The invention provides an articulated vehicle control method and an articulated vehicle, which are suitable for the technical field of automatic driving vehicle control, and the method comprises the following steps: the articulated vehicle obtains reference pose information of a preview point and actual pose information of a control point in a planned path; the transverse error of the preview point relative to the driving direction of the articulated vehicle can be calculated, the hinging angle in the current driving process can be calculated based on the transverse error, and the steering driving angle of the articulated vehicle is actively controlled according to the calculated hinging angle. According to the invention, the precision of the tracking driving process of advancing and retreating of the articulated vehicle during automatic driving can be improved, so that the precision requirements on positions and postures in any driving scene can be met.
本申请提供了一种铰接式车辆控制方法及铰接式车辆,适用于自动驾驶的车辆控制技术领域,该方法包括:铰接式车辆通过获取规划路径中的预瞄点的参考位姿信息和控制点的实际位姿信息,可以计算出预瞄点相对于该铰接式车辆本身的行驶方向的横向误差,基于该横向误差可以计算出当前行驶过程中的铰接角,根据该计算得出的铰接角主动控制该铰接式车辆的转向行驶角度,可以提高铰接式车辆在自动驾驶时前进和后退的跟踪行驶过程的精确度,从而满足在任何行驶场景下对位置及姿态的精度要求。
Articulated vehicle control method and articulated vehicle
一种铰接式车辆控制方法及铰接式车辆
2023-03-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
ARTICULATED VEHICLE CONTROL DEVICE AND ARTICULATED VEHICLE CONTROL METHOD
Europäisches Patentamt | 2021
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