The embodiment of the invention relates to the technical field of unmanned driving, and discloses a vehicle body area detection method, a tractor and a tractor obstacle avoidance system. The method comprises the following steps: acquiring three-dimensional position information of a banner through a laser radar; according to the three-dimensional position information of the banner, the length of the flat car group, the external parameter information of the laser radar and the width information of the banner, the position of a running area of the flat car group is calculated; and combining the vehicle body range of the tractor with the position area of the flat car group to obtain a vehicle body area. Sensors do not need to be arranged on the flat cars, the number of the flat cars is not limited, and the sensing precision is high.

    本申请实施例涉及无人驾驶技术领域,公开了一种车身区域检测方法、牵引车及牵引车避障系统。所述方法包括:通过激光雷达获取横幅的三维位置信息;根据所述横幅的三维位置信息、平板车组的长度、所述激光雷达的外参信息及所述横幅的宽度信息,计算平板车组行驶的区域位置;将所述牵引车的车身范围与所述平板车组的位置区域组合,得到车身区域。本申请不需要在平板车上布置传感器,不限制平板车的数量,而且感知精度高。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle body area detection method, tractor and tractor obstacle avoidance system


    Additional title:

    车身区域检测方法、牵引车及牵引车避障系统


    Contributors:
    LIU YANG (author) / MA FULONG (author) / LI ZHENYU (author) / WU JIN (author) / LIU MING (author) / WANG LUJIA (author)

    Publication date :

    2023-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B62D MOTOR VEHICLES , Motorfahrzeuge



    Tractor avoidance control method, cloud processor and tractor

    DING CHENG / YANG YOUTIAN | European Patent Office | 2024

    Free access

    Research on Obstacle Avoidance Path Planning for Wheeled Tractor–Trailer System

    Jiangyi, Han / Hengyuan, Liu / Hao, Tang | Springer Verlag | 2025


    Research on Obstacle Avoidance Path Planning for Wheeled Tractor–Trailer System

    Jiangyi, Han / Hengyuan, Liu / Hao, Tang | Springer Verlag | 2025


    The obstacle avoidance manoeuvre as performed in a tractor/semitrailer truck

    Reid, L. D. / Graf, W. O. / Billing, A. M. | TIBKAT | 1982


    Tractor charging system tractor charging method and tractor

    KIM WON GUN / LEE SANG DAE / SHIN HYEON JAE | European Patent Office | 2024

    Free access