CN110208784A - A kind of splice angle auxiliary measuring method of the unmanned articulated vehicle based on millimetre-wave radar - Google Patents
A kind of splice angle auxiliary measuring method of the unmanned articulated vehicle based on millimetre-wave radar Download PDFInfo
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- CN110208784A CN110208784A CN201910556461.XA CN201910556461A CN110208784A CN 110208784 A CN110208784 A CN 110208784A CN 201910556461 A CN201910556461 A CN 201910556461A CN 110208784 A CN110208784 A CN 110208784A
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- rigid body
- millimetre
- wave radar
- angle
- base surface
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- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
Abstract
The invention discloses the splice angle auxiliary measuring methods of the unmanned articulated vehicle based on millimetre-wave radar, the following steps are included: (1) installs millimetre-wave radar in the preceding rigid body of articulated vehicle and the side of rear rigid body respectively, articulated vehicle drives to base surface, obtains each millimetre-wave radar at a distance from base surface；(2) relative distance of millimetre-wave radar on preceding rigid body, on rear rigid body millimetre-wave radar relative distance and distance, calculate preceding rigid body relative angle and rear rigid body relative angle；(3) according to relative angle, preceding rigid body and rear rigid body are calculated in the opposite splice angle of hinged place；(4) according to opposite splice angle, the absolute splice angle in articulated vehicle control is calculated.Datum level of the base surface to be detected as millimetre-wave radar, measure distance of the front and back rigid body relative to base surface, the angle that front and back rigid body hinged place is calculated in conjunction with the mounting distance of millimetre-wave radar reduces the complexity of millimetre-wave radar, improves the practicability of measurement.
Description
Technical field
The invention belongs to field of vehicle control, more particularly, to a kind of unmanned radial type vehicle based on millimetre-wave radar
Splice angle auxiliary measuring method.
Background technique
Articulated vehicle is to be connected multiple rigid bodies using articulated mounting, and articulated vehicle is mutual by hinged place
Rotate and change the direction of vehicle movement.
In recent years, the control technology of unpiloted articulated vehicle gradually grows up, compared to single rigid body vehicle, hinge
It connects formula vehicle and is easy to appear unstability and sideslip phenomenon when turning to and laterally adjusting, controlled in unmanned friendship articulated vehicle
In, the ride comfort of vehicle in the process of moving and steady is directly affected for the splice angle of multiple rigid body hinged places of articulated vehicle
It is qualitative.Therefore, significant quantity of the measurement degree of splice angle as vehicle control, the accuracy of splice angle is for vehicle control
Effect is particularly important.
It is obtained currently, the splice angle of articulated vehicle generally uses angular transducer directly to measure, this measurement method pair
The measurement accuracy and installation accuracy of sensor are more demanding, and not for the collocation degree of different its hinged place of articulated vehicle
Together, to influence the measurement accuracy of the splice angle of articulated vehicle, the practicability is poor for measurement.There are also install to swash between multiple rigid bodies
Optar and camera obtain splice angle by measuring the correlation subsidiary between multiple rigid bodies, but this method pair
The locating environmental requirement of measurement is high, and the price of measuring device is high, cause the at high cost of measurement, limitation it is big, in practical application
In it is poor for applicability.
Summary of the invention
The object of the present invention is to provide it is a kind of it is easy to operate, measurement accuracy is high, with subsidiary effect based on millimeter
The splice angle auxiliary measuring method of the unmanned articulated vehicle of wave radar.
Technical scheme is as follows:
A kind of splice angle auxiliary measuring method of the unmanned articulated vehicle based on millimetre-wave radar, including following step
It is rapid:
(1) 2 millimetre-wave radars are installed in the preceding rigid body side of articulated vehicle, and install 2 in the side of rear rigid body
Millimetre-wave radar, each millimetre-wave radar detect base surface, successively obtain each millimetre-wave radar and base surface away from
From for b2、a2、b1、a1；
(2) according to the relative distance S of 2 millimetre-wave radars on step (1) the preceding rigid body2, on rear rigid body 2
The relative distance S of a millimetre-wave radar1And the obtained each millimetre-wave radar of the step (1) detection and base surface away from
From rigid body relative angle α before calculating2With rear rigid body relative angle α1, it is calculated by following formula:
(3) the preceding rigid body relative angle α obtained according to the step (2)2With rear rigid body relative angle α1, calculate hinged
The preceding rigid body of formula vehicle and rear rigid body are calculated in the opposite splice angle α of hinged place by following formula:
α=α2-α1；
(4) the opposite splice angle α obtained according to the step (3) calculates the absolute hinge in articulated vehicle control
Angle α ' is met, is calculated by following formula:
α '=90- α.
In the above-mentioned technical solutions, the absolute splice angle degree that the step (4) obtains is defined to change in 0-180 °, it is preceding
Hinged degree is 90 ° when rigid body and rear rigid body face.
In the above-mentioned technical solutions, the base surface has rigidity and the surfacing of the base surface.
It is a further object to provide a kind of unmanned articulated vehicle based on millimetre-wave radar it is hinged
Application of the angle auxiliary measuring method in tunnel construction environment, the base surface are passed through using the side wall in tunnel as basic face
Realize the measurement of opposite splice angle in above-mentioned steps (1)-(4).
It is a further object to provide a kind of unmanned articulated vehicle based on millimetre-wave radar it is hinged
Application of the angle auxiliary measuring method in dam construction environment, the base surface is with the side wall of dam for basic face, by upper
State the measurement that opposite splice angle is realized in step (1)-(4).
The advantages and positive effects of the present invention are:
1. the datum level that unmanned articulated vehicle drives to base surface to detect as millimetre-wave radar, passes through millimeter
Positional distance relationship of the forward and backward rigid body of wave radar surveying articulated vehicle relative to base surface, and combine and be mounted on radial type
The mounting distance between millimetre-wave radar on the forward and backward rigid body of vehicle is converted to obtain the angle of front and back rigid body hinged place, base
Auxiliary millimetre-wave radar measurement is built in plinth face in vehicle running environment, is reduced the complexity of millimetre-wave radar and is mounted to
This, improves the practicability and feasibility of measurement method.
2. measurement method of the invention is lower to installation site and the cleannes requirement of millimetre-wave radar, and passes through basis
The auxiliary in face precisely measures out the splice angle of hinged place.
Detailed description of the invention
Fig. 1 is measuring principle schematic diagram of the invention.
In figure:
1, the preceding rigid body 2 of articulated vehicle, the rear rigid body 3 of articulated vehicle, the first millimetre-wave radar
4, the second millimetre-wave radar 5, base surface 6, third millimetre-wave radar
7, the 4th millimetre-wave radar 8, articulated vehicle hinged place
Specific embodiment
Below in conjunction with specific embodiment, invention is further described in detail.It should be appreciated that described herein specific
Embodiment is used only for explaining the present invention, is not intended to limit the present invention, is never limited in protection scope of the present invention.
Embodiment 1
As shown in Figure 1, the splice angle subsidiary of the unmanned articulated vehicle of the invention based on millimetre-wave radar
Method, comprising the following steps:
(1) the first millimetre-wave radar, the second millimetre-wave radar are installed in the preceding rigid body side of articulated vehicle, and rear rigid
Third millimetre-wave radar, the 4th millimetre-wave radar are installed in the side of body, the existence foundation face in the environment of articulated vehicle operation,
And the side of the traffic direction of articulated vehicle, traveling of the base surface as unmanned articulated vehicle is arranged in the base surface
Range constraint face detects base surface by each millimetre-wave radar, successively obtains first to fourth millimetre-wave radar and basis
The distance in face is b2、a2、b1、a1；
(2) according to the relative distance S of the first millimetre-wave radar and the second millimetre-wave radar on rigid body before step (1)2, after
The relative distance S of third millimetre-wave radar and the 4th millimetre-wave radar on rigid body1And step (1) detects obtained b2、a2、b1、
a1, rigid body relative angle α before calculating1With rear rigid body relative angle α2, it is calculated by following formula:
(3) the preceding rigid body relative angle α obtained according to step (2)1With rear rigid body relative angle α2, calculate radial type vehicle
Preceding rigid body and rear rigid body are calculated in the opposite splice angle α of hinged place by following formula:
α=α2-α1；
(4) the opposite splice angle α obtained according to step (3) calculates the absolute splice angle in articulated vehicle control
α ' is calculated by following formula:
α '=90- α
Wherein, the absolute splice angle degree defined changes in 0-180 °, hinged when preceding rigid body is with rear rigid body face
Degree is 90 °.
It further says, base surface has rigidity and the surfacing of the base surface.
Embodiment 2
On the basis of embodiment 1, the splice angle subsidiary of the unmanned articulated vehicle based on millimetre-wave radar
Application of the method in tunnel construction environment, there are tunnels in the running environment of articulated vehicle, and with the inner sidewall in tunnel
For basic face, it is calculated by step (1)-(4) in embodiment 1 opposite between the preceding rigid body of articulated vehicle and rear rigid body
Splice angle.
Embodiment 3
On the basis of embodiment 1, the splice angle subsidiary of the unmanned articulated vehicle based on millimetre-wave radar
Application of the method in dam construction environment, there are dams in the running environment of articulated vehicle, and are with the side wall of dam
The opposite hinge between the preceding rigid body of articulated vehicle and rear rigid body is calculated by step (1)-(4) in embodiment 1 for base surface
Connect angle.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (5)
1. a kind of splice angle auxiliary measuring method of the unmanned articulated vehicle based on millimetre-wave radar, which is characterized in that
The following steps are included:
(1) 2 millimetre-wave radars are installed in the preceding rigid body side of articulated vehicle, and 2 millimeters is installed in the side of rear rigid body
Wave radar, each millimetre-wave radar detect base surface, and successively obtain each millimetre-wave radar is at a distance from base surface
b2、a2、b1、a1；
(2) according to the relative distance S of 2 millimetre-wave radars on step (1) the preceding rigid body2, 2 institutes on rear rigid body
State the relative distance S of millimetre-wave radar1And the step (1) detects obtained each millimetre-wave radar at a distance from base surface,
Rigid body relative angle α before calculating2With rear rigid body relative angle α1, it is calculated by following formula:
(3) the preceding rigid body relative angle α obtained according to the step (2)2With rear rigid body relative angle α1, calculate radial type vehicle
Preceding rigid body and rear rigid body are calculated in the opposite splice angle α of hinged place by following formula:
α=α2-α1；
(4) the opposite splice angle α obtained according to the step (3) calculates the absolute splice angle in articulated vehicle control
α ' is calculated by following formula:
α '=90- α.
2. splice angle auxiliary measuring method according to claim 1, it is characterised in that: define what the step (4) obtained
Absolute splice angle degree changes in 0-180 °, and hinged degree is 90 ° when preceding rigid body is with rear rigid body face.
3. splice angle auxiliary measuring method according to claim 1, it is characterised in that: the base surface have rigidity and
The surfacing of the base surface.
4. a kind of application of splice angle auxiliary measuring method according to claim 1 in tunnel construction environment, feature
Be: the base surface is using the side wall in tunnel as basic face, and (1)-(4) realize the survey of opposite splice angle through the above steps
Amount.
5. a kind of application of splice angle auxiliary measuring method according to claim 1 in dam construction environment, feature
Be: the base surface is with the side wall of dam for basic face, and (1)-(4) realize the survey of opposite splice angle through the above steps
Amount.
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| CN201910556461.XA CN110208784B (en) | 2019-06-25 | 2019-06-25 | Auxiliary measuring method for hinge angle of unmanned articulated vehicle based on millimeter wave radar |
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| CN111141293A (en) * | 2019-12-13 | 2020-05-12 | 苏州智加科技有限公司 | Vehicle positioning method, device, equipment and storage medium |
| EP4105676A1 (en) * | 2021-06-16 | 2022-12-21 | Robert Bosch GmbH | Driver assistance system and method for operating a driver assistance system |
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| CN110208784B (en) | 2022-01-18 |
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