Tractor and trailer collision detection method, system and device and storage medium

• Main Authors: GU RONGQI, TAN LIMIN, LIU JUNKAI
• Format: Patent
• Language: Chinese; English
• Published: 06.09.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING; TESTING STATIC OR DYNAMIC BALANCE OF MACHINES ORSTRUCTURES; TESTING STRUCTURES OR APPARATUS NOT OTHERWISE PROVIDED FOR

The invention provides a method, system and device for detecting collision between a tractor and a trailer and a storage medium, and the method comprises the steps that the tractor collects road surface point cloud data through a laser radar, obtains the spatial range of a road, builds a plane coordinate system, projects the road to the plane coordinate system, and obtains the point cloud data of the road; based on the two sides of the road, a triggering area and corresponding braking operation are established respectively; collecting first motion state information of the tractor at the current moment and a driving control signal set, and obtaining first motion state information of the tractor at the next moment and second motion state information of towing; and coordinate ranges of the tractor and the trailer in the plane coordinate system are obtained, and when the coordinate ranges are overlapped with the triggering area, the tractor executes braking operation corresponding to the triggering area. Accordin