The invention relates to a multi-hinged vehicle cooperative control method. The multi-hinged vehicle comprises a leading vehicle running at the first position and a plurality of following vehicles. In all the wheels of the multi-hinge vehicle, the front wheel of the leading vehicle and all the rear wheels of the vehicle are main steering wheels, and the other wheels are auxiliary steering wheels. When the multi-hinge vehicle runs, the steering of the front wheels of the pilot vehicle is controlled by a driver, other main steering wheels run along with the track of the front wheels of the pilot vehicle, and the steering angles of the main steering wheels are determined accordingly. And the steering angle of each slave steering wheel is determined according to the speed instantaneous center of each vehicle. When the multi-hinged vehicles are braked, the braking strength of the vehicles is sequentially increased from front to back, and impact and collision among the vehicles are avoided. According to the invention, the multi-hinged vehicle can be effectively guaranteed to run in the same track, stress distortion is avoided, collision and impact among the vehicles are prevented, and cooperative and stable operation of the vehicles is maintained.
本发明涉及一种多铰连车辆协同控制方法。所述多铰连车辆包括行驶于首位的领航车和若干辆跟随车。多铰连车辆所有车轮中,领航车前轮及所有车辆后轮为主转向轮,其余车轮为从转向轮。在多铰连车辆行驶时,领航车前轮由驾驶员控制转向,其余主转向轮均跟随领航车前轮轨迹行驶,并据此确定其转向角。所述各从转向轮依据各车辆速度瞬心确定其转向角。多铰连车辆制动时,从前至后依次增加各车辆制动强度,避免车辆间发生冲击碰撞。本发明可有效的保障多铰连车辆同轨迹行驶,避免受力扭曲,防止车辆间发生碰撞冲击,保持车辆协同稳定运行。
Multi-hinged vehicle cooperative control method
一种多铰连车辆协同控制方法
2023-04-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |