CN113428155B - 牵引车与牵引车厢的对接方法、设备及存储介质 - Google Patents
牵引车与牵引车厢的对接方法、设备及存储介质 Download PDFInfo
- Publication number
- CN113428155B CN113428155B CN202110922949.7A CN202110922949A CN113428155B CN 113428155 B CN113428155 B CN 113428155B CN 202110922949 A CN202110922949 A CN 202110922949A CN 113428155 B CN113428155 B CN 113428155B
- Authority
- CN
- China
- Prior art keywords
- tractor
- distance
- fixed point
- docked
- point position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003032 molecular docking Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001442234 Cosa Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/805—Azimuth angle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110922949.7A CN113428155B (zh) | 2021-08-11 | 2021-08-11 | 牵引车与牵引车厢的对接方法、设备及存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110922949.7A CN113428155B (zh) | 2021-08-11 | 2021-08-11 | 牵引车与牵引车厢的对接方法、设备及存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113428155A CN113428155A (zh) | 2021-09-24 |
CN113428155B true CN113428155B (zh) | 2022-08-19 |
Family
ID=77797572
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110922949.7A Active CN113428155B (zh) | 2021-08-11 | 2021-08-11 | 牵引车与牵引车厢的对接方法、设备及存储介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113428155B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114620128B (zh) * | 2022-04-28 | 2023-03-24 | 国网智慧能源交通技术创新中心(苏州)有限公司 | 牵引车与挂车自动对接的控制方法、系统、存储介质及包括其的车辆 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6222457B1 (en) * | 1999-10-12 | 2001-04-24 | Stephen Scott Keneally | Electronic trailer hitching system |
CN103754076A (zh) * | 2014-01-04 | 2014-04-30 | 张少靖 | 一种汽车牵引车与挂车辅助对接装置 |
GB2525036B (en) * | 2014-04-11 | 2018-08-22 | Jaguar Land Rover Ltd | Selectively deployable control device |
US11112259B2 (en) * | 2017-10-24 | 2021-09-07 | Nissan North America, Inc. | Localization determination for vehicle operation |
CN112004696B (zh) * | 2018-05-01 | 2024-04-12 | 大陆汽车系统公司 | 牵引车辆和拖车的对准 |
US11148667B2 (en) * | 2018-08-03 | 2021-10-19 | Continental Automotive Systems, Inc. | Automated reversing by choice of target location |
US11148489B2 (en) * | 2018-10-09 | 2021-10-19 | Ford Global Technologies, Llc | Hitch assist system |
CN110335305A (zh) * | 2018-11-01 | 2019-10-15 | 驭势科技(北京)有限公司 | 一种拖车位姿的确定方法、装置、车载设备及存储介质 |
-
2021
- 2021-08-11 CN CN202110922949.7A patent/CN113428155B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN113428155A (zh) | 2021-09-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2988983B1 (en) | System for a towing vehicle | |
EP3016835B1 (en) | Vehicle control system | |
US9403413B2 (en) | Systems and methods to assist in coupling a vehicle to a trailer | |
US8489283B2 (en) | Parallel parking assistant system and method thereof | |
US20160152263A1 (en) | Vehicle Control System | |
US11148489B2 (en) | Hitch assist system | |
US11180148B2 (en) | Detection and response to confined trailer in system-assisted hitch operation | |
CN113428155B (zh) | 牵引车与牵引车厢的对接方法、设备及存储介质 | |
US11532230B2 (en) | System, method and apparatus for position-based parking of vehicle | |
US11279405B2 (en) | Hitch assist system | |
CN105691453B (zh) | 转向扭矩补偿设备以及转向扭矩补偿方法 | |
CN115053279B (zh) | 驾驶辅助装置、车辆及驾驶辅助方法 | |
US10829045B2 (en) | System and method for calibrating a motion estimation algorithm using a vehicle camera | |
US20200001919A1 (en) | Hitch assist system | |
WO2017179505A1 (ja) | 車両制御装置 | |
US11511800B2 (en) | Determining an angle of a movement path of a trailer | |
JP2015190920A (ja) | 計測装置、及びそれを用いた故障診断装置 | |
EP4001058A1 (en) | A system for guiding a vehicle towards a connecting vehicle which is to be connected to the vehicle | |
JP7231517B2 (ja) | 追従走行システム | |
US20240087329A1 (en) | Determining a trailer orientation | |
EP4174776A1 (en) | A method for estimating a relative angle between an image obtaining device and a vehicle | |
EP4098463A1 (en) | A method for estimating an effective length of a first vehicle segment of a vehicle combination | |
CN117382633A (zh) | 弯道辅助控制方法、装置、设备及存储介质 | |
JP2021064159A (ja) | 障害物検出装置 | |
BG2903U1 (bg) | Интегрирана система за паркиране на тежкотоварни автомобили с полумарке |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: 310000 1760 Jiangling Road, Binjiang District, Hangzhou, Zhejiang. Patentee after: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Patentee after: Zhejiang Geely Remote New Energy Commercial Vehicle Group Co.,Ltd. Patentee after: Zhejiang Geely new energy Commercial Vehicle Development Co.,Ltd. Address before: 310000 1760 Jiangling Road, Binjiang District, Hangzhou, Zhejiang. Patentee before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Patentee before: ZHEJIANG GEELY NEW ENERGY COMMERCIAL VEHICLE GROUP Co.,Ltd. Patentee before: Zhejiang Geely new energy Commercial Vehicle Development Co.,Ltd. |
|
CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230817 Address after: 310000 1760 Jiangling Road, Binjiang District, Hangzhou, Zhejiang. Patentee after: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Patentee after: Zhejiang Geely Remote New Energy Commercial Vehicle Group Co.,Ltd. Address before: 310000 1760 Jiangling Road, Binjiang District, Hangzhou, Zhejiang. Patentee before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Patentee before: Zhejiang Geely Remote New Energy Commercial Vehicle Group Co.,Ltd. Patentee before: Zhejiang Geely new energy Commercial Vehicle Development Co.,Ltd. |
|
TR01 | Transfer of patent right |