The invention relates to an articulated vehicle steering control method and device, and belongs to the technical field of intelligent driving control. The method comprises the steps of obtaining the hinge angle of a front vehicle body and a rear vehicle body and obstacle information; determining a steering coordinate system; determining the steering radius of the front vehicle body and the steering radius of the rear vehicle body according to the hinge angle; determining the minimum radius according to the steering radius of the front vehicle body; determining the maximum radius according to the steering radius of the rear vehicle body, taking the coordinate origin as the circle center, and determining a target area according to the minimum radius and the maximum radius; converting the obstacle information to a steering coordinate system, thereby positioning an obstacle or an obstacle portion in the target area, and further performing steering control of the articulated vehicle. According to the method, the influence of the obstacle on the front vehicle body and the rear vehicle body which do not run on the same straight line is considered, the target area division accuracy is ensured, the articulated vehicle is guided to make a correct behavior decision, and the steering safety of the articulated vehicle is ensured.

    本发明涉及一种铰接车辆转向控制方法及装置,属于智能驾驶控制技术领域。其中方法包括:获取前车体和后车体的铰接角、以及障碍物信息;确定一个转向坐标系;根据铰接角确定前车体的转向半径和后车体的转向半径;根据前车体的转向半径确定最小半径;根据后车体的转向半径确定最大半径,以坐标原点为圆心,根据最小半径和最大半径确定为目标区域;将障碍物信息转换到转向坐标系,从而定位在目标区域中的障碍物或障碍物部分,进而进行铰接车辆的转向控制。本发明兼顾了障碍物对于不在一条直线上行驶的前车体和后车体的影响,保证了目标区域划分的准确,进而引导铰接车辆做出正确的行为决策,保证铰接车辆转向的安全性。


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    Titel :

    Articulated vehicle steering control method and device


    Weitere Titelangaben:

    一种铰接车辆转向控制方法及装置


    Beteiligte:
    WANG XIAOJUAN (Autor:in) / CAO LUMENG (Autor:in) / JIA LI (Autor:in) / GUO JIANHUI (Autor:in)

    Erscheinungsdatum :

    2021-10-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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