The invention provides a semi-trailer train reversing control method, a controller, a system and a semi-trailer, and solves the problem that in the prior art, a semi-trailer train is difficult to realize high-precision reversing and parking by tracking a preset track in the reversing process. According to the backing-up control method for the semi-trailer train, the expected front wheel turning angle of the tractor is calculated based on the backing-up reference trajectory and the trailer pose, the tractor-trailer included angle can be controlled to be consistent with the expected tractor-trailer included angle, and path tracking in the backing-up process is achieved; meanwhile, the expected accelerator opening degree and/or the expected brake pressure are/is determined according to the speed of the tractor and the reference speed of the tractor, so that the actual speed of the tractor during reversing can be controlled to be kept consistent with the reference speed, speed tracking is achieved, namely, tracking of a reversing reference track is achieved through the synergistic effect of the speed and the path, and the tracking precision is improved. The tracking accuracy of the reference trajectory in the backing-up process is improved, and the backing-up stability of the semi-trailer train is improved.

    本申请提供了半挂汽车列车倒车控制方法及控制器、系统、半挂汽车,解决了现有技术中半挂汽车列车在倒车过程中难以实现高精度、跟踪预定轨迹实现倒车入位。本申请的半挂汽车列车倒车控制方法,基于倒车参考轨迹以及挂车位姿计算牵引车的期望前轮转角,可以控制牵引车‑挂车夹角与期望的牵引车‑挂车夹角一致,实现倒车过程中的路径跟踪;同时,根据牵引车的车速以及牵引车的参考车速确定期望油门开度和/或期望制动压力,从而可以控制牵引车在倒车时的实际车速与参考车速保持一致,实现速度跟踪,即分别以速度以及路径两个路径协同作用,实现对倒车参考轨迹的跟踪,提高倒车过程中对参考轨迹的跟踪精确度,提高了半挂汽车列车的倒车稳定性。


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    Title :

    Semitrailer train backing-up control method, controller, system and semitrailer


    Additional title:

    半挂汽车列车倒车控制方法及控制器、系统、半挂汽车


    Contributors:
    REN ZEYU (author) / LIU YA (author) / ZHANG ZHENGQI (author) / PAN YUXI (author) / YANG ZIJIANG (author)

    Publication date :

    2023-06-27


    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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