The invention provides an electronic guiding rubber-tyred vehicle steering control method, device and system and a storage medium, and belongs to the technical field of rail transit. The method comprises the following steps: determining a main control steering shaft and an active steering shaft of a head vehicle in the current driving process, and determining an active steering shaft in respective steering shafts of a trailer; acquiring various current driving information and attitude information of the head vehicle and the trailer in real time, and recording orientation information and a driving track of a main control steering shaft of the head vehicle; according to the orientation information and the driving track of the main control steering shaft of the head vehicle and the current various driving information and posture information of the head vehicle and the trailer, a turning angle calculation strategy is executed, and steering instructions corresponding to all active steering shafts of the head vehicle and the trailer are calculated; and each active steering shaft of the head vehicle and the trailer is controlled to steer according to the respective steering instruction, so that each steering shaft of the head vehicle and the trailer runs through the same road track. The invention aims to carry out stable steering control on the electronic guide rubber-tyred vehicle.
本申请提供一种电子导向胶轮车转向控制方法、装置、系统和储存介质,属于轨道交通的技术领域。所述方法包括:确定本次行驶过程中头车的主控转向轴与主动转向轴,以及确定拖车各自的转向轴中的主动转向轴;实时获取头车与拖车当前各自的多种行驶信息与姿态信息,并记录头车的主控转向轴的朝向信息与行驶轨迹;根据头车的主控转向轴的朝向信息与行驶轨迹,以及根据头车与拖车当前各自的多种行驶信息与姿态信息,执行转角解算策略,计算头车与拖车的各个主动转向轴对应的转向指令;控制头车与拖车的各个主动转向轴按照各自的转向指令进行转向,以使得头车与拖车的各个转向轴行驶过相同的道路轨迹。本申请旨在对电子导向胶轮车进行稳定的转向控制。
Steering control method, device and system of electronic guide rubber-tyred vehicle and storage medium
电子导向胶轮车转向控制方法、装置、系统和储存介质
2023-07-21
Patent
Elektronische Ressource
Chinesisch
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