CN115848404A - Articulated vehicle control method and articulated vehicle - Google Patents
Articulated vehicle control method and articulated vehicle Download PDFInfo
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- CN115848404A CN115848404A CN202111117631.8A CN202111117631A CN115848404A CN 115848404 A CN115848404 A CN 115848404A CN 202111117631 A CN202111117631 A CN 202111117631A CN 115848404 A CN115848404 A CN 115848404A
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Abstract
The application provides an articulated vehicle control method and an articulated vehicle, which are suitable for the technical field of automatic driving vehicle control, and the method comprises the following steps: the articulated vehicle can calculate the transverse error of the pre-aiming point relative to the running direction of the articulated vehicle by acquiring the reference pose information of the pre-aiming point and the actual pose information of the control point in the planned path, can calculate the articulation angle in the current running process based on the transverse error, and actively control the steering running angle of the articulated vehicle according to the calculated articulation angle, so that the accuracy of the tracking running process of the forward and backward movement of the articulated vehicle in the automatic driving process can be improved, and the accuracy requirements on the position and the posture in any running scene are met.
Description
Technical Field
The application belongs to the technical field of vehicle control, and particularly relates to an articulated vehicle control method and an articulated vehicle.
Background
The articulated vehicle is a transportation machine with strong universality in mining industry and large-scale construction of various industries, and can comprise a front part and a rear part which are connected through an articulated joint. When the articulated vehicle is applied to an underground automatic driving scene, the working conditions needing to be executed comprise forward movement and backward movement.
At present, in the process of advancing or backing an articulated vehicle, a planning module can provide a planned driving path of the articulated vehicle, and the articulated vehicle tracks the planned driving path to advance or back when automatically driving; due to the nonlinearity and uncertainty of the control system of the articulated vehicle, the accuracy of the tracked travel of the articulated vehicle is low when the articulated vehicle is moving forward or backward.
Disclosure of Invention
The application provides an articulated vehicle control method and an articulated vehicle, which can improve the accuracy of tracking the running process of forward and backward when the vehicle is automatically driven.
The present application provides in a first aspect an articulated vehicle control method comprising:
the articulated vehicle acquires reference pose information of a preview point and actual pose information of a control point in a planned path; the articulated vehicle calculates the transverse error of the pre-aiming point relative to the current running direction according to the reference pose information and the actual pose information; calculating an articulation angle of the articulated vehicle based on the lateral error; when the articulated vehicle controls the control point to track the aiming point to run, the articulated vehicle controls steering to run according to the articulation angle.
Illustratively, the articulated vehicle includes a front car and a rear car; the front carriage and the rear carriage are connected through a hinge joint, and a hinge angle sensor can be arranged at the hinge joint and used for measuring the current actual hinge angle information; the control point can be the midpoint of the front axle corresponding to the front carriage or the midpoint of the rear axle corresponding to the rear carriage.
For example, a sensor may be arranged on the roof of a front axle of a front carriage of the articulated vehicle, or a visual or real-time mapping and positioning (SLAM) module may be arranged right in front of the head of the articulated vehicle, so that the actual pose information of the midpoint of the front axle of the articulated vehicle can be measured; through the conversion of the front axle and the rear axle, the actual pose information of the midpoint of the rear axle can be obtained according to the actual pose information of the midpoint of the front axle.
Illustratively, the preview point is a series of discrete points on the planned path of the articulated vehicle, and is a reference point where the distance of the planned path from the control point satisfies a distance threshold.
Illustratively, the lateral error is the lateral position or distance of the home point relative to the left or right side of the vehicle body.
Illustratively, the articulation angle calculated according to the lateral error tracks the steering angle of the articulator during steering driving of the pointing point for the control point of the articulated vehicle.
In a possible implementation manner of the first aspect, before the articulated vehicle acquires the reference pose information of the pre-aiming point in the planned path and the actual pose information of the control point of the articulated vehicle, the method further includes:
the articulated vehicle acquires the planning speed of a pre-aiming point in a planning path; determining the running direction of the articulated vehicle according to the planned speed; determining a control point of the articulated vehicle according to the driving direction; wherein the control point comprises a front axle midpoint or a rear axle midpoint of the articulated vehicle.
For example, if the planned speed is forward, the driving direction is forward, and the control point is the middle point of the front axle of the articulated vehicle; if the planned speed is reverse, the driving direction is reverse, and the control point is the middle point of the rear axle of the articulated vehicle.
In a possible implementation manner of the first aspect, the reference pose information includes a first position coordinate of the pre-pointing point in a global coordinate system, and the actual pose information includes a second position coordinate of the control point in the global coordinate system; the articulated vehicle calculates the transverse error of the pre-aiming point relative to the body coordinate system of the articulated vehicle according to the reference pose information and the actual pose information, and comprises the following steps:
calculating a third position coordinate of the pre-aiming point in a vehicle body coordinate system taking the control point as a coordinate origin according to the first position coordinate and the second position coordinate of the articulated vehicle; the lateral error is determined from the third position coordinate.
Illustratively, a corresponding conversion relation exists between a vehicle body coordinate system taking the middle point of the front axle as a coordinate origin and a global coordinate system, and the conversion relation can be represented by a rotation matrix; the position of the preview point relative to the control point can be obtained through the first position coordinate and the second position coordinate, and the position coordinate of the preview point relative to the vehicle body coordinate system of the control point is obtained through further transformation of the rotation matrix. From this position coordinate, the lateral position or distance of the home point with respect to the left or right side of the vehicle body, i.e. the lateral error, can be determined.
In one possible implementation manner of the first aspect, after calculating a lateral error of the home point with respect to a current driving direction of the articulated vehicle, the method further comprises:
and according to the transverse error of the previous moment adjacent to the current moment, carrying out filtering processing on the transverse error of the current moment.
Illustratively, the lateral error at the previous time includes a pre-filtering lateral error and a post-filtering lateral error corresponding to the previous time. And filtering the transverse error at the current moment according to the transverse error before filtering and the transverse error after filtering corresponding to the previous moment to obtain the transverse error after filtering corresponding to the current moment.
In one possible implementation form of the first aspect, calculating an articulation angle of the articulated vehicle based on the lateral error includes:
and calculating the articulation angle of the articulated vehicle according to the transverse error based on the geometric relationship between the pre-aiming distance from the pre-aiming point to the control point and the steering running radius of the control point.
In one possible implementation manner of the first aspect, after calculating the articulation angle of the articulated vehicle according to the lateral error, the method further comprises:
and performing advanced correction processing on the articulation angle at the current moment according to the articulation angle at the previous first moment adjacent to the current moment and the articulation angle at the previous second moment adjacent to the first moment.
Illustratively, the articulation angle at the first time includes the corresponding articulation angle before advanced correction and the corresponding articulation angle after advanced correction at the first time, and the articulation angle at the second time includes the corresponding articulation angle before advanced correction and the corresponding articulation angle after advanced correction at the second time.
In a possible implementation manner of the first aspect, before the articulated vehicle acquires the reference pose information of the pre-aiming point in the planned path and the actual pose information of the control point of the articulated vehicle, the method further includes:
acquiring first position information of a middle point of a front axle of an articulated vehicle; if the driving direction determined according to the planning speed is forward, taking the middle point of the front axle as a control point and taking the first pose information as actual pose information; and if the driving direction determined according to the planned speed is backward, converting the first position information of the midpoint of the front axle into the second position information of the midpoint of the rear axle, taking the midpoint of the rear axle as a control point, and taking the second position information as actual position information.
For example, the first attitude information may be acquired by a sensor arranged on the roof of a front axle of the front compartment or a SLAM module arranged right in front of the vehicle head.
For example, the articulated vehicle can convert the measured actual pose information of the midpoint of the front axle into the actual pose information of the midpoint of the rear axle at the current moment through the conversion relationship between the midpoint of the front axle and the midpoint of the rear axle and the measurement of the actual articulation angle by the articulation angle sensor arranged at the articulator; when the articulated vehicle runs in a reverse mode, the control point is converted from the middle point of the front axle to the middle point of the rear axle, so that the precision of the tracking running of the middle point of the rear axle can be improved, and the requirement on the precision of the tracking running of the middle point of the rear axle is met.
In a possible implementation manner of the first aspect, before the articulated vehicle acquires the reference pose information of the pre-aiming point in the planned path and the actual pose information of the control point of the articulated vehicle, the method further includes:
the articulated vehicle acquires a reference point on a planned path; and taking a target reference point, the distance between which and the control point meets the distance threshold value, as a pre-aiming point.
For example, the home point may be a discrete reference point on the planned path, the distance between the reference point and the control point of the articulated vehicle at the current position satisfies a distance threshold, and the distance threshold may be a home distance, that is, the reference point with a distance greater than or equal to the home distance is used as the home point corresponding to the control point of the articulated vehicle at the current position.
A second aspect of the present application provides an articulated vehicle control apparatus, comprising:
the acquisition unit is used for acquiring reference pose information of a pre-aiming point in a planned path and actual pose information of a control point of the articulated vehicle;
a first calculation unit, configured to calculate a lateral error of the pre-aiming point with respect to a current driving direction of the articulated vehicle according to the reference pose information and the actual pose information;
a second calculation unit for calculating an articulation angle of the articulated vehicle based on the lateral error;
and the control unit is used for controlling the articulated vehicle to steer and run according to the articulation angle when the articulated vehicle controls the control point to track the preview point to run.
A third aspect of the present application provides an articulated vehicle comprising a memory having stored thereon a computer program operable on the processor, the processor when executing the computer program implementing the steps of the method according to any of the first aspects as described above.
A fourth aspect of the present application provides a computer-readable storage medium comprising: there is stored a computer program which, when executed by a processor, carries out the steps of the method according to any one of the above-mentioned first aspects.
A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a computer, causes the computer to perform the steps of any one of the methods of the first aspect described above.
Compared with the prior art, the application has the beneficial effects that: according to the method, the articulated vehicle can calculate the transverse error of the pre-aiming point relative to the running direction of the articulated vehicle by acquiring the reference pose information of the pre-aiming point and the actual pose information of the control point in a planned path, calculate the articulation angle in the current running process based on the transverse error, and actively control the steering running angle of the articulated vehicle according to the calculated articulation angle, so that the accuracy of the tracking running process of the forward and backward movement of the articulated vehicle in automatic driving can be improved, and the accuracy requirements on the position and the posture of the articulated vehicle in any running scene can be met; has strong usability and practicability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of an articulated vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of an implementation of an articulated vehicle control method provided by an embodiment of the present application;
FIG. 3 is a schematic illustration of determining an articulation angle as advanced based on geometric relationships as provided by an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a transition from a midpoint of a front axle to a midpoint of a rear axle provided by an embodiment of the present application;
FIG. 5 is a schematic illustration of determining articulation angle upon recession based on geometric relationships as provided by embodiments of the present application;
FIG. 6 is a schematic implementation flow chart for determining a preview point according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of an articulated vehicle control device provided by an embodiment of the present application;
fig. 8 is a schematic view of an internal structure of an articulated vehicle according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
When the articulated vehicle is driven automatically underground, a vision or laser SLAM (real-time mapping and positioning) module can be adopted for mapping and positioning. When the articulated vehicle is subjected to transverse tracking control, the positioning sensor can be arranged above the vehicle body where the front axle is positioned, and the positioning information is the position of a global map where the midpoint of the front axle is positioned, namely the position information under a global coordinate system; the planned path of the articulated vehicle is likewise taken by the front axle center as a control point for the path planning.
In the planning and positioning mode, when the articulated vehicle moves forward, the middle point of the front axle can be used as a control point of the vehicle running process, so that the articulated vehicle tracks a reference point in a planned path, and the front axle (namely the position and the posture of the head) meets the requirements of the corresponding position and posture in the planned path. However, when the articulated vehicle is backed up and put in storage or loaded and unloaded, the position and posture accuracy of the container needs to be ensured, and the position and posture accuracy of the rear axle cannot be ensured because the middle point of the front axle of the vehicle is used as a control point and the position of the middle point of the front axle in the planned path is also used as a tracking target.
At present, in order to realize the control of the rear axle of an articulated vehicle, the articulated angle motion of the vehicle is passively realized by controlling a vehicle steering axle actuating mechanism so as to realize the control of the rear axle, and the articulated angles of a preset number of positions need to be recorded in advance. In addition, the inertial navigation is adopted to acquire the mass center data of the vehicle head, including information such as pose, course angular velocity and speed, and simultaneously acquire the articulation angular velocity, and the motion information is converted to the mass center of the vehicle tail for state feedback control.
Aiming at the sensor layout, the drawing and the positioning mode of the articulated vehicle and the transverse tracking precision of the vehicle during backing, warehousing, loading and unloading, the embodiment of the application provides a method for controlling the pre-aiming transverse tracking of the articulated vehicle based on the geometric relationship.
In the application, when the articulated vehicle moves forward, positioning point information (front axle midpoint) acquired by SLAM is used as a reference point (pre-aiming point) of a control point tracking planned path, so that the front axle midpoint (corresponding to a front vehicle) meets the requirements of position and posture. Converting a path reference point corresponding to a planned front axle midpoint and control point (front axle midpoint) information acquired by an SLAM (simultaneous localization module) in a vehicle driving process to a vehicle rear axle midpoint during backing; when backing, the vehicle is converted into a driving process with the rear axle middle point as a target control point for pre-aiming transverse tracking control, so that the position and posture precision of the rear axle middle point (corresponding to the rear vehicle, namely a carriage for loading the vehicle) during backing can meet the requirement.
The method and the device realize the change of the running direction of the vehicle by directly controlling the hinge angle, and switch the reference point and the control point of the planned path during advancing and backing so as to realize the accurate tracking of the position and the pose of the reference point; by adopting pre-aiming control based on geometric relation, the moving state data such as the speed of the vehicle head, the course angular velocity and the like are not required to be acquired by an inertial navigation device, the position and the attitude information of the vehicle head are acquired by a vision or laser positioning mode, and meanwhile, only the articulation angle data between the vehicle head and the vehicle tail are required, and the articulation angular velocity is not required to be calculated, so that the required state information is less, the control effect is better, the layout of the sensor is simple, and the sensor can be applied to occasions where inertial navigation is not suitable, such as mines and the like.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
The method is suitable for the automatic driving scene of the underground articulated vehicle, the map is built and positioned in an SLAM (map building and positioning in real time) mode, and the SLAM positioning module can acquire the actual position information and the actual attitude information of the vehicle in the running process of the vehicle. In addition, because the sensor is generally arranged on the roof of the front axle, the obtained position and attitude information of the vehicle, namely the position and attitude information of the middle point of the front axle, can use the middle point of the front axle as a control point to track a path reference point (pre-aiming point) when the vehicle moves forwards; if the middle point of the front axle is still used as a control point when backing, the position and the posture of the rear carriage cannot be ensured, and the requirement on the posture of the rear axle (namely the rear carriage) is often met when backing.
Therefore, aiming at the positioning mode of the articulated vehicle under the mine and the control requirement of reversing on the pose of the rear axle, the transverse control method based on the geometric relation preview is provided, and the control requirement of the pose of different control points of the vehicle under different driving scenes is met by changing the control points.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an articulated vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the articulated vehicle may include a nose, a front car, a rear car, an articulator, a sensor, and a SLAM positioning module, etc.; the sensor and the SLAM positioning module can be only arranged on one of the sensors, the sensor can be arranged at the roof position of the middle point of the front axle corresponding to the front carriage, and the SLAM positioning module can be arranged at the position right in front of the vehicle head. The articulated vehicle can acquire the actual pose information corresponding to the middle point of the front axle through a sensor or an SLAM positioning module. The front carriage is connected with the rear carriage through a hinge joint, a hinge angle sensor is further arranged at the hinge joint, and the hinge angle sensor acquires the size of an actual hinge angle at any moment.
It should be noted that the articulated vehicle further includes a path planning module, which can provide information such as a planned path, a planned speed, and a planned articulation angle. The articulated vehicle can determine the driving direction as forward or backward according to the planned speed provided by the planning module. When the driving direction is forward, the middle point of the front axle of the articulated vehicle is taken as a control point, and when the driving direction is backward, the middle point of the rear axle of the articulated vehicle is taken as a control point. The planned path comprises a series of reference points, and after the control point is determined, the control point can be controlled to track the reference point on the planned path, which meets the pre-aiming distance, to drive.
In addition, in the steering driving process, the articulation angle at the articulator is calculated, the articulation angle in the driving process is actively controlled, the control precision can be improved, and particularly, for a reversing scene, the position of a rear carriage is more accurately positioned by controlling a vehicle to drive according to the calculated articulation angle, so that the requirements on the position and posture precision of the vehicle are met.
According to the embodiment of the application, the control points of the articulated vehicle are converted according to the forward or reverse scene of the articulated vehicle, so that the control points perform tracking control on the pre-aiming points, and the requirements on the precision of the position and the posture of the articulated vehicle under different scenes can be met; when the articulated vehicle runs in a reverse mode, the control point is converted from the middle point of the front axle to the middle point of the rear axle, so that the precision of the tracking running of the middle point of the rear axle can be improved, and the requirement on the precision of the tracking running of the middle point of the rear axle is met.
The following further describes the specific implementation process and implementation principle of the solution of the present application by means of specific embodiments.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating an implementation of an articulated vehicle control method according to an embodiment of the present application. As shown in fig. 2, the implementation process of the articulated vehicle control method may include the following steps:
s201, the articulated vehicle acquires reference pose information of a pre-aiming point and actual pose information of a control point in a planned path.
In some embodiments, the articulated vehicle includes a path planning module that can provide information related to a planned path. The planned path comprises a series of discrete reference points, and the related information of the planned path comprises position information and posture information of the reference points; the path planning module may also provide theoretical articulation angles of the reference points and planning speeds of the respective reference points. The pre-aiming point is a reference point which is far from the control point and meets the pre-aiming distance, and the reference pose information comprises position information and posture information of the reference point. The actual pose information of the control point comprises position information and posture information of the control point, and can be measured through a sensor or an SLAM positioning module.
It should be noted that, if the control point is a rear axle midpoint corresponding to a rear car of the articulated vehicle, the pose information of the front axle midpoint collected by the sensor or the SLAM positioning module is converted into actual pose information of the rear axle midpoint through the rotation matrix. The rotation matrix may be further determined by the articulation angle measured by an articulation angle sensor at the articulator.
For example, the working principle of the path planning module of the articulated vehicle can be implemented by an existing path planning algorithm, such as a sampling-based path planning algorithm: probability Map algorithm (PRM) and fast Random spanning Tree algorithm (RRT); or by a graph search method, a convex optimization method, or the like, or by a plurality of cameras and distance sensors, the articulation angle at each reference point is obtained, or the theoretical articulation angle at each reference point is calculated based on the planned path.
In addition, when the articulated vehicle has a plurality of articulated cars, a plurality of control points may be provided, for example, when the articulated vehicle includes a front car, a middle car, and a rear car, there are two articulation angles, i.e., a first articulation angle at which the front car is articulated to the middle car, and a second articulation angle at which the middle car is articulated to the rear car. At this time, when the articulated vehicle is driven forwards, the midpoint of the front axle corresponding to the front carriage can be taken as a main control point, and the midpoint of the middle axle corresponding to the middle carriage can be taken as a secondary control point; similarly, when the articulated vehicle runs in a reverse mode, the middle point of the rear axle corresponding to the rear carriage can be used as a main control point, and the middle point of the middle axle corresponding to the middle carriage can be used as a secondary control point. The path planning module of the articulated vehicle can provide a planned path corresponding to the main control point and the secondary control point, and the planned path can comprise a main reference point and a secondary reference point, so that the main control point and the secondary control point of the articulated vehicle are controlled to track the main reference point and the secondary reference point respectively to run.
It should be noted that the reference pose information and the actual pose information are both information in the global coordinate system.
In some embodiments, before the articulated vehicle acquires the reference pose information of the home point in the planned path and the actual pose information of the control point of the articulated vehicle, the method further comprises:
the articulated vehicle acquires the planning speed of a pre-aiming point in a planned path; determining the running direction of the articulated vehicle according to the planned speed; according to the driving direction, a control point of the articulated vehicle is determined.
For example, the control point of the articulated vehicle may be the front axle midpoint corresponding to the front car or the rear axle midpoint corresponding to the rear car. When the planned speed of the preview point is in the forward driving direction, the midpoint of the front axle corresponding to the front carriage is determined as a control point, and when the planned speed of the preview point is in the backward driving direction (namely, backing driving), the midpoint of the rear axle corresponding to the rear carriage is determined as a control point.
For example, when the articulated vehicle has a plurality of articulated carriages, the articulated vehicle is driven forwards, and the midpoint of the front axle corresponding to the front carriage can be taken as a main control point and the midpoint of the intermediate axle corresponding to the intermediate carriage can be taken as a secondary control point; when the articulated vehicle runs in a reverse mode, the middle point of the rear axle corresponding to the rear carriage can be used as a main control point, and the middle point of the intermediate axle corresponding to the intermediate carriage can be used as a secondary control point.
And S202, the articulated vehicle calculates the transverse error of the pre-aiming point relative to the current driving direction according to the reference pose information and the actual pose information.
In some embodiments, the reference pose information includes position coordinates and pose information of the preview point in a global coordinate system, and the actual pose information includes position coordinates and pose information of the control point of the articulated vehicle in the global coordinate system measured or converted. The lateral error is the lateral position of the preview point relative to the left or right side of the vehicle body (or the current direction of travel of the vehicle body).
In some embodiments, the reference pose information includes first position coordinates of the preview point in a global coordinate system, and the actual pose information includes second position coordinates of the control point in the global coordinate system; the articulated vehicle calculates the transverse error of the pre-aiming point relative to the body coordinate system of the articulated vehicle according to the reference pose information and the actual pose information, and comprises the following steps:
calculating a third position coordinate of the pre-aiming point in a vehicle body coordinate system taking the control point as a coordinate origin according to the first position coordinate and the second position coordinate by the articulated vehicle; the lateral error is determined from the third position coordinate.
In some embodiments, the articulated vehicle is controlled to track a reference point in the planned path when the articulated vehicle is traveling forward, with the center point of the front axle corresponding to the front car as the control point.
When the articulated vehicle runs forwards, the path planning module provides reference pose information of a pre-aiming point corresponding to the middle point of the front vehicle in the global coordinate system, and a sensor or an SLAM positioning module acquires actual pose information of the middle point of the front axle in the global coordinate system; the lateral error of the pointing point relative to the body coordinate system of the articulated vehicle is thus calculated according to equation (1).
Wherein, [ xf p yf p zf p ] T Is a preview point P f First position coordinate, [ xf ] in global coordinate system r yf r zf r ] T Is the midpoint L of the front axle f A second position coordinate in the global coordinate system,
a rotation matrix corresponding to the attitude of the front axle midpoint body coordinate system relative to the global coordinate system, [ e ] f l f w f ] T Is a pre-aiming point P when advancing f Position coordinates relative to the front axle midpoint vehicle body coordinate system, e f The corresponding transverse error when driving forward.
When the articulated vehicle runs in a reverse mode, the path planning module provides reference pose information of a pre-aiming point corresponding to the midpoint of the front vehicle in a global coordinate system, and a sensor or an SLAM positioning module acquires actual pose information of the midpoint of a front shaft in the global coordinate system; and (3) converting the reference pose information and the actual pose information into the reference pose information of a pre-aiming point corresponding to the middle point of the rear axle and the actual pose information of the middle point of the rear axle, and calculating the transverse error of the pre-aiming point relative to the body coordinate system of the articulated vehicle according to a formula (2).
Wherein, [ xr p yr p zr p ] T Is a preview point P r At global coordinatesFirst position coordinate under system, [ xr r yr r zr r ] T Is the second position coordinate of the center point of the rear axle in the global coordinate system, [ e ] r l r w r ] T Is a pre-aiming point P during backing r Position coordinates relative to the rear axle midpoint body coordinate system, e r For the corresponding transverse error when backing up and driving,
and the rotation matrix is corresponding to the posture of the rear axle body coordinate system relative to the global coordinate system.
The vehicle body coordinate system of the articulated vehicle is a coordinate system moving at the coordinate origin, the control point of the articulated vehicle is taken as the coordinate origin, and when the articulated vehicle is driven forwards, the center point of the front axle is taken as the coordinate origin of the vehicle body coordinate system, namely the center point of the front axle is taken as the vehicle body coordinate system; when the automobile runs in a reverse mode, the middle point of the rear axle is taken as the origin of coordinates of the automobile body coordinate system, namely the middle point of the rear axle is taken as the automobile body coordinate system.
In some embodiments, after calculating the lateral error of the home point with respect to the current direction of travel of the articulated vehicle, the method further comprises:
and carrying out filtering processing on the transverse error at the current moment according to the transverse error at the previous moment adjacent to the current moment.
In some embodiments, the calculated lateral error is filtered in order to make the subsequently calculated articulation angle smoother.
Illustratively, the lateral error at the previous time includes a filtered lateral error and a pre-filtered lateral error corresponding to the previous time. And (4) calculating the filtered transverse error corresponding to the current moment according to the formula (3).
e' k ＝k 1 e' k-1 +k 2 e k +k 3 e k-1 (3)
Wherein, e' k The output value of the filter at the current moment is the filtered lateral error corresponding to the current moment; e' k-1 For the output value of the filter at the preceding instant, i.e. the filtered abscissa corresponding to the preceding instantA directional error; e.g. of a cylinder k The input value of the filter at the current moment is the transverse error before filtering corresponding to the current moment; e.g. of the type k-1 The input value of the filter at the previous moment is the transverse error before filtering corresponding to the previous moment; wherein e is k I.e. the calculated lateral error in forward travel or in reverse travel, k 1 、k 2 、k 3 And calibrating the filtering parameters according to the actual condition.
And S203, calculating an articulation angle of the articulated vehicle according to the transverse error.
In some embodiments, calculating an articulation angle of the articulated vehicle based on the lateral error comprises:
and calculating the articulation angle of the articulated vehicle according to the transverse error based on the geometric relationship between the pre-aiming distance from the pre-aiming point to the control point and the steering running radius of the control point.
As shown in fig. 3, embodiments of the present application provide a schematic diagram for determining an articulation angle while advancing based on geometric relationships. The corresponding articulation angle of the articulated vehicle when advancing can be calculated by equations (4), (5) and (6).
Wherein, e' f The corresponding transverse error is obtained when the vehicle runs forwards; ld is the front axle midpoint L f And the pre-aiming point P f The path planning module can provide the pre-aiming distance between the two modules; r is f For the front axle steering running radius (which may be provided by the path planning module), lf is the front axle midpoint L f The distance between the hinge point and the hinge point, lr is the middle point L of the rear shaft r Distance from hinge pointDistance, R is the distance from the hinge point to the point O, theta f The calculated articulation angle is the calculated articulation angle when the vehicle is traveling forward.
By the mode, the articulation angle of the articulated vehicle in the advancing process can be calculated, so that the position and the posture of the rear carriage in the driving process can be controlled more accurately according to the articulation angle.
In some embodiments, before the articulated vehicle acquires the reference pose information of the home point in the planned path and the actual pose information of the control point of the articulated vehicle, the method further comprises:
acquiring first position information of a midpoint of a front axle of an articulated vehicle; if the driving direction determined according to the planning speed is forward, taking the midpoint of the front axle as a control point and the first pose information as actual pose information; and if the driving direction determined according to the planned speed is backward, converting the first position information of the midpoint of the front axle into the second position information of the midpoint of the rear axle, taking the midpoint of the rear axle as a control point, and taking the second position information as actual position information.
For example, the first attitude information may be acquired by a sensor disposed on the roof of a front axle of the front compartment or a SLAM module disposed right in front of the vehicle head.
For example, the articulated vehicle may convert the measured actual pose information of the midpoint of the front axle into the actual pose information of the midpoint of the rear axle at the current time by the conversion relationship between the midpoint of the front axle and the midpoint of the rear axle and the measurement of the actual articulation angle by the articulation angle sensor provided at the articulator.
As shown in fig. 4, the embodiment of the present application provides a schematic diagram of the front axle midpoint transforming to the rear axle midpoint. As shown in fig. 4 (a), when the articulated vehicle runs backward in a reverse direction, the pose information (the pose is the position and direction indicated by the arrow of the dashed line (2)) of the midpoint of the rear axle corresponding to the rear car can be calculated according to the reference point in the reverse path (indicated by the dashed line (1)) corresponding to the planned front car and by combining the reference articulation angle; similarly, the actual pose information acquired by the sensor or the SLAM positioning module can be converted, the actual pose information of the midpoint of the front axle during the operation of the articulated vehicle is converted into the rear axle of the vehicle, the midpoint of the rear axle is controlled to track the reference point in the planned path, and the reference point is the reference pose information (shown by a dotted line (2)) of the reference point corresponding to the midpoint of the rear axle corresponding to the rear carriage calculated according to the reference pose information of the reference point in the planned reversing path (shown by a dotted line (1)).
As shown in fig. 4 (b), the articulated vehicle is schematically illustrated with a front axle midpoint coordinate system and a rear axle midpoint coordinate system corresponding to each other when driving forward and backward, and with an articulation angle θ corresponding to each other when driving forward or backward.
Illustratively, reference pose information of a reference point corresponding to a midpoint of a rear axle corresponding to a rear car is obtained by calculation according to reference pose information of a reference point in a planned reversing path (shown by a dotted line (1)) corresponding to the front car through formulas (7) and (8), and the reference pose information is converted to the rear axle of the car according to actual pose information of the midpoint of the front axle when the articulated vehicle runs.
q r ＝q f *q φ (8)
Wherein when [ xf yf zf] T For the position coordinate in the reference pose information of the reference point in the reverse path planned corresponding to the front carriage, [ xr yr zr] T A reference position coordinate in a planned reversing path corresponding to the rear carriage is provided, and theta is a planned reference articulation angle; when [ xf yf zf] T When the position coordinate is the position coordinate in the actual pose information of the middle point of the front axle corresponding to the front carriage, [ xr yr zr] T The actual position coordinates of the middle point of the rear axle corresponding to the rear carriage are obtained, and theta is an actual hinge angle acquired by the hinge angle sensor; t is b w The attitude information (planned reference attitude information or measured actual attitude information) of the midpoint of the front axle is correspondingly converted into a rotation matrix (or a rotation matrix of a vehicle body coordinate system relative to a global coordinate system) of the midpoint of the rear axle, and the rotation matrix is obtained by multiplying the rotation matrix represented by three Euler angles; t is θ Is represented by [0 01] T As axis of rotation, with reference to articulation angle or vehicle control processThe current actual hinge angle measured by the sensor is a rotation matrix corresponding to the rotation angle; lf and lr are respectively the distances from the middle point of the front shaft and the middle point of the rear shaft to the hinge point; q. q.s f Is the attitude quaternion (planned reference attitude quaternion or measured actual attitude quaternion) of the midpoint of the front axle; q. q of r The converted attitude quaternion of the midpoint of the rear shaft is obtained; q. q of φ And the quaternion is corresponding to the rotation matrix for converting the posture of the midpoint of the front shaft into the posture of the midpoint of the rear shaft.
Illustratively, the rotation matrix corresponds to a quaternion q φ Angle of rotation phi and direction vector
Obtained from equations (9) and (10).
φ＝π+θ (9)
Where θ is the planned reference articulation angle or the actual articulation angle acquired by the articulation angle sensor.
In some embodiments, according to the above manner, the conversion from the front car to the rear car is realized, the control point is correspondingly converted from the front axle middle point to the rear axle middle point, the reference pose information of the reference point (pre-aiming point) corresponding to the planned front car is correspondingly converted to the reference pose information of the reference point (pre-aiming point) corresponding to the rear car, and the actual pose information of the front axle middle point measured by the sensor or the SLAM positioning module is converted into the actual pose information corresponding to the rear axle middle point. Therefore, the reference pose information and the actual pose information corresponding to the middle point of the rear axle in the planned path can be obtained when backing or driving backwards, and the transverse error of the pre-aiming point relative to the car body when backing is obtained through calculation of the formula (2).
As shown in fig. 5, the embodiment of the present application provides a schematic diagram for determining the hinge angle at the time of receding based on the geometric relationship. The corresponding articulation angle can be calculated by equations (11), (12) and (13) when the articulated vehicle is reversed.
Wherein, e' r The corresponding transverse error is obtained when the vehicle is driven in a reverse mode; ld is the rear axle midpoint L r And the pre-aiming point P r The path planning module can provide the pre-aiming distance between the two modules; r r For the rear axle steering running radius (which may be provided by the path planning module), lf is the front axle midpoint L f The distance between the hinge point and the hinge point, lr is the middle point L of the rear shaft r Distance from the hinge point, R is the distance between the hinge point and the point O, theta r The calculated articulation angle is calculated for the vehicle when running in reverse.
In some embodiments, after calculating the articulation angle of the articulated vehicle from the lateral error, the method further comprises:
and performing advanced correction processing on the articulation angle at the current moment according to the articulation angle at the previous first moment adjacent to the current moment and the articulation angle at the previous second moment adjacent to the first moment.
Illustratively, the articulation angle at the first time includes the corresponding articulation angle before advanced correction and the corresponding articulation angle after advanced correction at the first time, and the articulation angle at the second time includes the corresponding articulation angle before advanced correction and the corresponding articulation angle after advanced correction at the second time.
In some embodiments, the process by which the articulation angle of the articulated vehicle performs lateral tracking to the vehicle control point is a lag process, thus increasing the phase margin of the system when traveling at low speeds by a lead correction. And (3) performing advanced correction on the calculated articulation angle corresponding to forward or reverse driving through a formula (14), and improving the control accuracy of the articulated vehicle in the driving process.
θ′ k ＝k 4 θ′ k-1 +k 5 θ′ k-2 +k 6 θ k +k 7 θ k-1 +k 8 θ k-2 (14)
Wherein, theta' k The output value of the hinge angle at the current moment is the hinge angle after the advanced correction corresponding to the current moment; theta' k-1 、θ′ k-2 The output values of the previous two moments, i.e. the advanced corrected articulation angle corresponding to the previous first moment adjacent to the current moment and the advanced corrected articulation angle corresponding to the previous second moment adjacent to the first moment, theta k 、θ k-1 And theta k-2 The input value of the articulation angle corresponding to the current time, the input value of the articulation angle at the previous first time adjacent to the current time and the input value of the articulation angle at the previous second time adjacent to the first time, namely, the input value of the articulation angle before the advance correction calculated by the formula (6) f Or θ calculated by equation (13) r ，k 4 、k 5 、k 6 、k 7 And k 8 The control parameters obtained by the lead correction controller according to bilinear transformation can be calibrated according to actual conditions.
S204, when the articulated vehicle controls the control point to track the aiming point to run, the articulated vehicle controls steering to run according to the articulation angle.
In some embodiments, in the steering driving process of the articulated vehicle, the articulation angle after the advance correction is sent to a control mechanism of a vehicle chassis for execution, the articulation angle in the driving process is controlled, the reference points of the planned path are respectively tracked and controlled by the front carriage and the rear carriage when the articulated vehicle is driven forwards or backwards, the requirements of the position and the posture of the vehicle are met under different application scenes, the probability of folding, collision or inaccurate positioning is reduced, and the accuracy of automatic driving control is improved.
In some embodiments, before the articulated vehicle acquires the reference pose information of the pre-aim point and the actual pose information of the control point of the articulated vehicle in the planned path, the method further comprises:
the articulated vehicle acquires a reference point on a planned path; and taking a target reference point, the distance between which and the control point meets the distance threshold value, as a pre-aiming point.
For example, the home point may be a discrete reference point on the planned path, the distance between the reference point and the control point of the articulated vehicle at the current position satisfies a distance threshold, and the distance threshold may be a home distance, that is, the reference point with a distance greater than or equal to the home distance is used as the home point corresponding to the control point of the articulated vehicle at the current position.
As shown in fig. 6, an implementation flow diagram for determining the preview point is provided in the embodiment of the present application.
Illustratively, the articulated vehicle obtains a reference point P on the planned path k And calculates a control point P c To the reference point P k A distance L (k is an integer of 0 or more); judging whether the distance L is larger than or equal to a distance threshold ld (pre-aiming distance); if yes, the reference point P is determined k As a preview point; if not, continuing to increase the count k = k +1 of k, and calculating and judging the control point P c To the reference point P k Is greater than or equal to a distance threshold ld.
In some embodiments, the above implementation may also be applied to an articulated vehicle comprising two or more articulated joints, taking two articulated joints as an example, an articulated vehicle may comprise a front car, a middle car and a rear car, the front car and the middle car being connected by a first articulated joint (or articulator), the middle car and the rear car being connected by a second articulated joint (or articulator); based on the same realization principle as the above, the sizes of the two articulation angles are calculated by combining the steering running radius of the front carriage, the middle carriage and the rear carriage in the planned path and the geometric relationship among the parameters of the pre-aiming distance of the pre-aiming point, the transverse error of the pre-aiming point relative to the vehicle body and the like, so that the position and the posture of the carriage in the running process are controlled according to the two calculated articulation angles in the running process of the articulated vehicle, the requirements on the position and the posture of the articulated vehicle in the planned path are met, and the control precision of the articulated vehicle in the automatic driving process is improved.
Fig. 7 shows a block diagram of the articulated vehicle control apparatus provided in the embodiment of the present application, corresponding to the method of the above embodiment, and only the part related to the embodiment of the present application is shown for convenience of explanation. The articulated vehicle control apparatus illustrated in fig. 7 may be an execution subject of the articulated vehicle control method provided in the foregoing embodiment.
Referring to fig. 7, the articulated vehicle control apparatus includes:
the acquisition unit is used for acquiring reference pose information of a pre-aiming point in a planned path and actual pose information of a control point of the articulated vehicle;
a first calculation unit, configured to calculate a lateral error of the preview point with respect to a current driving direction of the articulated vehicle according to the reference pose information and the actual pose information;
a second calculation unit for calculating an articulation angle of the articulated vehicle based on the lateral error;
and the control unit is used for controlling the articulated vehicle to steer and run according to the articulation angle when the articulated vehicle controls the control point to track the preview point to run.
The process of implementing each function by each module in the articulated vehicle control device provided in the embodiment of the present application may specifically refer to the description of the embodiment shown in fig. 1 and fig. 2, and is not repeated here.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance. It will also be understood that, although the terms first, second, etc. may be used herein to describe various elements in some embodiments of the application, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first table may be named a second table, and similarly, a second table may be named a first table, without departing from the scope of various described embodiments. The first table and the second table are both tables, but they are not the same table.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 8 is a schematic structural diagram of an articulated vehicle according to an embodiment of the present application. As shown in fig. 8, the articulated vehicle 8 of the embodiment includes: at least one processor 80 (only one shown in fig. 8), a memory 81, said memory 81 having stored therein a computer program 82 executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in each of the above-described embodiments of the articulated vehicle control method, such as S201 to S204 shown in fig. 2. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the units 71 to 74 shown in fig. 7.
The articulated vehicle 8 may be a tractor, a semitrailer, or an articulated vehicle having one or two cross joints, such as a car and trailer combination, a passenger car and trailer combination, and a tractor and semitrailer combination. The articulated vehicle may include, but is not limited to, a processor 80, a memory 81. It will be appreciated by those skilled in the art that fig. 8 is merely an example of an articulated vehicle 8 and does not constitute a limitation of the articulated vehicle 8, and may include more or fewer components than shown, or some components may be combined, or different components, e.g. the terminal device may also include an input transmitting device, a network access device, a bus, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may in some embodiments be an internal storage unit of the articulated vehicle 8, such as a hard disk or a memory of the articulated vehicle 8. The memory 81 may also be an external storage device of the articulated vehicle 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the articulated vehicle 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the articulated vehicle 8. The memory 81 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 81 may also be used to temporarily store data that has been transmitted or is to be transmitted.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The present invention also provides an articulated vehicle comprising at least one memory, at least one processor and a computer program stored in the at least one memory and executable on the at least one processor, the processor, when executing the computer program, causing the articulated vehicle to carry out the steps of any of the above method embodiments.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the foregoing method embodiments.
The embodiments of the present application provide a computer program product, which when executed on a computer, enables the computer to implement the steps in the above method embodiments.
The integrated module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (10)
1. A method of controlling an articulated vehicle, the method comprising:
acquiring reference pose information of a pre-aiming point in a planned path and actual pose information of a control point of the articulated vehicle;
according to the reference pose information and the actual pose information, calculating a transverse error of the pre-aiming point relative to the current running direction of the articulated vehicle;
calculating an articulation angle of the articulated vehicle according to the lateral error;
and when the articulated vehicle controls the control point to track the preview point to run, controlling the articulated vehicle to steer and run according to the articulation angle.
2. The method of claim 1, wherein prior to the acquiring reference pose information for a pre-aim point in a planned path and actual pose information for a control point of the articulated vehicle, the method further comprises:
acquiring the planning speed of the preview point in the planned path;
determining the driving direction of the articulated vehicle according to the planned speed;
determining the control point of the articulated vehicle according to the driving direction;
wherein the control point comprises a front axle midpoint or a rear axle midpoint of the articulated vehicle.
3. The method of claim 1, wherein the reference pose information comprises first position coordinates of the pre-target point in a global coordinate system, and the actual pose information comprises second position coordinates of the control point in the global coordinate system;
the calculating the lateral error of the pre-aiming point relative to the body coordinate system of the articulated vehicle according to the reference pose information and the actual pose information comprises the following steps:
according to the first position coordinate and the second position coordinate, calculating a third position coordinate of the pre-aiming point in a vehicle body coordinate system taking the control point as a coordinate origin;
and determining the transverse error according to the third position coordinate.
4. The method of claim 1, wherein after said calculating a lateral error of said preview point relative to a current direction of travel of said articulated vehicle, said method further comprises:
and carrying out filtering processing on the transverse error of the current moment according to the transverse error of the previous moment adjacent to the current moment.
5. The method of claim 1, wherein said calculating an articulation angle of the articulated vehicle based on the lateral error comprises:
and calculating the articulation angle of the articulated vehicle according to the transverse error based on the geometric relationship between the pre-aiming distance from the pre-aiming point to the control point and the steering running radius of the control point.
6. The method of claim 1, wherein after said calculating an articulation angle of the articulated vehicle from the lateral error, the method further comprises:
and carrying out advanced correction processing on the articulation angle at the current moment according to the articulation angle at the previous first moment adjacent to the current moment and the articulation angle at the previous second moment adjacent to the first moment.
7. The method of claim 2, wherein prior to the acquiring reference pose information for a pre-aim point in a planned path and actual pose information for a control point of the articulated vehicle, the method further comprises:
acquiring first position information of a midpoint of the front axle of the articulated vehicle;
if the driving direction determined according to the planning speed is forward, taking the middle point of the front axle as the control point, and taking the first pose information as the actual pose information;
and if the driving direction determined according to the planning speed is backward, converting the first position information of the middle point of the front axle into the second position information of the middle point of the rear axle, taking the middle point of the rear axle as the control point, and taking the second position information as the actual position information.
8. The method of any one of claims 1 to 7, wherein prior to the acquiring reference pose information for a pre-aim point in a planned path and actual pose information for a control point of the articulated vehicle, the method further comprises:
acquiring a reference point on the planned path;
and taking a target reference point, the distance between which and the control point in the reference points meets a distance threshold value, as the pre-aiming point.
9. An articulated vehicle, characterized in that the articulated vehicle comprises a memory, a processor, on which a computer program is stored which is executable on the processor, when executing the computer program, realizing the steps of the method according to any of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| CN116823954A (en) * | 2023-08-29 | 2023-09-29 | 深圳魔视智能科技有限公司 | Pose estimation method and device of articulated vehicle, vehicle and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116823954A (en) * | 2023-08-29 | 2023-09-29 | 深圳魔视智能科技有限公司 | Pose estimation method and device of articulated vehicle, vehicle and storage medium |
| CN116823954B (en) * | 2023-08-29 | 2023-12-08 | 深圳魔视智能科技有限公司 | Pose estimation method and device of articulated vehicle, vehicle and storage medium |
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