The invention relates to a semi-trailer train fold angle prediction method and device and a storage medium. The method comprises steps of obtaining a Kalman filtering state equation according to a motion state equation of a semi-trailer train, and enabling the Kalman filtering state equation to employ a state variable of the motion state equation as a state quantity; a Kalman filtering observation equation being obtained according to the kinematic relation among the lateral acceleration of the tractor of the semi-trailer train, the side slip angle of the mass center of the tractor and the yaw velocity of the tractor, and the Kalman filtering observation equation taking the lateral acceleration of the tractor as an observed quantity; estimating the state quantity based on the Kalman filtering state equation and the Kalman filtering observation equation to obtain an initial estimation value of the folding angle; and performing grey prediction on the initial estimation value of the folding angle to obtain a prediction value of the folding angle so as to improve estimation precision and real-time performance of the folding angle.

    本发明涉及一种半挂汽车列车折叠角预测方法、设备和存储介质,方法包括:根据半挂汽车列车的运动状态方程得到卡尔曼滤波状态方程,所述卡尔曼滤波状态方程采用所述运动状态方程的状态变量为状态量;根据半挂汽车列车的牵引车侧向加速度、牵引车质心侧偏角和牵引车横摆角速度之间的运动学关系得到卡尔曼滤波观测方程,所述卡尔曼滤波观测方程以所述牵引车侧向加速度作为观测量;基于所述卡尔曼滤波状态方程和卡尔曼滤波观测方程,对所述状态量进行估计,得到所述折叠角的初始估计值;对所述折叠角的初始估计值进行灰色预测,得到所述折叠角的预测值,以提高折叠角的估计精度和实时性。


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    Title :

    Method and device for predicting folding angle of semi-trailer train and storage medium


    Additional title:

    一种半挂汽车列车折叠角预测方法、设备和存储介质


    Contributors:
    XU XIANJIE (author) / XU SHIHAN (author)

    Publication date :

    2021-10-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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