The invention discloses a method for predicting a reversing track of a semi-trailer train without a hinge angle sensor. Based on the special structure and kinematics relationship of a semi-trailer train, the method predicts a reversing track after a moment t1 through a three-layer relation of a hinge point, a hinge angle and a semi-trailer tail center point, the hinge angle is predicted in real time in a numerical accumulation manner; and meanwhile, a check bit is set for calibration, so that a reversing track prompt can be given without a hinge angle sensor to prevent a driver from reversingthe semi-trailer train to a dangerous or unreasonable working condition, and then double guarantees are provided for the safety of the driver and the logistics efficiency.
本发明公开了一种用于无铰接角度传感器的半挂汽车列车倒车轨迹预测方法,是根据半挂汽车列车的特殊结构以及运动学关系,通过铰接点‑铰接角度‑半挂车尾部中心点三层关系预测出t时刻后的倒车轨迹,并且通过数值累加的方式对铰接角度进行实时预测,同时设置校验位进行校准,从而无需铰接角度传感器就能给出倒车轨迹提示以避免驾驶员将半挂汽车列车倒车至危险抑或是不合理的工况,进而为驾驶员的安全以及物流效率提供双重保障。
Method for predicting reversing track of semi-trailer train without hinge angle sensor
用于无铰接角度传感器的半挂汽车列车倒车轨迹预测方法
2020-06-09
Patent
Electronic Resource
Chinese
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 |
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