CN115877850B - Autonomous driving traction-towing system and motion control method and scheduling method thereof - Google Patents
Autonomous driving traction-towing system and motion control method and scheduling method thereof Download PDFInfo
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- CN115877850B CN115877850B CN202310136431.XA CN202310136431A CN115877850B CN 115877850 B CN115877850 B CN 115877850B CN 202310136431 A CN202310136431 A CN 202310136431A CN 115877850 B CN115877850 B CN 115877850B
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Abstract
The invention discloses an autonomous driving traction-towing system, a motion control method and a dispatching method thereof, belonging to the technical field of automatic driving, wherein the traction-towing system comprises: the system comprises a tractor, more than one active trailer and a cloud server; the tractor is connected with more than one active trailer sequentially in a head-to-tail mode; the tractor has an automatic driving function; the active trailer can be controlled to actively move, the front wheels of the active trailer are passively steered along with the tractor or the front section of active trailer, the rear wheels are oriented and are driving wheels, and the rear wheels are controlled to actively drive to follow the tractor or the front section of active trailer; the tractor, the active trailer and the cloud server can be in wireless communication with each other, and the running state information of each of the tractor and the active trailer is shared; the invention can effectively solve the influence of uncertainty of trailer load on the movement efficiency and the driving safety of the automatic driving traction-towing system.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to an autonomous driving traction-towing system, a motion control method and a dispatching method thereof.
Background
With the development of automatic driving technology, the autonomous driving tractor and trailer system can flexibly and automatically transport cargoes, and can effectively liberate productivity.
The existing autonomous driving tractor and trailer system (traction-trailer system) is mainly used for intelligently upgrading the tractor, and the autonomous operation of the system is realized by deploying a sensor, a computing unit and the like to the tractor and taking the trailer as a follow-up unit. Under different application environments, the sizes, the number of joints, the loads and the like of trailers carried by the autonomous tractor are different, and the existing system has the following obvious defects:
(1) The different demands of the weight, the number of sections and the like of the trailer on the driving force and the braking force influence the type selection of a motor, a battery and the like in the power system; if the model is selected according to the common load, the model can cause resource waste or insufficient power when being applied to different scenes, and the adaptability of the system to different application scenes is affected;
(2) The differences in weight, number of knots, etc. of the trailers limit the mobility of the traction-trailer system; the large inertia can bring about large potential safety hazard when the load is heavy only depending on the braking capability of the tractor;
(3) The load distribution of the trailer needs to be carefully regulated and controlled, so that the use difficulty is increased; if the load distribution is back, the traction force of the tractor is obviously reduced due to the lever effect, so that the capability of resisting the transverse interference is weakened, and the swing instability is easy to occur.
Disclosure of Invention
In view of the above, the invention provides an autonomous driving traction-towing system, a motion control method and a dispatching method thereof, which can effectively solve the influence of uncertainty of trailer load on the motion efficiency and driving safety of the autonomous driving traction-towing system.
The invention is realized by the following technical scheme:
an autonomous driving traction-towing system, comprising: the system comprises a tractor, more than one active trailer and a cloud server;
the tractor is connected with more than one active trailer sequentially in a head-to-tail mode; the tractor is connected with the active trailer through a trailer hook;
the tractor has an automatic driving function;
the active trailer can be controlled to actively move, the front wheels of the active trailer are passively steered along with the tractor or the front section of active trailer, the rear wheels are oriented and are driving wheels, and the rear wheels are controlled to actively drive to follow the tractor or the front section of active trailer;
the tractor, the active trailer and the cloud server can be in wireless communication with each other, and the running state information of each of the tractor and the active trailer is shared; the cloud server sends expected speed control instructions to the tractor and the active trailer according to the running state information, or the tractor generates the expected speed control instructions according to the running state information and simultaneously sends the expected speed control instructions to the active trailer; the tractor automatically drives according to the received expected vehicle speed control instruction and sends an expected motion state initial value to the active trailer; the active trailer is driven automatically according to the received expected vehicle speed control command and the expected motion state initial value so as to actively follow the tractor or the previous active trailer.
Furthermore, besides an automatic driving control system, a towing hook angle monitoring module A, a hook pressure detecting module A, a calculating unit A and a wireless communication module A are also mounted on the tractor;
the angle monitoring module A of the towing hook adopts a camera A arranged at the tail part of the tractor, and the camera A is used for collecting picture information A of the towing hook at the tail part of the tractor and sending the picture information A to the computing unit A;
the hook pressure detection module A adopts a circle of pressure sensor group which is arranged at the joint of the tractor and the active trailer, and the pressure sensor group is used for detecting pressure data A and direction information A at the joint of the tractor and the active trailer and sending the pressure data A and the direction information A to the calculation unit A; the pressure sensor group can obtain the pressure component perpendicular to the pulling hook and parallel to the pulling hook;
the calculation unit A is used for monitoring the running state information of the tractor and executing a control algorithm of the tractor, wherein the control algorithm is specifically as follows: the calculating unit A calculates the relative angle between the joint of the head of the current tractor and the head of the active trailer according to the picture information A, and the relative angle is the angle A of the trailer hook; the calculation unit A judges whether the tractor is connected with the active trailer or not according to the pressure data A and the direction information A; wherein the operational status information of the tractor includes: the method comprises the steps of rotating speed information of wheels of a tractor, position information of the tractor, self weight of the tractor, angle A of a trailer hook and connection condition of the tractor and an active trailer;
The wireless communication module A is used for realizing wireless communication between the tractor and the active trailer and the cloud server respectively.
Furthermore, each active trailer is provided with a battery, a driving motor, a wheel speed detection module, a wireless communication module B, a calculation unit B, a positioning module, display equipment, a trailer load calculation module, a hook pressure detection module B and a hook angle measurement module B;
the driving motor is used for driving the rear wheel of the active trailer;
the wheel speed detection module is used for detecting the rotation speed of the wheels of the active trailer and sending the rotation speed information to the computing unit B for monitoring;
the positioning module is used for positioning the active trailer to obtain the position information of the active trailer, and sending the position information to the computing unit B for monitoring;
the trailer load detection module adopts pressure sensors B respectively mounted at four wheel axles of the active trailer, and the four pressure sensors B are respectively used for detecting pressure information at the four wheel axles of the active trailer and sending the pressure information to the computing unit B;
the trailer hook angle monitoring module B adopts a camera B arranged at the tail part of the active trailer, and the camera B is used for acquiring picture information B at the trailer hook at the tail part of the active trailer and sending the picture information B to the computing unit B;
The hook pressure detection module B adopts a circle of pressure sensor group carried at the joint of the two-stage active trailer, and the pressure sensor group is used for detecting pressure data B and direction information B of the joint of the two-stage active trailer and sending the pressure data B and the direction information B to the computing unit B; the pressure sensor group can obtain the pressure component perpendicular to the pulling hook and parallel to the pulling hook;
the calculating unit B is used for monitoring the running state information of the active trailer and executing a control algorithm of the active trailer, and specifically comprises the following steps: the calculating unit B calculates the load of the active trailer according to the pressure information; the calculating unit B calculates the relative angle between the current active trailer and the next active trailer according to the picture information B, wherein the relative angle is the angle B of the trailer hook; the calculating unit B judges whether the current active trailer is connected with the next active trailer according to the pressure data B and the direction information B; wherein, the running state information of the active trailer comprises: the method comprises the following steps of (1) carrying out rotation speed information of wheels of an active trailer, position information of the active trailer, load of the active trailer, a hitch angle B and connection conditions of the active trailer and a next-stage active trailer at present;
The battery is used for supplying power to the power utilization component on the active trailer;
the display device is used for displaying vehicle codes, electric quantity and fault information;
the wireless communication module B is used for realizing wireless communication between the active trailer and the tractor and the cloud server respectively.
Further, a wireless communication module C is arranged in the cloud server; the wireless communication module C is used for realizing wireless communication between the cloud server and the tractor and the active trailer respectively.
Further, a towing hook is arranged at the tail part of the tractor; the head part of each active trailer is provided with a hook, and the tail part of each active trailer is provided with a towing hook; the connected hook and the towing hook are the towing hook; the towing hook and the hook are both V-shaped frames, a cylinder with an axis arranged along the vertical direction is arranged on the towing hook, a round hole with the axis arranged along the vertical direction is processed on the hook, and the towing hook and the hook are matched with the round hole through the cylinder and the hole shaft of the round hole, so that the towing hook and the hook are in pin joint.
A motion control method of an autonomous driving traction-towing system comprises the following specific steps:
the method comprises the steps that firstly, a tractor is assumed to be a traditional trailer without a driving motor, namely a follow-up trailer, and the expected motion state of each stage of follow-up trailer is calculated according to the current position and posture information of the tractor, the angle A of a towing hook at the joint of the tractor and the follow-up trailer, the angle B of the towing hook between the two follow-up trailers, a target track planned by the tractor and a kinematic recurrence model of a plurality of sections of follow-up trailers, wherein the expected motion state of each stage of follow-up trailer is used as the expected motion state of each stage of active trailer;
The second step, converting the expected motion state of each stage of active trailer into the expected speed and the rotation angle of each stage of active trailer under the respective vehicle coordinate system through coordinate system conversion, and taking the expected motion state as the expected motion state initial value of the active trailer actively followed;
thirdly, based on the numerical value of a pressure sensor group at the joint between the two stages of active trailers, decomposing to obtain the pressure parallel to the trailer hook and the pressure perpendicular to the trailer hook, and calculating the correction of the expected speed based on the pressure parallel to the trailer hook and the weight of the active trailer, so as to obtain the corrected expected speed of the active trailer; wherein the weight of the active trailer comprises the dead weight and the load of the active trailer;
step four, obtaining the rotating speed of a driving motor of each active trailer by applying a current and rotating speed double closed-loop control method based on the expected motion state initial value and the corrected expected speed of the active trailer; controlling the corresponding all stages of active trailers to perform active motion according to the rotating speeds of all driving motors, wherein the actual motion state of each stage of active trailers is consistent with the expected motion state of each stage of follow-up trailers;
when the cloud server sends the expected speed control instruction to the tractor and the active trailer at the same time, the motion state of the traction-towing system is updated, and the traction-towing system is re-planned and controlled in a rolling time domain mode.
The scheduling method of the autonomous driving traction-towing system comprises the steps that a cloud server stores a collection of all carrying task information of a current application environment which is decomposed and coded in advance; each piece of carrying task information comprises cargo types, cargo weights, cargo quantity, a path starting point and a path maximum gradient; the method comprises the steps of selecting a tractor and an empty active trailer, loading the active trailer with goods, and conveying the goods to a destination by a traction-towing system to form a task section;
the dispatching method comprises the following specific steps:
the method comprises the steps of firstly, collecting position information and electric quantity information of all tractors, and collecting position information and electric quantity information of all active trailers;
the second step, calculating the predicted path of the carrying task to be executed by the tractor and the active trailer and the predicted load of the active trailer by combining the position information of the tractor and the active trailer and the set of all the carrying task information prestored by the cloud server;
thirdly, evaluating the electric quantity requirement of the current active trailer according to the carrying task information, the expected load of the current active trailer and the expected path; if the current electric quantity information of the active trailer meets the electric quantity requirement, the current task can be completed, the current active trailer can be selected, otherwise, the current active trailer is not selected, and the like, and electric quantity requirement assessment is carried out on all the active trailers;
The electric quantity demand of the current tractor is evaluated according to the carrying task information, the dead weight of the tractor and the predicted path, if the electric quantity information of the current tractor meets the electric quantity demand, the current task can be completed, the current tractor can be selected, otherwise, the current tractor is not selected, and the like, and the electric quantity demand of all the tractors is evaluated;
step four, when each task section starts, selecting a tractor and an active trailer which meet the electric quantity requirement according to the carrying task information and the position information of the tractor and the active trailer; the selection principle of the active trailer is that a combination with higher electric quantity consistency is selected on the premise of meeting the quantity of cargoes;
fifthly, loading cargoes to the selected active trailer according to the selected tractor and the selected active trailer of the current task section, and conveying the cargoes to a destination by a traction-towing system consisting of the tractor and the active trailer to complete the current task section;
step six, after completing the current task section, calculating the task of the next stage according to the positions of the current tractor and the active trailer, performing electric quantity accounting, and executing a new task under the condition of sufficient electric quantity; and if the electric quantity is insufficient, executing a charging or power changing task.
Further, in the third step, real-time monitoring is performed on the trailer state, the working state and the fault signal of all the tractors, and real-time monitoring is performed on the trailer state, the actual load, the working state and the fault signal of all the active trailers;
the traction state of the tractor refers to whether a rear hook is connected or not, and is calculated by a signal of a hook pressure detection module A; the working state of the tractor is state information of the tractor in waiting or conveying and is calculated by the position information and the pulling state; the fault signal of the tractor is calculated by a power peak value of a driving motor arranged in the tractor;
the trailing state of the active trailer refers to whether the rear hook is connected or not, and is calculated by a signal of the hook pressure detection module B; the working state of the active trailer is state information that the vehicle is empty or full, and is calculated by position information, a pulling state and an actual load; the fault monitoring signal of the active trailer is calculated by the power peak value of the driving motor;
the tractor can send a vehicle code, electric quantity information, position information, a pulling state, dead weight, an estimated path, a working state, a fault signal and an electric quantity evaluation result to the cloud server;
The active trailer can send electric quantity information, position information, a pulling state, an expected load, an expected path, an actual load, a working state, fault signals and electric quantity evaluation results to the tractor and the cloud server.
Compared with the existing tractor-trailer system which faces the problems of low speed, no load and the like of uncertain trailer load and the problems of low braking efficiency, swing instability and the like which possibly exist and influence the operation safety, the invention has the following beneficial effects:
1) Compared with the existing traction-towing system, the traction-towing system adopts a distributed power source mode, namely a power unit comprising a motor and a battery is added on the existing follow-up trailer, so that the traction-towing system is replaced by an active trailer; the traction-towing system adopting the active trailer has the following characteristics:
(1) The dynamic drag ratio is large, the accelerating capacity is strong, and the normal operation speed can be recovered in a short time;
(2) The climbing capacity is strong, the climbing can be fast realized, the efficiency is improved, and convenience is provided for route planning;
(3) The load is uniformly distributed, the span is long, and the requirement on road surface adhesion is low;
(4) The number of the batteries and the motors is large, and the regenerative braking capability is good;
(5) The braking capability is strong, and the pressure of the trailer inertia to a tractor braking system is reduced;
(6) The tractor has small load, is easy to lighten and miniaturize, and has wider use scene;
(7) The power requirement on the tractor is reduced, and the problem of swing instability caused by the rear load distribution of the trailer is relieved;
(8) The motor of the trailer can reversely brake, and a brake system is not required to be additionally arranged;
(9) The controllability of the trailer is better, and the trailer is easy to resist external disturbance and track an expected value;
(10) The state management unit of the trailer is easy to provide additional functions such as fault monitoring, abnormality monitoring and the like.
2) According to the autonomous driving traction-towing system, the towing hook between the tractor and the active trailer adopts a pin joint mode that the cylinder is matched with the hole shaft of the round hole, so that the angle of the towing hook is convenient to calculate, and the pressure component perpendicular to the towing hook and parallel to the towing hook is convenient to calculate.
3) The invention provides a motion control method of an autonomous driving traction-towing system based on the novel autonomous driving traction-towing system, which is oriented to multi-body cascade motion planning and control, so that the traction-towing system can still ensure high motion efficiency and driving safety under the condition of facing random load.
4) The invention provides a dispatching method of the autonomous driving traction-towing system based on the novel autonomous driving traction-towing system, and further improves the high efficiency and adaptability of the autonomous driving traction-towing system to different application environments.
Drawings
Fig. 1 is a schematic diagram of the traction-towing system of the present invention;
FIG. 2 is a schematic view of the structure of the active trailer of the present invention;
FIG. 3 is a schematic signal transmission diagram of the traction-traction system of the present invention;
fig. 4 is a control flow diagram of the traction-drag system of the present invention;
FIG. 5 is a schematic diagram of a control method of the traction-and-drag system of the present invention;
FIG. 6 is a schematic diagram II of a control method of the traction-and-drag system of the present invention;
fig. 7 is an exploded view of the carrying task of the traction-drag system of the present invention;
the device comprises a 1-tractor, a 2-active trailer, a 21-battery, a 22-driving motor, a 23-wheel speed detection module and a 24-hook pressure detection module B.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
Example 1:
the present embodiment provides an autonomous driving traction-towing system, referring to fig. 1, including: a tractor 1, more than one active trailer 2 and a cloud server;
the tractor 1 and more than one active trailer 2 are connected end to end in sequence; the tractor 1 is connected with the active trailer 2 and two adjacent active trailers 2 through towing hooks;
The tractor 1 has an automatic driving function;
the active trailer 2 can be controlled to actively move, the front wheels of the active trailer 2 are passively steered along with the tractor 1 or the front section of active trailer 2, the rear wheels are oriented and are driving wheels, and the rear wheels are controlled to follow the tractor 1 or the front section of active trailer 2 in an active driving mode;
the tractor 1, the active trailer 2 and the cloud server can be in wireless communication with each other, and the running state information of each of the tractor 1 and the active trailer 2 is shared; the cloud server sends expected speed control instructions to the tractor 1 and the active trailer 2 according to the running state information, or the tractor 1 generates the expected speed control instructions according to the running state information and simultaneously sends the expected speed control instructions to the active trailer 2; the tractor 1 automatically drives according to the received expected vehicle speed control instruction and sends an expected motion state initial value to the active trailer 2; the active trailer 2 is autonomously driven according to the received desired vehicle speed control command and the desired motion state initial value to actively follow the tractor 1 or the previous active trailer 2.
Example 2:
in the embodiment, the specific scheme of the foundation 2 in the embodiment 1 is as follows:
The tail part of the tractor 1 is provided with a towing hook; the head part of each active trailer 2 is provided with a hook, and the tail part is provided with a towing hook; the tractor 1 and more than one active trailer 2 are sequentially connected end to end, namely when the number of the active trailers 2 is more than one, the hooks at the head of the active trailers 2 are connected with the towing hooks at the tail of the tractor 1, when the number of the active trailers 2 is more than two, the hooks at the head of the first-stage active trailer 2 are connected with the towing hooks at the tail of the tractor 1, the hooks at the head of the second-stage active trailer 2 are connected with the towing hooks at the tail of the first-stage active trailer 2, and the like, the hooks at the head of the n-th active trailer 2 are connected with the towing hooks at the tail of the n-1-th active trailer 2, and the connected hooks and the towing hooks are called as towing hooks for short; in the embodiment, the towing hook and the hook are both V-shaped frames, the towing hook is provided with a cylinder with an axis arranged along the vertical direction, the hook is provided with a round hole with the axis arranged along the vertical direction, and the towing hook and the hook are matched with the hole shaft of the round hole through the cylinder to realize the pin joint of the towing hook and the hook;
the tractor 1 has an automatic driving function, the chassis of the tractor 1 has flexible selection scheme, and the automatic driving function can be realized, for example, the chassis can be selected as a chassis with ackerman steering;
Besides the automatic driving control system, the tractor 1 is also provided with a towing hook angle monitoring module A, a hook pressure detecting module A, a calculating unit A and a wireless communication module A;
the angle monitoring module A of the towing hook adopts a camera A arranged at the tail part of the tractor 1, and the camera A is used for collecting picture information A of the towing hook at the tail part of the tractor 1 and sending the picture information A to the computing unit A;
the hook pressure detection module A adopts a circle of pressure sensor group which is arranged at the joint of the tractor 1 and the active trailer 2, and the pressure sensor group is used for detecting pressure data A and direction information A at the joint of the tractor 1 and the active trailer 2 and sending the pressure data A and the direction information A to the calculation unit A; wherein the pressure sensor group can obtain the pressure component magnitude perpendicular to the towing hook (namely, parallel to the cylindrical axis of the towing hook) and parallel to the towing hook (namely, perpendicular to the cylindrical axis of the towing hook);
the computing unit a is configured to monitor running state information of the tractor 1, and execute a control algorithm of the tractor 1, where the control algorithm specifically includes: the calculating unit A calculates the relative angle between the towing hook at the tail of the current tractor 1 and the hook at the head of the active trailer 2 according to the picture information A, and the relative angle is the towing hook angle A; the calculation unit A judges whether the tractor 1 is connected with the active trailer 2 according to the pressure data A and the direction information A; wherein the operation state information of the tractor 1 includes: the method comprises the steps of rotating speed information of wheels of the tractor 1, position information of the tractor 1, self weight of the tractor 1, a hitch angle A and connection conditions of the tractor 1 and an active trailer 2; the rotation speed information of the wheels of the tractor 1, the position information of the tractor 1 and the dead weight of the tractor 1 are all calculated by an automatic driving control system carried by the tractor 1;
The wireless communication module A is used for realizing wireless communication between the tractor 1 and the active trailer 2 and the cloud server respectively;
the front wheels of the active trailer 2 are passively turned along with the tractor 1, and the rear wheels are oriented and are driving wheels; the front wheel is flexible in scheme, and the first scheme is as follows: two front wheels of the active trailer 2 are respectively arranged at two ends of a front suspension, and the front suspension of the active trailer 2 is subjected to 360-degree steering; the second scheme is as follows: the two front wheels of the driving trailer 2 are universal wheels;
referring to fig. 2, each active trailer 2 is equipped with a battery 21, a driving motor 22, a wheel speed detection module 23, a wireless communication module B, a calculation unit B, a positioning module, a display device, a trailer load calculation module, a hook pressure detection module B24 and a hitch angle measurement module B;
the driving motor 22 is used for driving the rear wheel of the active trailer 2;
the wheel speed detection module 23 is used for detecting the rotation speed of the wheels of the active trailer 2 and sending the rotation speed information to the computing unit B for monitoring;
the positioning module is used for positioning the active trailer 2 to obtain the position information of the active trailer 2 and sending the position information to the computing unit B for monitoring; the positioning module can adopt ultra-wideband based positioning equipment and technology when the active trailer 2 is indoors, and can adopt differential GPS based positioning equipment and technology when the active trailer 2 is outdoors;
The trailer load detection module adopts pressure sensors B respectively mounted at four wheel axles of the active trailer 2, and the four pressure sensors B are respectively used for detecting pressure information at the four wheel axles of the active trailer 2 and sending the pressure information to the computing unit B;
the trailer hook angle monitoring module B adopts a camera B arranged at the tail part of the active trailer 2, and the camera B is used for acquiring picture information B at the trailer hook position at the tail part of the active trailer 2 and sending the picture information B to the computing unit B;
the hook pressure detection module B24 adopts a circle of pressure sensor group carried at the joint of the two-stage active trailer 2, and the pressure sensor group is used for detecting pressure data B and direction information B at the joint of the two-stage active trailer 2 and sending the pressure data B and the direction information B to the computing unit B; wherein the pressure sensor group can obtain the pressure component magnitude perpendicular to the towing hook (namely, parallel to the cylindrical axis of the towing hook) and parallel to the towing hook (namely, perpendicular to the cylindrical axis of the towing hook);
the calculating unit B is configured to monitor the running state information of the active trailer 2, and execute a control algorithm of the active trailer 2, specifically: the calculation unit B calculates the load of the active trailer 2 according to the pressure information; the calculating unit B calculates the relative angle between the towing hook at the tail of the current active trailer 2 and the hook at the head of the next active trailer 2 according to the picture information B, wherein the relative angle is the towing hook angle B; the calculating unit B judges whether the current active trailer 2 is connected with the next active trailer 2 according to the pressure data B and the direction information B; wherein the operation state information of the active trailer 2 includes: the rotation speed information of the wheels of the active trailer 2, the position information of the active trailer 2, the load of the active trailer 2, the angle B of the trailer hook and the current connection condition of the active trailer 2 and the next active trailer 2; the computing unit B adopts a low-power-consumption computing unit;
The battery 21 is used for supplying power to the power utilization components on the active trailer 2;
the display equipment is used for displaying information such as vehicle codes, electric quantity, faults and the like;
referring to fig. 3, the wireless communication module B is configured to implement wireless communication between the active trailer 2 and the tractor 1 and the cloud server, respectively;
the cloud server comprises a computing platform and a wireless communication module C, wherein the computing platform is used for generating expected speed control instructions (but not limited to the functions) of the tractor 1 and the active trailer 2; the wireless communication module C is used for realizing wireless communication between the cloud server and the tractor 1 and the active trailer 2 respectively.
Example 3:
this embodiment, based on embodiment 2, the active trailer 2 may not carry an independent battery 21, but the tractor 1 supplies power to the power-consuming components on the active trailer 2 through cables; in this regard, the joints of the tractor 1 and the trailer hooks of the active trailers 2 and the joints of the trailer hooks of the two active trailers 2 are respectively provided with a power cable interface.
Example 4:
the embodiment provides a motion control method of an autonomous driving traction-towing system on the basis of embodiment 1 and embodiment 2, and the tractor 1 is provided with an autonomous driving system, so that the tractor is required to perform track tracking control after planning to obtain a track according to an environment sensing result; and for the active trailer 2, the rear wheel active driving mode is controlled to follow the tractor 1 or the previous active trailer 2;
Referring to fig. 4-5, the motion control method comprises the following specific steps:
the first step, assuming that the tractor 1 is a traditional trailer without a driving motor 22, namely a follow-up trailer, calculating the expected motion state of each stage of follow-up trailer according to the current position and posture information of the tractor 1, the current angle A of a trailer hook, a plurality of angles B of the trailer hook, a planned target track of the tractor 1 and a kinematic recursive model of a plurality of sections of follow-up trailers, wherein the expected motion state of each stage of follow-up trailer is used as the expected motion state of each stage of active trailer 2;
secondly, as the steering of the active trailer 2 is realized by the towing of the towing hook and the hanging hook and the speed driving of the active trailer 2 is realized by the active driving of the rear wheels, the expected motion state of each level of active trailer 2 is converted into the expected speed and the rotation angle of each level of active trailer 2 under the respective vehicle coordinate system through the coordinate system conversion, and the expected motion state initial value of the active trailer 2 which actively follows is used as the expected motion state initial value of the active trailer 2;
thirdly, based on the numerical value of a pressure sensor group at the joint between the two stages of the active trailers 2, decomposing to obtain the pressure parallel to the trailer hook and the pressure perpendicular to the trailer hook, and calculating the correction amount of the expected speed based on the pressure parallel to the trailer hook and the weight (the weight comprises the dead weight and the load of the active trailer 2) of the active trailer 2, so as to obtain the corrected expected speed of the active trailer 2;
Fourth, based on the expected motion state initial value and the corrected expected speed of the active trailers 2, the current and rotating speed double closed-loop control method is applied to obtain the rotating speed of the driving motor 22 of each active trailer 2; controlling the corresponding active trailers 2 to actively move according to the rotating speeds of all the driving motors 22, wherein the actual movement state of each active trailer 2 is consistent with the expected movement state of each follower trailer;
when the cloud server sends the desired speed control command to the tractor 1 and the active trailer 2 at the same time, the motion state of the traction-towing system is updated, and the traction-towing system is re-planned and controlled in a rolling time domain mode.
Example 5:
in the present embodiment, based on embodiment 4, in the first step, the angle acquisition manner of the hitch angle (including the hitch angle a and the hitch angle B) may be calculated not based on the visual manner but based on the positional information of the tractor 1 and the active trailer 2 or the current active trailer 2 and the next active trailer 2;
the motion state of the tractor (namely the current position and posture information of the tractor 1, the current hitch angle A, a plurality of hitch angles B and a target track planned by the tractor 1) input into the kinematic recursive model of the follow-up trailer can be calculated according to the track tracking control instruction of the tractor 1; and the control framework is shown in fig. 6 when the track planning of the tractor 1 is at a different update frequency than its track following control.
Example 6:
the embodiment provides a dispatching method of an autonomous driving traction-towing system on the basis of embodiment 2 and embodiment 3, wherein the cloud server stores a set of all carrying task information of a current application environment which is decomposed and coded in advance; each piece of carrying task information comprises cargo types, cargo weights, cargo quantity, a path starting point and a path maximum gradient; the method comprises the steps of selecting a tractor 1 and an empty active trailer 2, loading the active trailer 2 with goods, and conveying the goods to a destination by a traction-towing system to form a task section;
the dispatching method comprises the following specific steps:
the method comprises the steps of firstly, collecting position information and electric quantity information of all tractors 1 and collecting position information and electric quantity information of all active trailers 2;
secondly, calculating the expected path of the carrying task to be executed by the tractor 1 and the active trailer 2 and the expected load of the active trailer 2 by combining the position information of the tractor 1 and the active trailer 2 and the set of all the carrying task information prestored by the cloud server; the estimated path is information such as the length and gradient of the path of the carrying task which is about to be executed or is being executed, and the estimated load is the load of the carrying task which is about to be executed or is being executed;
Thirdly, evaluating the electric quantity requirement of the current active trailer 2 according to the carrying task information, the expected load of the current active trailer 2 and the expected path (the electric quantity requirement is evaluated as the electric quantity requirement facing the expected load and the expected path); if the current electric quantity information of the active trailer 2 meets the electric quantity requirement, the current task can be completed, the current active trailer 2 can be selected, otherwise, the current active trailer 2 is not selected, and the like, and electric quantity requirement assessment is carried out on all the active trailers 2;
the electric quantity demand of the current tractor 1 is evaluated according to the carrying task information, the dead weight of the tractor 1 and the predicted path, if the electric quantity information of the current tractor 1 meets the electric quantity demand, the current task can be completed, the current tractor 1 can be selected, otherwise, the current tractor 1 is not selected, and the like, and the electric quantity demand of all the tractors 1 is evaluated;
real-time monitoring is carried out on the pulling state, the working state and the fault signals of all the tractors 1, and simultaneously, real-time monitoring is carried out on the pulling state, the actual load, the working state and the fault signals of all the active trailers 2;
the pulling state of the tractor 1 refers to whether a rear hook is connected or not, and is calculated by a signal of a hook pressure detection module A; the working state of the tractor 1 refers to state information of waiting or conveying the tractor, and is calculated by position information and a pulling state; the fault signal of the tractor 1 is calculated by information such as a power peak value of a drive motor arranged in the tractor 1;
The pulling state of the active trailer 2 refers to whether the rear hook is connected or not, and is calculated by a signal of the hook pressure detection module B24; the working state of the active trailer 2 is state information such as no-load or full-load state of the vehicle, and is calculated by position information, a pulling state and an actual load; the fault monitoring signal of the active trailer 2 is calculated by the information of the power peak value of the driving motor 22 and the like;
the tractor 1 can send running state information such as a vehicle code, electric quantity information, position information, a pulling state, dead weight, an expected path, a working state, a fault signal, an electric quantity evaluation result and the like to the cloud server, and the running state information is shown in a table 1;
the active trailer 2 can send running state information such as electric quantity information, position information, pulling state, predicted load, predicted path, actual load, working state, fault signals, electric quantity evaluation results and the like to the tractor 1 and the cloud server, as shown in table 2;
table 1 operational status information of tractors
Table 2 active trailer operating status information
Fourth, when each task section starts, selecting the tractor 1 and the active trailer 2 meeting the electric quantity requirement according to the carrying task information and the position information of the tractor 1 and the active trailer 2, see table 3;
TABLE 3 task set and corresponding pull-drag combination
The principle of the active trailer 2 is to select a combination with higher electric quantity consistency on the premise of meeting the quantity of cargoes;
fifthly, loading cargoes to the selected active trailer 2 according to the selected tractor 1 and the active trailer 2 in the current task section, and conveying the cargoes to a destination by a traction-towing system formed by the tractor 1 and the active trailer 2 to complete the current task section, as shown in fig. 7;
step six, after completing the current task section, calculating the task of the next stage according to the positions of the current tractor 1 and the active trailer 2, carrying out electric quantity accounting, and executing a new task under the condition of sufficient electric quantity; and if the electric quantity is insufficient, executing a charging or power changing task.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An autonomous driving traction-traction system, comprising: the system comprises a tractor, more than one active trailer and a cloud server;
the tractor is connected with more than one active trailer sequentially in a head-to-tail mode; the tractor is connected with the active trailer through a trailer hook;
The tractor has an automatic driving function;
the active trailer can be controlled to actively move, the front wheels of the active trailer are passively steered along with the tractor or the front section of active trailer, the rear wheels are oriented and are driving wheels, and the rear wheels are controlled to actively drive to follow the tractor or the front section of active trailer;
the tractor, the active trailer and the cloud server can be in wireless communication with each other, and the running state information of each of the tractor and the active trailer is shared; the cloud server sends expected speed control instructions to the tractor and the active trailer according to the running state information, or the tractor generates the expected speed control instructions according to the running state information and simultaneously sends the expected speed control instructions to the active trailer; the tractor automatically drives according to the received expected vehicle speed control instruction and sends an expected motion state initial value to the active trailer; the active trailer is driven automatically according to the received expected vehicle speed control command and the expected motion state initial value so as to actively follow the tractor or the previous active trailer.
2. The autonomous driving traction-towing system according to claim 1, wherein the towing vehicle is equipped with a towing hook angle monitoring module a, a hook pressure detecting module a, a calculating unit a and a wireless communication module a in addition to an automatic driving control system;
The angle monitoring module A of the towing hook adopts a camera A arranged at the tail part of the tractor, and the camera A is used for collecting picture information A of the towing hook at the tail part of the tractor and sending the picture information A to the computing unit A;
the hook pressure detection module A adopts a circle of pressure sensor group which is arranged at the joint of the tractor and the active trailer, and the pressure sensor group is used for detecting pressure data A and direction information A at the joint of the tractor and the active trailer and sending the pressure data A and the direction information A to the calculation unit A; the pressure sensor group can obtain the pressure component perpendicular to the pulling hook and parallel to the pulling hook;
the calculation unit A is used for monitoring the running state information of the tractor and executing a control algorithm of the tractor, wherein the control algorithm is specifically as follows: the calculating unit A calculates the relative angle between the joint of the head of the current tractor and the head of the active trailer according to the picture information A, and the relative angle is the angle A of the trailer hook; the calculation unit A judges whether the tractor is connected with the active trailer or not according to the pressure data A and the direction information A; wherein the operational status information of the tractor includes: the method comprises the steps of rotating speed information of wheels of a tractor, position information of the tractor, self weight of the tractor, angle A of a trailer hook and connection condition of the tractor and an active trailer;
The wireless communication module A is used for realizing wireless communication between the tractor and the active trailer and the cloud server respectively.
3. The autonomous driving traction-towing system according to claim 2, wherein each active trailer is equipped with a battery, a driving motor, a wheel speed detection module, a wireless communication module B, a calculation unit B, a positioning module, a display device, a trailer load calculation module, a hook pressure detection module B and a hitch angle measurement module B;
the driving motor is used for driving the rear wheel of the active trailer;
the wheel speed detection module is used for detecting the rotation speed of the wheels of the active trailer and sending the rotation speed information to the computing unit B for monitoring;
the positioning module is used for positioning the active trailer to obtain the position information of the active trailer, and sending the position information to the computing unit B for monitoring;
the trailer load detection module adopts pressure sensors B respectively mounted at four wheel axles of the active trailer, and the four pressure sensors B are respectively used for detecting pressure information at the four wheel axles of the active trailer and sending the pressure information to the computing unit B;
the trailer hook angle monitoring module B adopts a camera B arranged at the tail part of the active trailer, and the camera B is used for acquiring picture information B at the trailer hook at the tail part of the active trailer and sending the picture information B to the computing unit B;
The hook pressure detection module B adopts a circle of pressure sensor group carried at the joint of the two-stage active trailer, and the pressure sensor group is used for detecting pressure data B and direction information B of the joint of the two-stage active trailer and sending the pressure data B and the direction information B to the computing unit B; the pressure sensor group can obtain the pressure component perpendicular to the pulling hook and parallel to the pulling hook;
the calculating unit B is used for monitoring the running state information of the active trailer and executing a control algorithm of the active trailer, and specifically comprises the following steps: the calculating unit B calculates the load of the active trailer according to the pressure information; the calculating unit B calculates the relative angle between the current active trailer and the next active trailer according to the picture information B, wherein the relative angle is the angle B of the trailer hook; the calculating unit B judges whether the current active trailer is connected with the next active trailer according to the pressure data B and the direction information B; wherein, the running state information of the active trailer comprises: the method comprises the following steps of (1) carrying out rotation speed information of wheels of an active trailer, position information of the active trailer, load of the active trailer, a hitch angle B and connection conditions of the active trailer and a next-stage active trailer at present;
The battery is used for supplying power to the power utilization component on the active trailer;
the display device is used for displaying vehicle codes, electric quantity and fault information;
the wireless communication module B is used for realizing wireless communication between the active trailer and the tractor and the cloud server respectively.
4. An autonomous driving traction-towing system as claimed in any one of claims 1-3, wherein a wireless communication module C is provided in the cloud server; the wireless communication module C is used for realizing wireless communication between the cloud server and the tractor and the active trailer respectively.
5. An autonomous driving traction-towing system as claimed in any one of claims 1-3, characterized in that the tail of the tractor is provided with a towing hook; the head part of each active trailer is provided with a hook, and the tail part of each active trailer is provided with a towing hook; the connected hook and the towing hook are the towing hook; the towing hook and the hook are both V-shaped frames, a cylinder with an axis arranged along the vertical direction is arranged on the towing hook, a round hole with the axis arranged along the vertical direction is processed on the hook, and the towing hook and the hook are matched with the round hole through the cylinder and the hole shaft of the round hole, so that the towing hook and the hook are in pin joint.
6. A method of controlling the movement of an autonomous driving traction-traction system based on the traction-traction system according to any one of claims 1-5, characterized by the specific steps of:
The method comprises the steps that firstly, a tractor is assumed to be a traditional trailer without a driving motor, namely a follow-up trailer, and the expected motion state of each stage of follow-up trailer is calculated according to the current position and posture information of the tractor, the angle A of a towing hook at the joint of the tractor and the follow-up trailer, the angle B of the towing hook between the two follow-up trailers, a target track planned by the tractor and a kinematic recurrence model of a plurality of sections of follow-up trailers, wherein the expected motion state of each stage of follow-up trailer is used as the expected motion state of each stage of active trailer;
the second step, converting the expected motion state of each stage of active trailer into the expected speed and the rotation angle of each stage of active trailer under the respective vehicle coordinate system through coordinate system conversion, and taking the expected motion state as the expected motion state initial value of the active trailer actively followed;
thirdly, based on the numerical value of a pressure sensor group at the joint between the two stages of active trailers, decomposing to obtain the pressure parallel to the trailer hook and the pressure perpendicular to the trailer hook, and calculating the correction of the expected speed based on the pressure parallel to the trailer hook and the weight of the active trailer, so as to obtain the corrected expected speed of the active trailer; wherein the weight of the active trailer comprises the dead weight and the load of the active trailer;
Step four, obtaining the rotating speed of a driving motor of each active trailer by applying a current and rotating speed double closed-loop control method based on the expected motion state initial value and the corrected expected speed of the active trailer; controlling the corresponding all stages of active trailers to perform active motion according to the rotating speeds of all driving motors, wherein the actual motion state of each stage of active trailers is consistent with the expected motion state of each stage of follow-up trailers;
when the cloud server sends the expected speed control instruction to the tractor and the active trailer at the same time, the motion state of the traction-towing system is updated, and the traction-towing system is re-planned and controlled in a rolling time domain mode.
7. A dispatching method of an autonomous driving traction-towing system based on the traction-towing system of any one of claims 1-5, characterized in that the cloud server stores a collection of all the carrying task information of the current application environment that is decomposed and encoded in advance; each piece of carrying task information comprises cargo types, cargo weights, cargo quantity, a path starting point and a path maximum gradient; the method comprises the steps of selecting a tractor and an empty active trailer, loading the active trailer with goods, and conveying the goods to a destination by a traction-towing system to form a task section;
The dispatching method comprises the following specific steps:
the method comprises the steps of firstly, collecting position information and electric quantity information of all tractors, and collecting position information and electric quantity information of all active trailers;
the second step, calculating the predicted path of the carrying task to be executed by the tractor and the active trailer and the predicted load of the active trailer by combining the position information of the tractor and the active trailer and the set of all the carrying task information prestored by the cloud server;
thirdly, evaluating the electric quantity requirement of the current active trailer according to the carrying task information, the expected load of the current active trailer and the expected path; if the current electric quantity information of the active trailer meets the electric quantity requirement, the current task can be completed, the current active trailer can be selected, otherwise, the current active trailer is not selected, and the like, and electric quantity requirement assessment is carried out on all the active trailers;
the electric quantity demand of the current tractor is evaluated according to the carrying task information, the dead weight of the tractor and the predicted path, if the electric quantity information of the current tractor meets the electric quantity demand, the current task can be completed, the current tractor can be selected, otherwise, the current tractor is not selected, and the like, and the electric quantity demand of all the tractors is evaluated;
Step four, when each task section starts, selecting a tractor and an active trailer which meet the electric quantity requirement according to the carrying task information and the position information of the tractor and the active trailer; the selection principle of the active trailer is that a combination with higher electric quantity consistency is selected on the premise of meeting the quantity of cargoes;
fifthly, loading cargoes to the selected active trailer according to the selected tractor and the selected active trailer of the current task section, and conveying the cargoes to a destination by a traction-towing system consisting of the tractor and the active trailer to complete the current task section;
step six, after completing the current task section, calculating the task of the next stage according to the positions of the current tractor and the active trailer, performing electric quantity accounting, and executing a new task under the condition of sufficient electric quantity; and if the electric quantity is insufficient, executing a charging or power changing task.
8. The dispatching method of autonomous driving traction-haulage system of claim 7, wherein in the third step, the haulage state, the working state and the fault signal of all tractors are monitored in real time, and the haulage state, the actual load, the working state and the fault signal of all active trailers are monitored in real time;
The traction state of the tractor refers to whether a rear hook is connected or not, and is calculated by a signal of a hook pressure detection module A; the working state of the tractor is state information of the tractor in waiting or conveying and is calculated by the position information and the pulling state; the fault signal of the tractor is calculated by a power peak value of a driving motor arranged in the tractor;
the trailing state of the active trailer refers to whether the rear hook is connected or not, and is calculated by a signal of the hook pressure detection module B; the working state of the active trailer is state information that the vehicle is empty or full, and is calculated by position information, a pulling state and an actual load; the fault monitoring signal of the active trailer is calculated by the power peak value of the driving motor;
the tractor can send a vehicle code, electric quantity information, position information, a pulling state, dead weight, an estimated path, a working state, a fault signal and an electric quantity evaluation result to the cloud server;
the active trailer can send electric quantity information, position information, a pulling state, an expected load, an expected path, an actual load, a working state, fault signals and electric quantity evaluation results to the tractor and the cloud server.
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| CN110001554A (en) * | 2019-03-15 | 2019-07-12 | 田嘉一 | A kind of trailer can active steering, driving, the towed vehicle of braking and its control method |
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