driving state of the target trailer is acquired.

Wherein the current driving state includes a forward state and a backward state.

Specifically, the computer device may receive a current driving state of the target trailer sent by the cloud control platform; the tire data of the target trailer sent by the tire sensor can be acquired based on the communication connection between the tire sensor and the wheel sensor arranged on the tire of the target trailer, and the current running state of the target trailer can be determined according to the tire data; the computer device may also receive a user input of a current driving state of the target trailer.

The mode of the computer equipment for acquiring the current running state of the target trailer is not particularly limited in the embodiment of the application.

Step S102, determining a preset transverse control method corresponding to the target trailer according to the current running state.

Specifically, after the computer device obtains the current running state of the target trailer, the preset transverse control method corresponding to the current running state of the target trailer may be determined according to the corresponding relationship between the current running state of the target trailer and the preset transverse control method.

The method is characterized in that the current running state of the target trailer is different, and the corresponding preset transverse control method is different.

This step will be described in detail below.

Step S103, calculating the corresponding front wheel corner of the target trailer by using a preset transverse control method.

Specifically, after determining a preset lateral control method corresponding to the current driving state of the target trailer, the computer device may first determine a preset aiming point corresponding to the target trailer, and then calculate a front wheel corner corresponding to the target trailer according to the determined preset aiming point by using the preset lateral control method.

This step will be described in detail below.

Step S104, the steering wheel of the target trailer is controlled based on the front wheel rotation angle.

Specifically, after the front wheel steering angle corresponding to the target trailer is calculated, the computer device may control the steering wheel of the target trailer according to the calculated front wheel steering angle, thereby completing the lateral control of the target trailer.

In this embodiment, a method for controlling the transverse direction of a trailer is provided, which may be used in the above-mentioned computer device, and fig. 2 is a flowchart of a method for controlling the transverse direction of a trailer according to an embodiment of the present invention, as shown in fig. 2, where the flowchart includes the following steps:

step S201, the current running state of the target trailer is acquired.

Please refer to step S101 in the embodiment shown in fig. 1 in detail, which is not described herein.

Step S202, determining a preset transverse control method corresponding to the target trailer according to the current running state.

Specifically, the step S202 "determining the preset lateral control method corresponding to the target trailer according to the current driving state" may include the following steps:

in step S2021, when the current driving state is the forward state, it is determined that the preset lateral control method corresponding to the target trailer is the first preset lateral control method.

Specifically, after determining that the current driving state of the target trailer is the forward state, the computer device may determine, according to a correspondence between the forward state and the preset lateral control method, that the preset lateral control method corresponding to the target trailer is the first preset lateral control method.

The first preset lateral control method may be an improved Stanley algorithm lateral control method, or may be other lateral control methods, and the embodiment of the present application does not specifically limit the first preset lateral control method.

When the current driving state of the target trailer is the forward driving state, the target trailer may be in a trailing state or a throwing state.

In step S2022, when the current running state is the reverse state, the trailer hitch state of the target trailer is acquired.

Wherein, the pulling state comprises pulling and throwing.

Specifically, after determining that the current running state of the target trailer is a retreating state, the computer equipment can receive a trailer state of the target trailer sent by the cloud control platform; the trailer state of the target trailer can also be determined by identifying the trailer state image of the target trailer by acquiring the trailer state image of the target trailer sent by the camera based on communication connection with the camera arranged on the target trailer; the computer device may also receive user input of a trailer hitch status of the target trailer.

The mode of the computer equipment for acquiring the trailer hitch state of the target trailer is not particularly limited in the embodiment of the application.

In step S2023, when the target trailer is a drop-off, the preset lateral control method corresponding to the target trailer is determined to be the second preset lateral control method.

Specifically, when the current running state of the target trailer is a retreating state and the target trailer is a throwing-hanging state, the computer equipment determines that the target trailer is the retreating state according to the retreating state of the target trailer and the corresponding relation between the throwing-hanging state and the preset transverse control method, and when the target trailer is the throwing-hanging state, the corresponding preset transverse control method of the target trailer is a second preset transverse control method.

The second preset lateral control method may be an improved pure tracking algorithm lateral control method, or may be other lateral control methods, and the embodiment of the present application does not specifically limit the second preset lateral control method.

In step S2024, when the target trailer is a trailer, it is determined that the preset lateral control method corresponding to the target trailer is the third preset lateral control method.

Specifically, when the current running state of the target trailer is a retreating state and the target trailer is a trailing state, the computer equipment determines that the target trailer is the retreating state according to the retreating state of the target trailer and the corresponding relation between the trailing state and the preset transverse control method, and when the target trailer is the trailing state, the preset transverse control method corresponding to the target trailer is a third preset transverse control method.

The third preset lateral control method may be a combination of an improved pure tracking algorithm lateral control method and a non-complete kinematic constraint, or may be other lateral control methods, and the embodiment of the present application does not specifically limit the third preset lateral control method.

Step S203, calculating the corresponding front wheel rotation angle of the target trailer by using a preset transverse control method.

In an alternative embodiment, when the preset lateral control method is the first preset lateral control method, step S203 "calculate the front wheel rotation angle corresponding to the target trailer by using the preset lateral control method" may include the following steps:

step S2031, obtaining a planned track corresponding to the target trailer, and a current running speed, a current quality and a current lateral error of the target trailer.

Wherein the current lateral error characterizes a lateral error between the current position of the target trailer and a closest point in the planned trajectory to the target trailer.

Optionally, the computer device may receive a planned track corresponding to the target trailer sent by the cloud control platform, and a current running speed, a current quality and a current lateral error of the target trailer.

Optionally, the computer device may also receive the planned track and the current quality corresponding to the target trailer sent by other devices (including the cloud control platform). The computer device then obtains the current travel speed of the target trailer sent by the wheel sensor based on the communication connection with the wheel sensor mounted on the target trailer. The computer equipment can also acquire the current position of the target trailer sent by the positioning system based on the communication connection with the positioning system of the target trailer, and then calculate the transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track according to the current position of the target trailer to obtain the current transverse error of the target trailer.

Optionally, the computer device may also receive a planned track corresponding to the target trailer input by the user, and a current running speed and a current quality of the target trailer. Then, the computer equipment can be also connected with a positioning system of the target trailer in a communication way, the current position of the target trailer sent by the positioning system is obtained, and then the transverse error between the current position of the target trailer and the nearest point of the planned track, which is away from the target trailer, is calculated according to the current position of the target trailer, so that the current transverse error of the target trailer is obtained.

The method for acquiring the planned track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer by the computer equipment is not particularly limited.

Step S2032, determining the pretightening distance according to the current running speed, the current quality, and the current lateral error.

Specifically, after the current running speed, the current quality and the current transverse error of the target trailer are obtained, the computer device may determine, through interpolation calculation, a pretightening distance corresponding to the target trailer according to the corresponding relationship between the current running speed, the current quality and the current transverse error and the pretightening distance.

Step S2033, determining a pretightening point in the planned trajectory according to the pretightening distance.

Specifically, after the pretightening distance is determined, the computer device may determine, according to the calculated pretightening distance, a pretightening point corresponding to the target trailer in the planned track corresponding to the target trailer.

Step S2034, calculating a target transverse error and a course angle error corresponding to the target trailer according to the pre-aiming point.

Wherein the target lateral error is used to characterize the lateral error between the current position of the target trailer and the pre-aiming point.

Specifically, after determining the pre-aiming point of the target trailer, the computer device may calculate a target lateral error and a heading angle error corresponding to the target trailer according to a relationship between the pre-aiming point and a current position of the target trailer.

For example, as shown in fig. 3, the coordinates (0, 0) of the original point in the graph may represent the current position of the target trailer, the point a (x, y, theta) is the pre-aiming point, and the formula for calculating the target lateral error and the heading angle error corresponding to the target trailer according to the geometric relationship may be as follows:

（1）

（2）

（3）

（4）

（5）

wherein, the liquid crystal display device comprises a liquid crystal display device,for course angle error, ++>Is the target lateral error.

Step S2035, a loading state of the target trailer is acquired.

Specifically, the computer device may receive a loading state of the target trailer sent by the cloud control platform; the method can also acquire the mass of the target trailer sent by the gravity sensor based on the communication connection with the gravity sensor arranged on the target trailer, and determine the loading state of the target trailer according to the mass of the target trailer; the computer device may also receive user input of a loading status of the target trailer.

The mode of the computer equipment for acquiring the loading state of the target trailer is not particularly limited in the embodiment of the application.

Step S2036, determining a first control parameter corresponding to the target trailer according to the corresponding relationship between the loading state of the target trailer and the control parameter in the first preset lateral control method.

The first control parameter is used for correcting the target transverse error and the course angle error.

Specifically, after determining the loading state of the target trailer, the computer device may determine a first control parameter corresponding to the target trailer according to a correspondence between the loading state of the target trailer and the control parameter in the first preset lateral control method.

Step S2037, calculating a front wheel corner corresponding to the target trailer according to the target lateral error, the heading angle error and the first control parameter.

Specifically, after determining the target lateral error, the heading angle error, and the first control parameter corresponding to the target trailer, the computer device may calculate the front wheel corner corresponding to the target trailer according to the target lateral error, the heading angle error, and the first control parameter.

For example, as shown in fig. 4, the formula for calculating the front wheel rotation angle corresponding to the target trailer by the computer device may be as follows:

（6）

wherein, the liquid crystal display device comprises a liquid crystal display device,for the target lateral error +.>For course angle error, ++>And->For the first control parameter, +.>And L is the wheelbase of the target trailer, and L is the current running speed of the target trailer.

Specifically, the method comprises, among other things,and->And respectively increasing correction amounts corresponding to the course angle error and the target transverse error so as to adapt to transverse control of the vehicle speed of the target trailer from 0-40 km/h. When the speed is lower, the appropriate increase is +.>To meet high-precision control; when the speed is large, the system stability decreases and the tracking error increases, at which time the appropriate increase +.>And the stability of the system is improved.

Wherein, forThe original Stanley algorithm uses the center of a front axle as a reference point, the existing plan is basically a rear axle plan, the front-rear axle gap can be ignored when the axle distance is short for a passenger car, and the axle distance of a commercial car such as a semitrailer, a dump truck and the like is long, so that the influence of the axle distance needs to be considered.

In an alternative embodiment, when the preset lateral control method is the second preset lateral control method, step S203 "calculate the front wheel rotation angle corresponding to the target trailer by using the preset lateral control method" may include the following steps:

step S2038, obtaining a planned track corresponding to the target trailer, and a current running speed, a current quality and a current lateral error of the target trailer.

Optionally, the computer device may also receive a planned track corresponding to the target trailer input by the user, and a current running speed and a current quality of the target trailer. Then, the computer device can also acquire the current position of the target trailer sent by the positioning system based on the communication connection with the positioning system of the target trailer, and then calculate the transverse error between the current position of the target trailer and the nearest point of the planned track from the target trailer according to the current position of the target trailer, so as to obtain the current transverse error of the target trailer.

Step S2039, determining the pretightening distance according to the current running speed, the current quality, and the current lateral error.

Step S20310, determining a pretightening point in the planned trajectory according to the pretightening distance.

Step S20311, calculating an angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point.

Specifically, after the computing device obtains the pretightening point, the computing device may calculate an angle difference between the pretightening point and the current position of the target trailer according to the pretightening point.

For example, as shown in fig. 5, the coordinates (0, 0) of the original point in the graph may represent the current position of the target trailer, the point a (x, y, theta) is the pre-aiming point, and the calculation formula for calculating the angle difference between the pre-aiming point and the current position of the target trailer according to the geometric relationship may be as follows:

（7）

wherein, the liquid crystal display device comprises a liquid crystal display device,is the angular difference between the pre-aiming point and the current position of the target trailer.

Step S20312, calculating a front wheel corner corresponding to the target trailer according to the relationship between the pre-aiming distance and the angle difference.

Specifically, after calculating the angle difference between the pre-aiming point and the current position of the target trailer, the computer device may calculate the front wheel corner corresponding to the target trailer according to the relationship between the pre-aiming distance and the angle difference.

Specifically, the computer device may calculate the front wheel rotation angle corresponding to the target trailer according to the following formula:

（8）

wherein, the liquid crystal display device comprises a liquid crystal display device,for pretightening distance, & gt>For the wheelbase of the target trailer>Is the angular difference between the pre-aiming point and the current position of the target trailer.

In an alternative embodiment of the present application, when the preset lateral control method is the third preset lateral control method, the target trailer includes a tractor and a hopper, and step S203 "calculate the front wheel rotation angle corresponding to the target trailer by using the preset lateral control method" may include the following steps:

step S20313, obtaining a first distance between a hinge point between a tractor and a hopper of the target trailer and an equivalent wheelbase of a rear axle of the tractor.

Specifically, the computer device may receive a first distance from a hinge point between a tractor and a hopper of a target trailer sent by the cloud control platform to an equivalent wheelbase of a rear axle of the tractor; the computer device may also receive a user input of a first distance of a hinge point between the tractor and the hopper of the target trailer from an equivalent wheelbase of the tractor rear axle.

The mode of acquiring the first distance between the hinge point between the tractor and the hopper of the target trailer and the equivalent wheelbase of the rear axle of the tractor by the computer equipment is not particularly limited.

Step S20314, when the first distance is greater than the preset distance threshold, acquiring the planned track corresponding to the target trailer, and the current running speed, the current quality and the current lateral error of the target trailer.

Specifically, after the computer device obtains the first distance, the first distance may be compared with a preset distance threshold.

Optionally, when the first distance is greater than a preset distance threshold, the computer device may receive a planned track corresponding to the target trailer sent by the cloud control platform, and a current running speed, a current quality and a current lateral error of the target trailer.

Step S20315, determining the pretightening distance according to the current running speed, the current quality, and the current lateral error.

Specifically, after the current running speed, the current quality and the current transverse error of the target trailer are obtained, the computer equipment can obtain the pretightening distance corresponding to the target trailer through interpolation calculation according to the corresponding relation among the current running speed, the current quality, the current transverse error and the pretightening distance.

Step S20316, determining a pretightening point in the planned trajectory according to the pretightening distance.

Step S20317, calculating an angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point.

Step S20318, calculating a virtual front wheel corner corresponding to the hopper corresponding to the target trailer according to the relationship between the pre-aiming distance and the angle difference.

The virtual front wheel steering angle is used for representing the front wheel steering angle corresponding to the hopper before the hopper of the target trailer reaches the pre-aiming point.

Specifically, after calculating the angle difference between the pre-aiming point and the current position of the target trailer, the computer device may calculate the virtual front wheel corner corresponding to the hopper corresponding to the target trailer according to the relationship between the pre-aiming distance and the angle difference.

Step S20319, obtaining a hinge angle between the tractor and the hopper and a tractor wheelbase.

Specifically, the computer device may receive a hinge angle and a tractor wheelbase between a tractor and a hopper of a target trailer sent by the cloud control platform; the computer device may also receive user input of a articulation angle and a tractor wheelbase between a tractor and a hopper of the target trailer; the computer device may also obtain a positional relationship of the tractor and the hopper of the target trailer, and then calculate a articulation angle between the tractor and the hopper of the target trailer based on the positional relationship of the tractor and the hopper of the target trailer.

The mode of acquiring the hinge angle between the tractor and the hopper by the computer equipment is not particularly limited in the embodiment of the application.

Step S20320, calculating a front wheel corner of the tractor corresponding to the target trailer according to the relationship among the virtual front wheel corner, the articulation angle, the first distance, and the tractor wheelbase.

Specifically, after the virtual front wheel angle, the articulation angle, the first distance, and the tractor wheelbase are obtained, the computer device may calculate a front wheel angle of the tractor corresponding to the target trailer from a relationship among the virtual front wheel angle, the articulation angle, the first distance, and the tractor wheelbase.

For example, as shown in fig. 6, the computer device may calculate the virtual front wheel corner corresponding to the hopper corresponding to the target trailer according to the following formula:

（9）

wherein, the liquid crystal display device comprises a liquid crystal display device,for pretightening distance, & gt>Trailer for targetIs>For the angle difference between the pre-aiming point and the current position of the target trailer +.>Is the corresponding virtual front wheel corner of the car hopper.

After calculating the virtual front wheel steering angle corresponding to the hopper, the computer device may calculate the front wheel steering angle of the tractor corresponding to the target trailer according to the following formula:

（10）

wherein, the liquid crystal display device comprises a liquid crystal display device,for a first distance of the hinge point between the tractor and the hopper of the target trailer from the equivalent wheelbase of the rear axle of the tractor,/->For pulling the wheelbase->Is the hinge angle.

Step S20321, when the first distance is less than or equal to the preset distance threshold, acquiring the current time heading angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the articulation angle.

Optionally, when the first distance is smaller than or equal to the preset distance threshold, the computer device may receive the current time heading angle, the vehicle axle distance, the current running speed of the target trailer and the hinge angle of the vehicle hopper sent by the cloud control platform, and may also receive the current time heading angle, the vehicle axle distance, the current running speed of the target trailer and the hinge angle of the vehicle hopper input by the user.

Step S20322, calculating the next heading angle of the hopper according to the relationship among the heading angle of the hopper at the current time, the axle distance of the hopper, the current running speed of the target trailer and the articulation angle.

Specifically, the computer device may calculate the next time heading angle of the hopper according to the relationship among the current time heading angle of the hopper, the hopper wheelbase, the current travel speed of the target trailer, and the articulation angle.

For example, the computer device may calculate the next time heading angle of the hopper according to the following formula:

（11）

wherein, the liquid crystal display device comprises a liquid crystal display device,for the next moment heading angle of the hopper, < >>Is the current driving speed of the target trailer, +.>Is a control period->Is a hinge angle->Is the current course angle of the car hopper, +.>Is the wheelbase of the hopper car.

Step S20323, calculating the heading angle of the tractor at the next time according to the relationship between the heading angle of the hopper at the next time and the virtual front wheel steering angle.

Specifically, after calculating the next time heading angle of the hopper, the computer device may calculate the next time heading angle of the tractor according to a relationship between the next time heading angle of the hopper and the virtual front wheel rotation angle.

For example, the computer device may calculate the next time heading angle of the tractor using the following formula:

（12）

Wherein, the liquid crystal display device comprises a liquid crystal display device,for the corresponding virtual front wheel corner of the car hopper, < >>For the next moment heading angle of the hopper, < >>Is the next moment heading angle of the tractor.

Step S20324, calculating the front wheel corner of the tractor corresponding to the target trailer according to the relationship between the next moment course angle of the tractor and the current moment course angle of the tractor.

Specifically, after the next time course angle of the tractor is calculated, the computer device may calculate the front wheel corner of the tractor corresponding to the target trailer according to the relationship between the next time course angle of the tractor and the current time course angle of the tractor.

For example, the computer device may calculate the front wheel angle of the tractor corresponding to the target trailer using the following formula:

（13）

wherein, the liquid crystal display device comprises a liquid crystal display device,for the wheelbase of the tractor>For the current time heading angle of the tractor, +.>Is the current travel speed of the target trailer.

Step S204, controlling the steering wheel of the target trailer based on the front wheel rotation angle.

Please refer to step S104 in the embodiment shown in fig. 1 in detail, which is not described herein.

According to the trailer transverse control method provided by the embodiment of the application, when the current running state is the forward state, the preset transverse control method corresponding to the target trailer is determined to be the first preset transverse control method, so that the determined first preset transverse control method can meet the transverse control requirement that the target trailer is in the forward state. When the current running state is a backward state, acquiring a trailer state of the target trailer; when the target trailer is in the throwing-in state, determining that the preset transverse control method corresponding to the target trailer is a second preset transverse control method, and ensuring that the determined second preset transverse control method can meet the transverse control requirement that the target trailer is in the retreating state and in the throwing-in state; when the target trailer is in a trailing state, the preset transverse control method corresponding to the target trailer is determined to be a third preset transverse control method, so that the determined third preset transverse control method can meet the transverse control requirement that the target trailer is in a retreating state and in a trailing state.

When the preset transverse control method is the first preset transverse control method, a planning track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer are obtained, and then the preset aiming distance is determined according to the current running speed, the current quality and the current transverse error, so that the accuracy of the determined preset aiming distance is ensured. And according to the pretightening distance, determining a pretightening point in the planned track, and ensuring the accuracy of the determined pretightening point. According to the pre-aiming point, calculating a target transverse error and a course angle error corresponding to the target trailer, and ensuring the accuracy of the calculated target transverse error and course angle error. Acquiring the loading state of a target trailer; according to the corresponding relation between the loading state of the target trailer and the control parameters in the first preset transverse control method, the first control parameters corresponding to the target trailer are determined, and the accuracy of the determined first control parameters is ensured. And then, calculating the front wheel corner corresponding to the target trailer according to the target transverse error, the course angle error and the first control parameter, so that the accuracy of the calculated front wheel corner corresponding to the target trailer is ensured.

When the preset transverse control method is a second preset transverse control method, a planning track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer are obtained, and then the preset distance is determined according to the current running speed, the current quality and the current transverse error, so that the accuracy of the determined preset distance is ensured. And according to the pretightening distance, determining a pretightening point in the planned track, and ensuring the accuracy of the determined pretightening point. According to the pre-aiming point, the angle difference between the pre-aiming point and the current position of the target trailer is calculated, and the accuracy of the determined angle difference between the pre-aiming point and the current position of the target trailer is ensured. According to the relation between the pre-aiming distance and the angle difference, the front wheel rotation angle corresponding to the target trailer is calculated, and the accuracy of the calculated front wheel rotation angle corresponding to the target trailer is ensured.

When the preset transverse control method is a third preset transverse control method, acquiring a first distance between a hinge point between a tractor of the target trailer and a hopper and an equivalent wheelbase of a rear axle of the tractor; and when the first distance is greater than a preset distance threshold, acquiring a planning track corresponding to the target trailer, and the current running speed, the current quality and the current transverse error of the target trailer. And determining the pre-aiming distance according to the current running speed, the current quality and the current transverse error, so that the accuracy of the determined pre-aiming distance is ensured. And according to the pretightening distance, determining a pretightening point in the planned track, and ensuring the accuracy of the determined pretightening point. And then, calculating the angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point, so that the accuracy of the calculated angle difference between the pre-aiming point and the current position of the target trailer is ensured. According to the relation between the pre-aiming distance and the angle difference, calculating the virtual front wheel corner corresponding to the hopper corresponding to the target trailer, and ensuring the accuracy of the calculated virtual front wheel corner corresponding to the hopper corresponding to the target trailer. Acquiring a hinge angle between a tractor and a hopper and a tractor wheelbase; according to the relation among the virtual front wheel corner, the hinge angle, the first distance and the tractor wheelbase, the front wheel corner of the tractor corresponding to the target trailer is calculated, and the accuracy of the calculated front wheel corner of the tractor corresponding to the target trailer is ensured.

In addition, when the first distance is smaller than or equal to a preset distance threshold value, the current time heading angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the hinge angle are obtained, and the next time heading angle of the hopper is calculated according to the relation among the current time heading angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the hinge angle, so that the accuracy of the calculated next time heading angle of the hopper is ensured. According to the relation between the next-moment course angle of the hopper and the virtual front wheel steering angle, the next-moment course angle of the tractor is calculated, and the accuracy of the calculated next-moment course angle of the tractor is ensured. According to the relation between the next time course angle of the tractor and the current time course angle of the tractor, the front wheel corner of the tractor corresponding to the target trailer is calculated, and the accuracy of the calculated front wheel corner of the tractor corresponding to the target trailer is ensured.

In this embodiment, a method for controlling the transverse direction of a trailer is provided, which may be used in the above-mentioned computer device, and fig. 7 is a flowchart of a method for controlling the transverse direction of a trailer according to an embodiment of the present invention, as shown in fig. 7, where the flowchart includes the following steps:

Step S301, the current running state of the target trailer is acquired.

Please refer to step S201 in the embodiment shown in fig. 2 in detail, which is not described herein.

Step S302, determining a preset transverse control method corresponding to the target trailer according to the current running state.

Please refer to step S202 in the embodiment shown in fig. 2, which is not described herein.

Step S303, calculating the corresponding front wheel rotation angle of the target trailer by using a preset transverse control method.

Please refer to step S203 in the embodiment shown in fig. 2 in detail, which is not described herein.

Step S304, the steering wheel of the target trailer is controlled based on the front wheel rotation angle.

Specifically, the step S304 of controlling the steering wheel of the target trailer based on the front wheel rotation angle may include the following steps:

step S3041, obtaining a planning track corresponding to the target trailer.

Specifically, the computer equipment can receive a planned track corresponding to the target trailer sent by the cloud control platform; the planning track corresponding to the target trailer can also be obtained from the storage space corresponding to the target trailer; the computer device may also receive a planned trajectory corresponding to the target trailer entered by the user.

The method for acquiring the planned track corresponding to the target trailer by the computer equipment is not particularly limited.

Step S3042, calculating a current lateral error between the current position of the target trailer and the nearest point of the planned trajectory to the target trailer.

Specifically, the computer device may obtain the current position of the target trailer, and then the computer device calculates a current lateral error between the current position of the target trailer and a closest point in the planned trajectory to the target trailer.

And step S3043, correcting the current transverse error by using a preset controller to obtain the correction quantity of the steering wheel.

Specifically, after the current lateral error is calculated, the computer device may correct the current lateral error by using the preset controller to obtain a steering wheel correction amount.

For example, the computer device may correct the current lateral error using the following formula:

（14）/>

wherein, the liquid crystal display device comprises a liquid crystal display device,for the current lateral error +.>For controlling the period +.>Is a correction coefficient.

The preset controller may be a PID integrator, a sliding mode controller, or the like, and the embodiment of the present application does not specifically limit the preset controller.

Step S3044, the front wheel angle and the steering wheel correction amount are added to obtain the total front wheel angle.

Specifically, after obtaining the front wheel angle and the steering wheel correction amount of the target trailer, the computer apparatus may add the front wheel angle and the steering wheel correction amount to obtain the total front wheel angle.

Step S3045, controlling the steering wheel of the target trailer according to the total front wheel steering angle.

Specifically, the computer device may limit the total front wheel steering angle for steering wheel amplitude, angular velocity, and angular jerk, and then control the steering wheel of the target trailer based on the result of the limiting.

Step S305, when the preset lateral control method is switched, acquiring a historical front wheel corner of the target trailer before the preset lateral control method is switched and a future front wheel corner after the preset lateral control method is switched.

Specifically, when the preset lateral control method is switched, the computer device may obtain, according to a calculation result of the preset lateral control method, a historical front wheel corner of the target trailer before the preset lateral control method is switched and a future front wheel corner after the preset lateral control method is switched.

Step S306, the front wheel turning angle of the target trailer in the switching process of the preset transverse control method is smoothed according to the historical front wheel turning angle and the future front wheel turning angle.

Specifically, as shown in FIG. 8, the computer device may first record the system at the beginning of the handoffTimeAnd a history front wheel corner before a preset lateral control method is switched +.>Wherein the system time after switching is t, presetting future front wheel steering angle after switching of the transverse control method>Switching time is +.>Is provided with->K is more than or equal to 0 and less than or equal to 1, and the steering wheel is the most output:

（15）

（16）

wherein, the liquid crystal display device comprises a liquid crystal display device,average angular acceleration during the time of steering wheel T from the last controller +.>A gradual decay curve to 0, < >>。

In addition, when the preset transverse control method is switched, the historical front wheel corner of the target trailer before the preset transverse control method is switched and the future front wheel corner after the preset transverse control method is switched are obtained, and the front wheel corner of the target trailer in the switching process of the preset transverse control method is smoothed according to the historical front wheel corner and the future front wheel corner, so that the front wheel corner of the target trailer can be smoothly controlled.

In this embodiment, a transverse control device for a trailer is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The present embodiment provides a trailer transverse control apparatus, as shown in fig. 9, including:

a first obtaining module 401, configured to obtain a current running state of a target trailer; the current running state comprises a forward state and a backward state;

A determining module 402, configured to determine a preset lateral control method corresponding to the target trailer according to the current driving state;

the calculating module 403 is configured to calculate a front wheel corner corresponding to the target trailer by using a preset lateral control method;

a control module 404 for controlling the steering wheel of the target trailer based on the front wheel steering angle.

In some optional embodiments, the determining module 402 is specifically configured to determine, when the current driving state is a forward driving state, that the preset lateral control method corresponding to the target trailer is a first preset lateral control method; when the current running state is a backward state, acquiring a trailer state of the target trailer; the pulling state comprises pulling and throwing; when the target trailer is in a drop-off state, determining a preset transverse control method corresponding to the target trailer as a second preset transverse control method; when the target trailer is a trailer, determining that the preset transverse control method corresponding to the target trailer is a third preset transverse control method.

In some optional embodiments, when the preset lateral control method is the first preset lateral control method, the calculating module 403 is specifically configured to obtain a planned track corresponding to the target trailer, and a current running speed, a current quality, and a current lateral error of the target trailer; the current transverse error represents the transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track; determining a pre-aiming distance according to the current running speed, the current quality and the current transverse error; determining a pretightening point in the planned track according to the pretightening distance; according to the pre-aiming point, calculating a target transverse error and a course angle error corresponding to the target trailer; the target transverse error is used for representing the transverse error between the current position of the target trailer and the pre-aiming point; acquiring the loading state of a target trailer; determining a first control parameter corresponding to the target trailer according to the corresponding relation between the loading state of the target trailer and the control parameter in a first preset transverse control method; the first control parameter is used for correcting the target transverse error and the course angle error; and calculating the corresponding front wheel corner of the target trailer according to the target transverse error, the course angle error and the first control parameter.

In some optional embodiments, when the preset lateral control method is the second preset lateral control method, the calculating module 403 is specifically configured to obtain the planned track corresponding to the target trailer, and the current running speed, the current quality, and the current lateral error of the target trailer; the current transverse error represents the transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track; determining a pre-aiming distance according to the current running speed, the current quality and the current transverse error; determining a pretightening point in the planned track according to the pretightening distance; calculating the angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point; and calculating the corresponding front wheel corner of the target trailer according to the relation between the pre-aiming distance and the angle difference.

In some optional embodiments, when the preset lateral control method is the third preset lateral control method, the target trailer includes a tractor and a hopper, and the calculating module 403 is specifically configured to obtain a first distance between a hinge point between the tractor and the hopper of the target trailer and an equivalent wheelbase of the rear axle of the tractor; when the first distance is larger than a preset distance threshold value, a planning track corresponding to the target trailer and the current running speed, the current quality and the current transverse error of the target trailer are obtained; the current transverse error represents the transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track; determining a pre-aiming distance according to the current running speed, the current quality and the current transverse error; determining a pretightening point in the planned track according to the pretightening distance; calculating the angle difference between the pre-aiming point and the current position of the target trailer according to the pre-aiming point; calculating a virtual front wheel corner corresponding to a hopper corresponding to the target trailer according to the relation between the pre-aiming distance and the angle difference; the virtual front wheel steering angle is used for representing the front wheel steering angle corresponding to the hopper before the hopper of the target trailer reaches the pre-aiming point; acquiring a hinge angle between a tractor and a hopper and a tractor wheelbase; and calculating the front wheel corner of the tractor corresponding to the target trailer according to the relation among the virtual front wheel corner, the hinge angle, the first distance and the tractor wheelbase.

In some optional embodiments, the calculating module 403 is further configured to obtain the current heading angle of the hopper, the axle distance of the hopper, the current running speed of the target trailer, and the articulation angle when the first distance is less than or equal to the preset distance threshold; calculating the next moment course angle of the hopper according to the relation among the current moment course angle of the hopper, the hopper wheelbase, the current running speed of the target trailer and the hinging angle; calculating the next time course angle of the tractor according to the relation between the next time course angle of the hopper and the virtual front wheel steering angle; and calculating the front wheel corner of the tractor corresponding to the target trailer according to the relation between the next moment course angle of the tractor and the current moment course angle of the tractor.

In some optional embodiments, the control module 404 is specifically configured to obtain a planned track corresponding to the target trailer; calculating the current transverse error between the current position of the target trailer and the nearest point of the target trailer in the planned track; correcting the current transverse error by using a preset controller to obtain a steering wheel correction amount; adding the front wheel angle and the steering wheel correction amount to obtain a total front wheel angle; and controlling the steering wheel of the target trailer according to the total front wheel steering angle.

In some alternative embodiments, the trailer lateral control device further includes:

the second obtaining module 405 is configured to obtain, when the preset lateral control method is switched, a historical front wheel corner of the target trailer before the preset lateral control method is switched and a future front wheel corner after the preset lateral control method is switched;

and the smoothing module 406 is configured to smooth the front wheel corner of the target trailer in the switching process of the preset lateral control method according to the historical front wheel corner and the future front wheel corner.

The trailer transverse control in this embodiment is in the form of a functional unit, here an ASIC circuit, a processor and memory executing one or more software or fixed programs, and/or other means that can provide the above functions.

Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.

The embodiment of the application also provides a target trailer, which comprises a trailer body and computer equipment. The embodiment of the application provides a computer device which is provided with the transverse control device of the trailer shown in the figure 9.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 10, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 10.

The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.

Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods shown in implementing the above embodiments.

The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created from the use of the computer device of the presentation of a sort of applet landing page, and the like. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.

The computer device further comprises input means 30 and output means 40. The processor 10, memory 20, input device 30, and output device 20 may be connected by a bus or other means, for example, in fig. 10.

The input device 30 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointer stick, one or more mouse buttons, a trackball, a joystick, and the like. The output means 40 may include a display device, auxiliary lighting means (e.g., LEDs), tactile feedback means (e.g., vibration motors), and the like. Such display devices include, but are not limited to, liquid crystal displays, light emitting diodes, displays and plasma displays. In some alternative implementations, the display device may be a touch screen.

The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims

1. A method for lateral control of a trailer, the method comprising:

calculating a front wheel corner corresponding to the target trailer by using the preset transverse control method;

controlling a steering wheel of the target trailer based on the front wheel turning angle;

the method for determining the preset transverse control method corresponding to the target trailer according to the current running state comprises the following steps:

when the current running state is the forward state, determining that the preset transverse control method corresponding to the target trailer is a first preset transverse control method;

when the current running state is the retreating state, acquiring a trailer state of the target trailer; the pulling state comprises pulling and throwing;

When the target trailer is the drop-off, determining a preset transverse control method corresponding to the target trailer as a second preset transverse control method;

when the target trailer is the trailer, determining that a preset transverse control method corresponding to the target trailer is a third preset transverse control method;

when the preset lateral control method is the first preset lateral control method, calculating a front wheel corner corresponding to the target trailer by using the preset lateral control method includes:

acquiring a planning track corresponding to the target trailer, and the current running speed, the current quality and the current transverse error of the target trailer; the current transverse error characterizes the transverse error between the current position of the target trailer and the nearest point of the planned track from the target trailer;

calculating a target transverse error and a course angle error corresponding to the target trailer according to the pre-aiming point; the target lateral error is used for representing the lateral error between the current position of the target trailer and the pre-aiming point;

Acquiring the loading state of the target trailer;

determining a first control parameter corresponding to the target trailer according to the corresponding relation between the loading state of the target trailer and the control parameter in the first preset transverse control method; the first control parameter is used for correcting the target transverse error and the course angle error;

2. The method according to claim 1, wherein when the preset lateral control method is the second preset lateral control method, the calculating the front wheel turning angle corresponding to the target trailer using the preset lateral control method includes:

3. The method of claim 1, wherein when the preset lateral control method is the third preset lateral control method, the target trailer includes a tractor and a hopper, and the calculating the corresponding front wheel corner of the target trailer using the preset lateral control method includes:

acquiring a first distance between a hinge point between the tractor and the hopper of the target trailer and an equivalent wheelbase of a rear axle of the tractor;

when the first distance is larger than a preset distance threshold, acquiring a planning track corresponding to the target trailer, and the current running speed, the current quality and the current transverse error of the target trailer; the current transverse error characterizes the transverse error between the current position of the target trailer and the nearest point of the planned track from the target trailer;

calculating a virtual front wheel corner corresponding to the hopper corresponding to the target trailer according to the relation between the pre-aiming distance and the angle difference; the virtual front wheel steering angle is used for representing a front wheel steering angle corresponding to the hopper before the hopper of the target trailer reaches the pre-aiming point;

acquiring a hinge angle between the tractor and the hopper and a tractor wheelbase;

4. A method according to claim 3, wherein after calculating the virtual front wheel steering angle corresponding to the hopper corresponding to the target trailer according to the relationship between the pre-aiming distance and the angle difference, the method further comprises:

when the first distance is smaller than or equal to the preset distance threshold value, acquiring a current time heading angle of the hopper, a hopper wheelbase, a current running speed of the target trailer and the hinging angle;

calculating the next time course angle of the tractor according to the relation between the next time course angle of the car hopper and the virtual front wheel rotation angle;

5. The method of claim 1, wherein the controlling the steering wheel of the target trailer based on the front wheel angle comprises:

acquiring a planning track corresponding to the target trailer;

calculating the current transverse error between the current position of the target trailer and the nearest point of the planned track, which is away from the target trailer;

adding the front wheel steering angle and the steering wheel correction amount to obtain a total front wheel steering angle;

and controlling the steering wheel of the target trailer according to the total front wheel rotation angle.

6. The method according to claim 1, wherein the method further comprises:

7. A lateral control device for a trailer, the device comprising:

the determining module is used for determining a preset transverse control method corresponding to the target trailer according to the current running state; the method for determining the preset transverse control method corresponding to the target trailer according to the current running state comprises the following steps: when the current running state is the forward state, determining that the preset transverse control method corresponding to the target trailer is a first preset transverse control method; when the current running state is the retreating state, acquiring a trailer state of the target trailer; the pulling state comprises pulling and throwing; when the target trailer is the drop-off, determining a preset transverse control method corresponding to the target trailer as a second preset transverse control method; when the target trailer is the trailer, determining that a preset transverse control method corresponding to the target trailer is a third preset transverse control method;

The calculating module is used for calculating the front wheel corner corresponding to the target trailer by utilizing the preset transverse control method; when the preset lateral control method is the first preset lateral control method, calculating a front wheel corner corresponding to the target trailer by using the preset lateral control method includes: acquiring a planning track corresponding to the target trailer, and the current running speed, the current quality and the current transverse error of the target trailer; the current transverse error characterizes the transverse error between the current position of the target trailer and the nearest point of the planned track from the target trailer; determining a pre-aiming distance according to the current running speed, the current quality and the current transverse error; determining a pretightening point in the planned track according to the pretightening distance; calculating a target transverse error and a course angle error corresponding to the target trailer according to the pre-aiming point; the target lateral error is used for representing the lateral error between the current position of the target trailer and the pre-aiming point; acquiring the loading state of the target trailer; determining a first control parameter corresponding to the target trailer according to the corresponding relation between the loading state of the target trailer and the control parameter in the first preset transverse control method; the first control parameter is used for correcting the target transverse error and the course angle error; calculating a front wheel corner corresponding to the target trailer according to the target transverse error, the course angle error and the first control parameter;

And the control module is used for controlling the steering wheel of the target trailer based on the front wheel rotation angle.

8. A target trailer, comprising: trailer body and computer equipment, computer equipment includes: a memory and a processor in communication with each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the trailer lateral control method of any one of claims 1 to 6.