CN110335305A - A kind of determination method, apparatus, mobile unit and the storage medium of trailer pose - Google Patents
A kind of determination method, apparatus, mobile unit and the storage medium of trailer pose Download PDFInfo
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- CN110335305A CN110335305A CN201811295610.3A CN201811295610A CN110335305A CN 110335305 A CN110335305 A CN 110335305A CN 201811295610 A CN201811295610 A CN 201811295610A CN 110335305 A CN110335305 A CN 110335305A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The present embodiments relate to determination method, apparatus, mobile unit and the storage medium of a kind of trailer pose, method includes: the dimension information of the first posture information for obtaining tractor, the image information of tractor and trailer and tractor and trailer；Based on first posture information, described image information and the dimension information, the second posture information of trailer is determined；Wherein, the dimension information includes: the length of the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest and tractor towing hook.The dimension information and image information that the embodiment of the present invention passes through acquisition trailer and tractor, in conjunction with the posture information of tractor, it can determine the posture information of trailer, without in trailer mounting of electrical equipment, the mechanical structure of trailer is not changed, without laser radar is used, solve the problem of that laser radar is unable to get enough trailer posture informations and is unable to satisfy acting trailer system motion control demand.
Description
Technical field
The present embodiments relate to trailer technical fields, and in particular to a kind of determination method, apparatus of trailer pose, vehicle-mounted
Equipment and storage medium.
Background technique
Acting trailer system is made of the tractor of offer power and motorless trailer.The motion control of acting trailer system needs reality
The posture information and angle information of Shi Gengxin tractor and trailer.
The existing posture information for updating tractor and trailer and the mode of angle information first is that: by tractor and
Differential GPS (Global Positioning System, global positioning system) equipment is installed respectively on trailer, obtains tractor
With the GPS differential data of trailer, and then based on GPS differential data update tractor and trailer posture information and angle information.
There are two drawbacks for which: 1) every section trailer is both needed to configuration high-precision difference GPS device, higher cost；2) trailer bodies are not
Electrical equipment, such as the trailer bodies on airport and warehouse are easily installed, for the design of reliability and expansion, trailer bodies are only
Have mechanical connection be not electrically connected, increase differential GPS devices can destroy trailer bodies structure and reduce trailer reliability and
Expansion.
It is existing update tractor and trailer posture information and angle information mode second is that: by tractor
Specific laser radar is installed, is directly scanned by laser radar and obtains the posture information and angle information of trailer.Which exists
Two aspect drawbacks: 1) laser radar higher cost, even if can not also carry out commercially answering on a large scale using single line laser radar
With；2) laser radar acquisition information is less, is not able to satisfy the demand of acting trailer system motion control, such as single line laser radar can only
It detects the angle information and location information of trailer front-axle beam, and applies more twin shaft trailer that there are more flexibility ratios, only lead to
It crosses single line laser radar and is unable to get enough trailer posture informations, be unable to satisfy the demand of acting trailer system motion control.
Summary of the invention
Of the existing technology in order to solve the problems, such as, at least one embodiment of the present invention provides a kind of trailer pose
Determine method, apparatus, mobile unit and storage medium.
In a first aspect, the embodiment of the present invention proposes a kind of determination method of trailer pose, which comprises
Obtain the size of the first posture information of tractor, the image information of tractor and trailer and tractor and trailer
Information；
Based on first posture information, described image information and the dimension information, the second pose of trailer is determined
Information；
Wherein, the dimension information includes: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest
And the length of tractor towing hook.
It is in some embodiments, described to be based on first posture information, described image information and the dimension information,
Determine the second posture information of trailer, comprising:
Based on first posture information, determine tractor back rest center the first coordinate and tractor first
Course angle；First course angle is the central axes of tractor in the drift angle of coordinate system X-direction；
Determine the trailer front-axle beam, the trailer drawbar, the tractor back rest and the tractor towing hook described
Picture position in image information；
Based on first coordinate, first course angle, the dimension information and described image position, trailer is determined
The second posture information；
Wherein, the second pose information includes: the second course angle of the second coordinate of trailer back rest center, trailer
And the front wheel slip angle of trailer；Second course angle is the central axes of trailer in the drift angle of coordinate system X-direction.
In some embodiments, the determination trailer front-axle beam, the trailer drawbar, the tractor back rest and institute
State picture position of the tractor towing hook in described image information, comprising:
Determine first position of the tractor towing hook in described image information；
Length based on the first position and the trailer drawbar, determines the region of interest in described image information
Domain；
Determine the second of trailer front-axle beam described in the area-of-interest, the trailer drawbar, the tractor back rest
It sets；
Wherein, described image position includes the first position and the second position.
In some embodiments, described to be based on first coordinate, first course angle, the dimension information and institute
Picture position is stated, determines the second posture information of trailer, comprising:
Second posture information is determined by following formula:
Wherein, x1And y1For the second coordinate of trailer back rest center, θ1For the second course angle of trailer, δ1For trailer
Front wheel slip angle, x0And y0For the first coordinate of tractor back rest center, a1For the length of trailer drawbar, l1For trailer
The length of central axes, θ0For the first course angle of tractor, angle of the γ between trailer drawbar and the central axes of tractor,
For the angle between trailer drawbar and the central axes of trailer.
Second aspect, the embodiment of the present invention also propose that a kind of determining device of trailer pose, described device include:
Acquiring unit, for obtaining the first posture information, the image information of tractor and trailer and traction of tractor
The dimension information of vehicle and trailer；
Determination unit, for being based on first posture information, described image information and the dimension information, determination is dragged
Second posture information of vehicle；
Wherein, the dimension information includes: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest
And the length of tractor towing hook.
In some embodiments, the determination unit, comprising:
First subelement determines the first coordinate of tractor back rest center for being based on first posture information
And the first course angle of tractor；First course angle is the central axes of tractor in the drift angle of coordinate system X-direction；
Second subelement, for determining the trailer front-axle beam, the trailer drawbar, the tractor back rest and described leading
Draw picture position of the vehicle towing hook in described image information；
Third subelement, for being based on first coordinate, first course angle, the dimension information and the figure
Image position determines the second posture information of trailer；
Wherein, the second pose information includes: the second course angle of the second coordinate of trailer back rest center, trailer
And the front wheel slip angle of trailer；Second course angle is the central axes of trailer in the drift angle of coordinate system X-direction.
In some embodiments, second subelement, is used for:
Determine first position of the tractor towing hook in described image information；
Length based on the first position and the trailer drawbar, determines the region of interest in described image information
Domain；
Determine the second of trailer front-axle beam described in the area-of-interest, the trailer drawbar, the tractor back rest
It sets；
Wherein, described image position includes the first position and the second position.
In some embodiments, the third subelement, for determining second posture information by following formula:
Wherein, x1And y1For the second coordinate of trailer back rest center, θ1For the second course angle of trailer, δ1For trailer
Front wheel slip angle, x0And y0For the first coordinate of tractor back rest center, a1For the length of trailer drawbar, l1For trailer
The length of central axes, θ0For the first course angle of tractor, angle of the γ between trailer drawbar and the central axes of tractor,
For the angle between trailer drawbar and the central axes of trailer.
The third aspect, the embodiment of the present invention also propose a kind of mobile unit, comprising:
Processor, memory, network interface and user interface；
The processor, memory, network interface and user interface are coupled by bus system；
The processor is used to execute side as described in relation to the first aspect by the program or instruction of calling the memory to store
The step of method.
Fourth aspect, the embodiment of the present invention also propose a kind of non-transient computer readable storage medium, the non-transient meter
Calculation machine readable storage medium storing program for executing stores computer instruction, and the computer instruction makes the computer execute side as described in relation to the first aspect
The step of method.
As it can be seen that at least one embodiment of the embodiment of the present invention, by obtain trailer and tractor dimension information and
Image information, in conjunction with the posture information of tractor, it may be determined that the posture information of trailer is not necessarily in trailer mounting of electrical equipment,
Do not change the mechanical structure of trailer, do not damage the stability and expansion of trailer, without laser radar is used, solves laser thunder
Up to the problem of being unable to get enough trailer posture informations, be unable to satisfy acting trailer system motion control demand.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention；
Fig. 2 is a kind of determination method flow diagram of trailer pose provided in an embodiment of the present invention；
Fig. 3 is a kind of angle detection schematic diagram of the determination method of trailer pose provided in an embodiment of the present invention；
Fig. 4 is that a kind of pose of determination method of trailer pose provided in an embodiment of the present invention resolves schematic diagram；
Fig. 5 is a kind of determination device block diagram of trailer pose provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
Fig. 1 is a kind of structural schematic diagram of mobile unit provided in an embodiment of the present invention.
Mobile unit shown in FIG. 1 includes: at least one processor 101, at least one processor 102, at least one net
Network interface 104 and other user interfaces 103.Various components in mobile unit are coupled by bus system 105.It can
Understand, bus system 105 is for realizing the connection communication between these components.Bus system 105 except include data/address bus in addition to,
It further include power bus, control bus and status signal bus in addition.But for the sake of clear explanation, by various buses in Fig. 1
All it is designated as bus system 105.
Wherein, user interface 103 may include display, keyboard or pointing device (for example, mouse, trace ball
(trackball) or touch-sensitive plate etc..
It is appreciated that the memory 102 in the present embodiment can be volatile memory or nonvolatile memory, or can
Including both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read-
OnlyMemory, ROM), programmable read only memory (ProgrammableROM, PROM), Erasable Programmable Read Only Memory EPROM
(ErasablePROM, EPROM), electrically erasable programmable read-only memory (ElectricallyEPROM, EEPROM) dodge
It deposits.Volatile memory can be random access memory (RandomAccessMemory, RAM), and it is slow to be used as external high speed
It deposits.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(StaticRAM, SRAM), dynamic random access memory (DynamicRAM, DRAM), Synchronous Dynamic Random Access Memory
(SynchronousDRAM, SDRAM), double data speed synchronous dynamic RAM (DoubleDataRate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (SynchlinkDRAM, SLDRAM) and direct rambus random access memory
(DirectRambusRAM, DRRAM).Memory 102 described herein is intended to include but is not limited to these to be suitble to any other
The memory of type.
In some embodiments, memory 102 stores following element, and unit or data structure can be performed, or
Their subset of person or their superset: operating system 1021 and application program 1022.
Wherein, operating system 1021 include various system programs, such as ccf layer, core library layer, driving layer etc., are used for
Realize various basic businesses and the hardware based task of processing.Application program 1022 includes various application programs, such as media
Player (MediaPlayer), browser (Browser) etc., for realizing various applied business.Realize embodiment of the present invention side
The program of method may be embodied in application program 1022.
In embodiments of the present invention, program or instruction that processor 101 is stored by calling memory 102, specifically, can
To be the program or instruction stored in application program 1022, the determination method that processor 101 is used to execute trailer pose is respectively implemented
Method and step provided by example, for example including step 1 and step 2:
Step 1: obtaining the first posture information, the image information of tractor and trailer and the tractor of tractor and dragging
The dimension information of vehicle；
Step 2: being based on first posture information, described image information and the dimension information, the of trailer is determined
Two posture informations；
Wherein, the dimension information includes: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest
And the length of tractor towing hook.
The method that the embodiments of the present invention disclose can be applied in processor 101, or be realized by processor 101.
Processor 101 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 101 or the instruction of software form.Above-mentioned processing
Device 101 can be general processor, digital signal processor (DigitalSignalProcessor, DSP), specific integrated circuit
(ApplicationSpecific IntegratedCircuit, ASIC), ready-made programmable gate array
(FieldProgrammableGateArray, FPGA) either other programmable logic device, discrete gate or transistor logic
Device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present invention
Figure.General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with the present invention
The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor
In hardware and software unit combination execute completion.Software unit can be located at random access memory, and flash memory, read-only memory can
In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage
Medium is located at memory 102, and processor 101 reads the information in memory 102, and the step of the above method is completed in conjunction with its hardware
Suddenly.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter
Number processor (DSP), digital signal processing appts (DSPDevice, DSPD), programmable logic device (PLD), field-programmable
Gate array (FPGA), general processor, controller, microcontroller, microprocessor, for executing the other of herein described function
In electronic unit or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In embodiment provided herein, it should be understood that unless existing clear between the step of embodiment of the method
Sequencing, otherwise execution sequence can arbitrarily adjust.Disclosed device and method, may be implemented in other ways.
For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic
Function division, there may be another division manner in actual implementation, such as multiple units or components can combine or can collect
At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling
It closes or direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit can be with
It is electrically mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can store program
The medium of code.
Fig. 2 is a kind of determination method flow diagram of trailer pose provided in an embodiment of the present invention.The executing subject of this method
For mobile unit.Mobile unit is mountable on tractor.
As shown in Fig. 2, the determination method of trailer pose disclosed in the present embodiment may include following steps 201 and 202:
201, the first posture information of tractor, the image information of tractor and trailer and tractor and trailer are obtained
Dimension information.
202, it is based on the first posture information, image information and dimension information, determines the second posture information of trailer.
GPS device is installed in the present embodiment, on tractor or SLAM (Simultaneous Localization can be carried out
And Mapping, immediately positioning and map structuring) positioning equipment, such as can carry out laser radar of SLAM positioning etc. positioning
Equipment.Mobile unit and positioning device communicate to connect, and can obtain the data of positioning device.First posture information of tractor is really
Surely the prior art can be continued to use, details are not described herein.
In the present embodiment, imaging sensor is installed on tractor, imaging sensor can acquire the figure of tractor and trailer
As information.Mobile unit and imaging sensor communicate to connect, and can obtain the data of imaging sensor.Imaging sensor is, for example, to take the photograph
As head.
In the present embodiment, as shown in figure 3, the dimension information of tractor and trailer includes: the length of trailer front-axle beam AB, trailer
The length of the length of drawbar OD, the length of tractor back rest FG and tractor towing hook OE.
In the present embodiment, the dimension information of tractor and trailer can be by being manually pre-entered into mobile unit, or leads
The dimension information for drawing vehicle and trailer is configurable in acting trailer system configuration file, and mobile unit gets acting trailer system configuration file
Afterwards, the dimension information of tractor and trailer is parsed.
In the present embodiment, the center of tractor back rest FG is arranged in tractor towing hook OE, and trailer drawbar OD is arranged
In the center trailer front-axle beam AB.
In Fig. 3, imaging sensor is mounted in tractor longitudinal central axis line, can collect trailer front-axle beam AB, trailer drawbar
The image of OD, tractor back rest FG, tractor towing hook OE.
In some embodiments, also mountable lighting apparatus 1 in tractor longitudinal central axis line, as shown in figure 3, so as to image
Sensor acquires image in the scene of dark.
In the present embodiment, by obtaining the dimension information and image information of trailer and tractor, in conjunction with the pose of tractor
Information, it may be determined that the posture information of trailer, without not changing the mechanical structure of trailer, not damaging in trailer mounting of electrical equipment
The stability and expansion of evil trailer solve laser radar and are unable to get enough trailer positions without laser radar is used
Appearance information, the problem of being unable to satisfy acting trailer system motion control demand.
In some embodiments, referring to Fig. 3 and Fig. 4, it is based on the first posture information, image information and dimension information, really
The second posture information for determining trailer specifically includes following steps one to step 3:
Step 1: being based on the first posture information, the first coordinate and tractor of the center tractor back rest FG are determined
The first course angle θ0.First course angle θ0For tractor central axes in the drift angle of coordinate system X-direction, as shown in Figure 4.
Step 2: determining that trailer front-axle beam AB, trailer drawbar OD, tractor back rest FG and tractor towing hook OE believe in image
Picture position in breath.
Step 3: being based on the first coordinate, the first course angle θ0, dimension information and picture position, determine the second of trailer
Posture information.
In the present embodiment, the second pose information includes: the second coordinate (x of trailer back rest center1, y1), trailer
Two course angle θ1And the front wheel slip angle δ of trailer1.Second course angle θ1For trailer central axes in the inclined of coordinate system X-direction
Angle, as shown in Figure 4.
In some embodiments, trailer front-axle beam AB, trailer drawbar OD, tractor back rest FG and tractor towing hook OE are determined
Picture position in image information specifically includes following steps one to step 3:
Step 1: determining first position of the tractor towing hook OE in image information.
Step 2: the length based on first position and trailer drawbar OD, determines the area-of-interest in image information
(Region of Interest, ROI).
Step 3: determining the second position of trailer front-axle beam AB, trailer drawbar OD, tractor back rest FG in area-of-interest.
In the present embodiment, picture position includes first position and the second position.
In the present embodiment, as shown in figure 3, including trailer front-axle beam AB, trailer drawbar OD in area-of-interest 2, after tractor
The image information of beam FG.Therefore, when determining the second position of trailer front-axle beam AB, trailer drawbar OD, tractor back rest FG, feeling
Interest is determined in region, rather than is determined to the whole image information of tractor and trailer, and workload is reduced,
Improve image recognition efficiency and accuracy.
In Fig. 3, area-of-interest is the overlapping region between border circular areas and the pickup area of imaging sensor.Circle
Domain is using the tail end O of tractor towing hook OE as the center of circle, using the length of trailer drawbar OD as the border circular areas of radius.
In the present embodiment, can be determined by Hough transform tractor towing hook OE in image information where straight line and really
Straight line where determining trailer front-axle beam AB in area-of-interest, trailer drawbar OD, tractor back rest FG, and then can determine and lead based on straight line
Draw the position of vehicle towing hook OE, position, trailer front-axle beam AB, trailer drawbar OD and tractor back rest FG, and determine the length of OC,
C is the intersection point of trailer front-axle beam AB and trailer drawbar OD.Hough transform belongs to the common transformation of field of image processing, herein no longer
It repeats.
In some embodiments, by taking Fig. 4 as an example, the first coordinate, the first course based on the center tractor back rest FG
Angle θ0, dimension information and picture position, determine the second posture information of trailer, specifically:
Second posture information is determined by following formula:
Wherein, x1And y1For the second coordinate of trailer back rest center, θ1For the second course angle of trailer, δ1For trailer
Front wheel slip angle, x0And y0For the first coordinate of the center tractor back rest FG, a1For the length of trailer drawbar OD, l1To drag
The length of the central axes of vehicle, θ0For the first course angle of tractor, γ is between trailer drawbar OD and the central axes of tractor
Angle,For the angle between trailer drawbar OD and the central axes of trailer.
In order to simplify attached drawing, in Fig. 4, tractor back rest FG and tractor rear-wheel overlapping of axles, therefore, c0For tractor towing hook
The length of OE.In addition, by the trailer back rest and trailer rear-wheel overlapping of axles in Fig. 4.
In the present embodiment, it may also include the length l of the central axes of tractor in the dimension information of trailer0And in trailer
The length l of axis1。
In Fig. 4, the third course α of trailer drawbar1It can be by the first course angle θ of tractor0And trailer drawbar OD and traction
Angle γ between the central axes of vehicle is indicated are as follows: α1=θ0+γ。
In Fig. 4, the second course angle θ of trailer1It can be by the third course α of trailer drawbar OD1And trailer drawbar OD and trailer
Central axes between angleIt indicates are as follows:
In the present embodiment, the angle γ between trailer drawbar OD and the central axes of tractor can be based on tractor back rest FG's
Length and the length of OC determine that wherein C is the intersection point of trailer front-axle beam AB and trailer drawbar OD, as shown in Figure 3.
Angle in the present embodiment, between trailer drawbar OD and the central axes of trailerIt can be based on the length of trailer front-axle beam AB
It is determined with the length of OC, wherein C is the intersection point of trailer front-axle beam AB and trailer drawbar OD, as shown in Figure 3.
As shown in figure 5, the present embodiment discloses a kind of determining device of trailer pose, it may include with lower unit: acquiring unit
51 and determination unit 52, it is described as follows:
Acquiring unit 51, for obtaining the first posture information of tractor, the image information of tractor and trailer and leading
Draw the dimension information of vehicle and trailer；
Determination unit 52 is determined for being based on first posture information, described image information and the dimension information
Second posture information of trailer；
Wherein, the dimension information includes: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest
And the length of tractor towing hook.
In some embodiments, the determination unit 52, comprising:
First subelement determines the first coordinate of tractor back rest center for being based on first posture information
And the first course angle of tractor；First course angle is the central axes of tractor in the drift angle of coordinate system X-direction；
Second subelement, for determining the trailer front-axle beam, the trailer drawbar, the tractor back rest and described leading
Draw picture position of the vehicle towing hook in described image information；
Third subelement, for being based on first coordinate, first course angle, the dimension information and the figure
Image position determines the second posture information of trailer；
Wherein, the second pose information includes: the second course angle of the second coordinate of trailer back rest center, trailer
And the front wheel slip angle of trailer；Second course angle is the central axes of trailer in the drift angle of coordinate system X-direction.
In some embodiments, second subelement, is used for:
Determine first position of the tractor towing hook in described image information；
Length based on the first position and the trailer drawbar, determines the region of interest in described image information
Domain；
Determine the second of trailer front-axle beam described in the area-of-interest, the trailer drawbar, the tractor back rest
It sets；
Wherein, described image position includes the first position and the second position.
In some embodiments, the third subelement, for determining second posture information by following formula:
Wherein, x1And y1For the second coordinate of trailer back rest center, θ1For the second course angle of trailer, δ1For trailer
Front wheel slip angle, x0And y0For the first coordinate of tractor back rest center, a1For the length of trailer drawbar, l1For trailer
The length of central axes, θ0For the first course angle of tractor, angle of the γ between trailer drawbar and the central axes of tractor,
For the angle between trailer drawbar and the central axes of trailer.
The determining device of trailer pose disclosed in above embodiments can be realized trailer disclosed in the above each method embodiment
The process of the determination method of pose, to avoid repeating, details are not described herein.
The embodiment of the present invention also proposes a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit
Storage media stores computer instruction, and the computer instruction makes the computer execute trailer position provided by each method embodiment
The determination method and step of appearance, for example including step 1 and step 2:
Step 1: obtaining the first posture information, the image information of tractor and trailer and the tractor of tractor and dragging
The dimension information of vehicle；
Step 2: being based on first posture information, described image information and the dimension information, the of trailer is determined
Two posture informations；
Wherein, the dimension information includes: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest
And the length of tractor towing hook.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
It will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments is wrapped
Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it
It is interior and form different embodiments.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
1. a kind of determination method of trailer pose, which is characterized in that the described method includes:
Obtain the size letter of the first posture information of tractor, the image information of tractor and trailer and tractor and trailer
Breath；
Based on first posture information, described image information and the dimension information, the second posture information of trailer is determined；
Wherein, the dimension information include: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest and
The length of tractor towing hook.
2. the method according to claim 1, wherein described believed based on first posture information, described image
Breath and the dimension information, determine the second posture information of trailer, comprising:
Based on first posture information, the first coordinate of tractor back rest center and the first course of tractor are determined
Angle；First course angle is the central axes of tractor in the drift angle of coordinate system X-direction；
Determine the trailer front-axle beam, the trailer drawbar, the tractor back rest and the tractor towing hook in described image
Picture position in information；
Based on first coordinate, first course angle, the dimension information and described image position, the of trailer is determined
Two posture informations；
Wherein, the second pose information includes: the second coordinate of trailer back rest center, the second course angle of trailer and
The front wheel slip angle of trailer；Second course angle is the central axes of trailer in the drift angle of coordinate system X-direction.
3. according to the method described in claim 2, it is characterized in that, the determination trailer front-axle beam, the trailer drawbar, institute
State the picture position of the tractor back rest and the tractor towing hook in described image information, comprising:
Determine first position of the tractor towing hook in described image information；
Length based on the first position and the trailer drawbar, determines the area-of-interest in described image information；
Determine the second position of trailer front-axle beam described in the area-of-interest, the trailer drawbar, the tractor back rest；
Wherein, described image position includes the first position and the second position.
4. according to the method described in claim 2, it is characterized in that, it is described based on first coordinate, first course angle,
The dimension information and described image position determine the second posture information of trailer, comprising:
Second posture information is determined by following formula:
Wherein, x1And y1For the second coordinate of trailer back rest center, θ1For the second course angle of trailer, δ1For the front-wheel of trailer
Drift angle, x0And y0For the first coordinate of tractor back rest center, a1For the length of trailer drawbar, l1For the central axes of trailer
Length, θ0For the first course angle of tractor, angle of the γ between trailer drawbar and the central axes of tractor,For trailer
Angle between drawbar and the central axes of trailer.
5. a kind of determining device of trailer pose, which is characterized in that described device includes:
Acquiring unit, for obtain tractor the first posture information, the image information of tractor and trailer and tractor and
The dimension information of trailer；
Determination unit determines trailer for being based on first posture information, described image information and the dimension information
Second posture information；
Wherein, the dimension information include: the length of trailer front-axle beam, the length of trailer drawbar, the length of the tractor back rest and
The length of tractor towing hook.
6. device according to claim 5, which is characterized in that the determination unit, comprising:
First subelement, for be based on first posture information, determine tractor back rest center the first coordinate and
First course angle of tractor；First course angle is the central axes of tractor in the drift angle of coordinate system X-direction；
Second subelement, for determining the trailer front-axle beam, the trailer drawbar, the tractor back rest and the tractor
Picture position of the towing hook in described image information；
Third subelement, for being based on first coordinate, first course angle, the dimension information and described image position
It sets, determines the second posture information of trailer；
Wherein, the second pose information includes: the second coordinate of trailer back rest center, the second course angle of trailer and
The front wheel slip angle of trailer；Second course angle is the central axes of trailer in the drift angle of coordinate system X-direction.
7. device according to claim 6, which is characterized in that second subelement is used for:
Determine first position of the tractor towing hook in described image information；
Length based on the first position and the trailer drawbar, determines the area-of-interest in described image information；
Determine the second position of trailer front-axle beam described in the area-of-interest, the trailer drawbar, the tractor back rest；
Wherein, described image position includes the first position and the second position.
8. device according to claim 6, which is characterized in that the third subelement, described in being determined by following formula
Second posture information:
Wherein, x1And y1For the second coordinate of trailer back rest center, θ1For the second course angle of trailer, δ1For the front-wheel of trailer
Drift angle, x0And y0For the first coordinate of tractor back rest center, a1For the length of trailer drawbar, l1For the central axes of trailer
Length, θ0For the first course angle of tractor, angle of the γ between trailer drawbar and the central axes of tractor,For trailer
Angle between drawbar and the central axes of trailer.
9. a kind of mobile unit characterized by comprising
Processor, memory, network interface and user interface；
The processor, memory, network interface and user interface are coupled by bus system；
The processor is used to execute such as any one of Claims 1-4 by the program or instruction of calling the memory to store
The step of the method.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the step such as any one of Claims 1-4 the method
Suddenly.
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