The invention discloses a semi-trailer traction train automatic parking method and system based on vehicle dynamics, and belongs to the technical field of parking. The method comprises the following steps of: establishing a parking assumed condition by combining an actual driving scene and an environment condition when the vehicle is parked, and combing a moment dynamic relationship of a trailer relative to a mass center of the trailer, a moment dynamic relationship of the trailer relative to a saddle hinge point and a dynamic relationship of the saddle hinge point; meanwhile, the lateral force of the front wheels of the trailer, the lateral force of the rear wheels of the trailer and the lateral force of the rear wheels of the trailer are obtained, a dynamic state model is further established in combination with relevant theoretical knowledge of the vehicle, and automatic parking of the vehicle is achieved. Therefore, the parking method provided by the invention aims to establish a dynamic state model (located in a yawing plane) in an automatic parking scene of the semi-trailer traction train, and is used for guiding to solve the problem that a folding phenomenon is easy to occur during reversing due to the fact that a belt-trailer parking system is in an open-loop unstable state.

    本发明公开了一种基于车辆动力学的半挂牵引列车自动泊车方法及系统,属于泊车技术领域。面向对象是半挂牵引牵引列车,结合车辆泊车时的实际行驶场景和环境条件,建立泊车假设条件,并梳理拖车相对于其质心的力矩动力学关系、拖车相对于鞍座铰接点处的力矩动力学关系及鞍座铰接处动力学关系,同时获取拖车前轮的侧向力、拖车后轮的侧向力及挂车后轮的侧向力,结合汽车相关理论知识进一步建立其动力学状态模型,实现车辆的自动泊车。因此,本发明提出的泊车方法旨在建立半挂牵引列车自动泊车场景下的动力学状态模型(位于横摆平面内),用于指导解决由于带挂泊车系统是开环不稳定导致倒车时易发生折叠现象的问题。


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    Title :

    Semi-trailer traction train automatic parking method and system based on vehicle dynamics


    Additional title:

    一种基于车辆动力学的半挂牵引列车自动泊车方法及系统


    Contributors:
    WANG YAO (author) / LIU YI (author) / SHI YANLONG (author) / HAO HAIYANG (author) / FENG-GUO LIANGWEN (author) / HE YANAN (author)

    Publication date :

    2023-08-04


    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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