The embodiment of the invention discloses a backing-up method and device for a semi-trailer train, electronic equipment and a storage medium. According to the method, a cascade model corresponding to a target train and backing-up constraints including anti-folding constraints are constructed; and according to the initial control quantity sequence of the last trailer, the pose of the last trailer at the first moment, the initial hinge angle of each vehicle at the first moment, the cascade model and the backing constraint, determining a final backing reference trajectory of the tractor in the target vehicle train, thereby tracking the trajectory. According to the method, the backing reference trajectory is solved through the constructed anti-folding constraint and the cascade model, so that the folding phenomenon in the backing process is considered, the folding phenomenon of the semi-trailer train in the backing process is actively avoided, the semi-trailer train is further prevented from entering an uncontrollable state, and the control accuracy of the semi-trailer train is improved. The rationality of the backing-up reference track is improved, and backing-up safety of the semi-trailer train is guaranteed.
本公开实施例公开了一种半挂汽车列车倒车方法、装置、电子设备和存储介质,该方法通过构建与目标汽车列车对应的级联模型以及包括防折叠约束的倒车约束,进而根据其中最后一个挂车的初始控制量序列、最后一个挂车在首个时刻的位姿、各车辆在首个时刻的初始铰接角、级联模型以及倒车约束,确定目标汽车列车中牵引车的最终倒车参考轨迹,从而对该轨迹进行跟踪,实现对目标汽车列车的倒车控制,该方法通过构建的防折叠约束以及级联模型求解倒车参考轨迹,以考虑倒车过程中的折叠现象,主动避免在倒车过程中半挂汽车列车发生折叠现象,进而避免半挂汽车列车进入不可控的状态,提高了倒车参考轨迹的合理性,保证了半挂汽车列车的倒车安全性。
Semitrailer train reversing method and device, electronic equipment and storage medium
半挂汽车列车倒车方法、装置、电子设备和存储介质
2023-11-24
Patent
Elektronische Ressource
Chinesisch
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