The invention discloses a full trailer train, a reversing control method and device, equipment and a medium. The method comprises the following steps: determining a first reference included angle between a connecting rod of the trailer and a tractor and a vertical direction of a rear axle of the trailer through a first-stage control algorithm based on pose information and backing reference trajectory information of the trailer, wherein the primary control algorithm is obtained based on a kinematic model of an Ackerman steering system, and the Ackerman steering system is composed of a rear axle of the trailer and a frame of the trailer; and on the basis of the first reference included angle, determining the front wheel deflection angle control quantity of the tractor through a two-stage control algorithm, and performing backing-up control on the full-trailer train, wherein the secondary control algorithm is obtained based on a kinematic model of the semi-trailer system, and the semi-trailer system is composed of a tractor, a connecting rod and a front axle of a trailer. According to the invention, autonomous backing-up control of the full-trailer train is realized, and backing-up stability of the full-trailer train and tracking precision of the backing-up reference trajectory are ensured.

    本申请公开了一种全挂汽车列车、倒车控制方法、装置、设备和介质。该方法包括:基于挂车的位姿信息和倒车参考轨迹信息,通过一级控制算法,确定挂车与牵引车的连接杆和挂车的后轴垂直方向之间的第一参考夹角;其中,一级控制算法基于阿克曼转向系统的运动学模型获得,阿克曼转向系统由挂车的后轴和挂车的车架构成;基于第一参考夹角,通过二级控制算法,确定牵引车的前轮偏角控制量,以对全挂汽车列车进行倒车控制;其中,二级控制算法基于半挂系统的运动学模型获得,半挂系统由牵引车、连接杆和挂车的前轴构成。实现了对全挂汽车列车进行自主倒车控制,且确保了全挂汽车列车的倒车稳定性及其对倒车参考轨迹的跟踪精度。


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    Title :

    Full trailer train, reversing control method and device, equipment and medium


    Additional title:

    全挂汽车列车、倒车控制方法、装置、设备和介质


    Contributors:
    LIU KAI (author) / ZHOU XIAOCHENG (author)

    Publication date :

    2021-11-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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