CN101332836A - 拖车铰接角估计 - Google Patents

拖车铰接角估计 Download PDF

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CN101332836A
CN101332836A CNA2008101285830A CN200810128583A CN101332836A CN 101332836 A CN101332836 A CN 101332836A CN A2008101285830 A CNA2008101285830 A CN A2008101285830A CN 200810128583 A CN200810128583 A CN 200810128583A CN 101332836 A CN101332836 A CN 101332836A
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sensor
vehicle
power actuated
photographic camera
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CN101332836B (zh
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Y·H·李
A·卡德
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GM Global Technology Operations LLC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

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Abstract

本发明涉及拖车铰接角估计。本发明利用了可用于侧盲点检测、后视、后方实际保险杠(virtual bumper)和后方停车辅助的现有雷达、视觉和超声波传感器。使用传感器融合技术来组合来自这些传感器的有用信息，精确估计拖车铰接角以及拖车轨距宽度和舌杆长度。当存在主动转向系统时，可以通过利用拖车信息以增加的稳定性来控制车辆和拖车。

Description

拖车铰接角估计
技术领域
本发明通常涉及车辆稳定性。更特别地，本发明涉及包括机动车辆和附接到该车辆的负载的组合的行驶稳定性。
背景技术
许多机动车辆被设计成拖引或拖曳各种负载，所述负载包括但不限于：货仓、空车厢、船并且有时为其他机动车辆。已知在拖引时增强车辆稳定性的很宽范围的系统和设备。这些设备可以包括诸如翼面(airfoil)的简单附件和诸如地面效应(ground effect)之类的其他车辆配件(trim piece)，这些通过车辆的设计控制赋予车辆额外的空气动力稳定性。另外，已经开发了用于牵引控制的系统以及自动调整的悬挂系统，该悬挂系统与负载重量成比例地改变车辆车身的高度。
经常发生的是，工程师在拖车设计过程中作出拖车设计改变但没有考虑他们的设计改变对每个可能的车辆/拖车组合的稳定性带来的整体影响，其中拖车是该车辆/拖车组合的一部分。因此很自然的是有些车辆/拖车组合可能固有地在高速时比其他组合更稳定，并且在实际道路测试之前，当面对各种诸如侧风等的复杂路面情况时，通常没有办法来合理地预测所有这种可能组合的行为。
为了主动安全特征，已知的是将传感器安装在车辆的后面和侧面来检测车辆之后的目标，诸如用于后视和侧面盲区目标检测的视觉传感器，和用于侧面盲区检测、后方目标检测和后方路口交通(crosstraffic)检测的雷达传感器。超声波传感器通常出现在车辆上用于协助倒车操纵(rear parking maneuver)。
促成车辆和拖车稳定性控制系统的开发的主要因素之一是可独立于所连接的拖车的牵引线和阻力线夹角(hitch angle)传感器的可用性。远程牵引线和阻力线夹角感测系统是对于低成本车辆-拖车稳定性控制的关键促成因素。有几种已知的接触类型的牵引线和阻力线夹角传感器已经被用于这种应用。然而，由于拖车经常被连接和断开，这些接触类型传感器十分麻烦，并且在每个这样的连接循环之后需要新的校准和调整。
一般意义上，希望提供比先前已经可用的用于辅助车辆/拖车组合的具有增加的可靠性和完整性的系统。对拖车控制系统而言，拖车控制系统的一个不足是拖车牵引铰接角(hitch articulation angle)的感测。在本领域中仍需要以改进的协同方式利用先前提到的传感器的输出以在行驶时提供更大的稳定性并且在车辆/拖车倒车和停车时提供方向控制的手段。本发明的系统和方法通过使用仅布置在用于拖拽的机动车辆上的感测装置提供一种计算牵引铰接角的新的有益的手段，，而提供了用于协助稳定车辆/拖车组合的增强的手段。
发明内容
本发明提供了一种可用于确定被拖带在机动车辆后面的拖车的拖车牵引铰接角的系统。根据本发明的系统利用仅布置在机动车辆上的感测装置。所述感测装置包括选自以下的一个或多个感测装置：超声波换能器、短距离雷达换能器和照相机。所述感测装置包括选自以下的一个或多个感测装置：超声波换能器、短距离雷达换能器、视觉系统换能器、照相机和光成像检测及测距换能器和系统(LIDAR)。
本发明还提供了一种用于计算在包括具有拖车的机动车辆的组合中的拖车牵引铰接角的过程，该拖车包括枢转地连接到其上的轮轴。该机动车辆包括感测装置，所述感测装置包括以下的一个或多个：超声波换能器、短距离雷达换能器和照相机。根据本发明的过程包括以下步骤：a)通过所使用的感测装置来获取关于拖车的位置和距离信息；b)将所述位置和距离信息传递到微处理器；c)计算拖车的拖车舌杆(tongue)长度；d)计算拖车的轮距宽度(track width)；以及e)计算拖车的拖车牵引铰接角。
附图说明
本发明在某些部件和部件的排列中可以采取物理形式，所述部件的实施例被详细描述并且在附图中示出，这些附图形成了本发明的一部分，其中：
图1示出了具有附接在其上的拖车的机动车辆的俯视图；
图2示出了存在于如图1所示的车辆/拖车组合中的相关参数和角度的俯视示意图；
图3示出了机动车辆的侧视图，其中拖车以常规的方式枢转地附接在该机动车辆上；
图4示出了如图1和2所示的车辆/拖车组合的俯视示意图，其中所述拖车被置于其中心线相对于机动车辆的中心线形成一角度的位置处；
图5示出了在根据本发明的方法的实践中有用的算法；以及
图6示出了根据本发明的处理方案的示意图。
具体实施方式
本发明提供了一种用于通过使用仅安装在车辆上的多个传感器中的一个或多个来实时评估和辅助车辆控制/拖车动态(dynamics)而增强车辆/拖车稳定性的系统，该系统与现有技术中已知的系统相反，在现有技术的系统中仅利用安装在拖车上的传感器。
根据本发明，使用仅安装在车辆上的感测装置来实时准确地估计诸如牵引线和阻力线夹角和拖车舌杆长度之类的与拖车相关联的参数，用于精确的车辆/拖车稳定性控制。本发明也提供了一种方法，该方法包括使用安装在车辆后面和侧面的一组传感器检测被拖带在车辆后面的目标的位置来感测拖车铰接角。一旦估计和/或计算了这些参数，这些参数被有用地用于生成可听的或可视的报警信号，或者用于提供电子反馈到对本发明进行补充的系统、方法和/或设备，或者在这些系统、方法和/或设备内提供电子反馈，这些系统、方法和/或设备包括但不限于在共同转让的美国专利6,838,979和6999856中描述的系统和方法，所述专利的每一个的全部内容在此引入以供参考。通过使用本发明，可以消除对牵引铰接传感器的需要。
为了克服在现有技术中有时用作在计算诸如距离之类的参数中的唯一输入源的传感器的缺点，本发明利用传感器融合技术，该传感器融合技术使用来自多于单个传感器的信息和/或输出，其中，例如，可以使用视觉和雷达来检测拖车的边缘，并处理该边缘以估计牵引铰接角和拖车舌杆长度。这些参数是拖车稳定性和停车控制所必需的重要信息。
现在参考附图，其中这些附图仅是用于说明本发明的目的，而不是用于限制本发明的目的。图1示出了机动车辆10的俯视图，该机动车辆具有利用常规的牵引装置(hitching means)附接到其上的拖车12，该拖车12包括枢轴联结器(pivotal coupling)27处枢转地连接到机动车辆10的拖车牵引(trailer hitch)29的拖车舌杆25，如本领域中已知的。机动车辆10优选地装配有各种传感器，包括短距离雷达换能器21、超声波传感器23、方向盘转角传感器11、偏航率传感器19、左侧盲区照相机15和右侧盲区照相机17。具有数据处理器13，该数据处理器优选地包括微处理器，为了拖车牵引铰接角的计算，从每个前述传感器收集的信息被输入到该数据处理器13中用于存储、聚合(aggregation)和处理的目的，如下面将详述的。
图2是图1示出的车辆/拖车组合的俯视示意图，还包括各个物理参数的定位和定义，该物理参数在根据本发明的方法和系统中可用于计算角度，即拖车牵引铰接角。这些参数包括：L1，车辆轴距尺寸；h，从机动车辆10的后轴33到枢轴联结器27的距离；和Lt，从枢轴联结器27到拖车12的轴31的中心线的距离。Lt有时被称作拖车舌杆长度。也示出了L2，L2是从机动车辆的后轴33到机动车辆10的车身的尾部35的距离。Tt是拖车12上的轴的轮距宽度距离的一半；Tv是机动车辆的轮距的一半，并且Tm是从机动车辆10的中心线到左侧盲区照相机15的中心的距离。是当沿向前的方向笔直行驶时，左侧盲区照相机15的中心和机动车辆10的车身的后方拐角部分之间相对于机动车辆10的行驶线的角度，并且
Figure A20081012858300072
是当机动车辆和拖车被连接并共同沿向前的方向笔直行驶时，左侧盲区照相机15的中心和拖车12的轴上的车轮之间相对于机动车辆/拖车组合的行驶线的方位角。参数m是机动车辆10的左前轮的旋转中心和左侧盲区照相机15的视觉传感器之间的距离。
图3是机动车辆10的侧视图，拖车12以常规方式枢转地附接到机动车辆10上。参数L1，h，Lt和m与在图2中根据俯视图定义的参数相同，并且在图3中还定义了参数ψt和mh。ψt是基本上平行于路面布置的水平线H和从拖车的车轮接触拖车12所位于的路面S的点到水平线H与左侧盲区照相机15的镜头的交点延伸的线之间的角度，该水平线H与左侧盲区照相机15的镜头交叉。参数mh是侧盲区照相机15的中心距地面S的竖直位置。
图4是如图1和2中示出的车辆/拖车组合的俯视示意图，拖车位于某一位置，在该位置处拖车12的中心线相对于机动车辆10的中心线形成了一角度，该角度被称作拖车铰接角，该角度被特别关注并且被用于根据本发明的系统和方法来提供车辆/拖车组合的稳定性。相关的参数还包括：L1；h；Lt；L2；Tt；Tv；Tm；和m，这些参数的含义已经在上面参考图2中定义。
在设法实时计算拖车牵引铰接角时，考虑图3中的下述关系将十分有帮助：
m h L 1 - m + h + L t = tan ψ t - - - ( 1 )
该关系将已知参数m，h，L1，mh和可测量的角度ψt与拖车舌杆长度Lt相关。ψt是从左侧盲区照相机15中获得的。然而，如图3所示，由于车辆/拖车组合的大致对称性，可以使用右侧盲区照相机17从车辆的相对侧获取类似的数据。实际上，所讨论的通过考虑车辆/拖车组合的左侧而获得的所有量对于车辆/拖车组合的右侧通常也是有效的。等式(1)可以被重写成：
L t = m h tan ψ t + m - h - L 1 - - - ( 2 )
一旦已知拖车舌杆长度Lt，可以计算出其他有关的参数。考虑图2和下述关系是有益的：
Figure A20081012858300084
其中因为该等式涉及车辆，所有的变量均已知。类似地，从拖车角度考虑，可以导出表达式：
Figure A20081012858300085
等式(4)可以重写成：
Figure A20081012858300086
现在参考图4，可以建立将拖车牵引铰接角与其他参数的值相关的表达式，其中这些参数中的一些已知，并且一些由一个(或多个)侧盲区照相机测得：
Figure A20081012858300087
可以简化成：
Figure A20081012858300091
其中
Figure A20081012858300092
因此，由于上述关系，一旦拖车12附接到机动车辆10，我们可以从考虑机动车辆10上的已知距离参数和由侧盲区照相机获得的值来获得Tt和Lt的值。可以通过执行上面所列的必要计算来实施拖车牵引铰接角的计算，所述必要计算优选地由机动车辆10上车载的数据处理器13来完成。有利地，安装在机动车辆10的后面的短距离雷达换能器21或超声波传感器23对于提供拖车12的前部与这些传感器的距离的即时测量以放大从侧盲区照相机获取的数据十分有益。例如，在特定的时间点可根据前面的讨论导出拖车铰接角。当一个(或多个)短距离雷达换能器和/或一个(或多个)超声波传感器与被拖带的拖车12的表面交互时，与这种特定的时间点处的拖车铰接相关地，将有来自短距离雷达换能器和/或超声波传感器的输出，所述输出将依赖于拖车12的外部特征的具体几何结构。根据另一个实施例，来自这些传感器的与使用一个(或多个)侧盲区照相机得到的每个拖车牵引铰接角相关联的这种输出数据，被采集、存储并与只从侧盲区照相机得到的每一个拖车牵引铰接角相关联，从而在确定拖车牵引铰接角时，侧盲区照相机不再是必需的。在另一个实施例中，距离Lt是从安装在机动车辆10上的短距离雷达换能器直接获取的。在其他实施例中，距离Lt他是从安装在机动车辆10上的超声波传感器直接获取的。
图5示出了在根据本发明的方法的实践中有用的算法(501)。在开始处，机动车辆12车载的传感器搜索和检测拖车12的存在。如果拖车12不存在，该系统将继续尝试定位拖车(503)。当拖车12存在时，该系统确定是否已经计算拖车牵引铰接角(505)。如果没有，系统继续进行以确定机动车辆/拖车组合是否在运动(507)。如果没有运动，则系统等待(509)直到机动车辆/拖车组合处于运动中，在机车处于运动时，采集数据并计算Tt，Lt和方位角的初始值(511，513)，并且使用所有相关值利用等式(7)或等价的表达式(515)计算初始拖车牵引铰接角。周期性地重复该过程以提供对拖车牵引铰接角的持续监控。
图6表示根据本发明的一个替换实施例的处理方案的示意图。示出了耦合到相关的存储单元37的控制器13。控制器13耦合到系统I/O模块35，I/O模块35被配置成接受来自各种车载传感器15，(17)，19，21，23和包括本领域中已知的其他感测装置的信号，所述其他感测装置包括但不限于LIDAR感测换能器和系统。I/O模块35耦合到接口39，该接口39可以是机动车辆的驱动器可读的显示器，或者接口39可替换地包括作为输入被馈送到附加处理器的耦接头(coupling)，仅引用一个例子，如在美国专利6,838,979中所描述的，其算法可以被用于基于本发明所提供的角度值来如其中所教导地提供报警。在另一个替换实施例中，接口39连接到机械链接到机动车辆的转向控制系统的伺服传动机构。在又一个替换实施例中，接口39连接到机械链接到机动车辆的刹车系统的伺服传动机构。
因此，本发明提供的系统和方法实现了铰接角的估计，而没有接触拖车12的任何部分。另外，所有的传感器在机动车辆10上。根据本发明的系统是自校准和自校正的、实时的、并使用可容易得到的传感器。
尽管参考具体的实施例描述了本发明，需要理解的是在所描述的本发明的概念的精神和范围中可以做出改变。因此，本发明并不打算被限于所公开的实施例，而是其具有由随附的权利要求书的语句所允许的整个范围。

Claims (12)

1、一种用于确定被拖带在机动车辆后的拖车的拖车牵引铰接角的系统，该系统包括：
仅布置在机动车辆上的至少一个非接触传感器；
所述至少一个传感器具有耦合到数据处理器的输出信号，其中所述数据处理器基于所述至少一个传感器的输出信号来计算该拖车牵引铰接角。
2、根据权利要求1所述的系统，其中所述至少一个传感器包括超声波换能器、短距离雷达换能器、LIDAR传感器、照相机和其组合的至少其中之一。
3、根据权利要求1所述的系统，其中所述至少一个传感器包括照相机和超声波换能器。
4、根据权利要求1所述的系统，其中所述至少一个传感器包括照相机和短距离雷达换能器。
5、根据权利要求1所述的系统，其中所述数据处理器连接到I/O单元。
6、根据权利要求5所述的系统，其中所述一个或多个感测装置通过所述I/O单元连接到所述数据处理器。
7、根据权利要求6所述的系统，还包括连接到所述I/O单元的接口。
8、根据权利要求1所述的系统，还包括方向盘转角传感器，该方向盘转角传感器具有被输入到所述数据处理器的输出。
9、根据权利要求1所述的系统，还包括偏航率传感器，该偏航率传感器具有被输入到所述数据处理器的输出。
10、一种用于在包括具有拖车的机动车辆的组合中计算拖车牵引铰接角的过程，该拖车包括枢转地连接到其的轮轴，所述机动车辆包括至少一个非接触传感器，所述过程包括：
从所述至少一个非接触传感器获取拖车位置和距离信息；
传递所述信息到微处理器；
根据从所述至少一个非接触传感器获取的信息确定所述拖车的拖车舌杆长度；
根据从所述至少一个非接触传感器获取的信息确定所述拖车的轨距宽度；以及
基于所确定的拖车舌杆长度和所确定的轨距宽度来计算所述拖车的拖车牵引铰接角。
11、根据权利要求10所述的过程，其中照相机被用作所述至少一个非接触传感器，并且所述拖车位置和距离信息包括在所述车辆上的照相机的中心与所述拖车的所述轴上的车轮之间的方位角。
12、根据权利要求10所述的过程，其中具有镜头的照相机被用作所述至少一个非接触传感器，并且所述拖车位置和距离信息包括拖车的车轮接触拖车所位于的路面的点和基本上平行于路面布置的水平线之间的角度，其中所述水平线与所述照相机的镜头相交叉。
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