The embodiment of the invention discloses a backing folding early warning method, device and equipment for a semi-trailer train and a medium. The method comprises the steps that backing folding time corresponding to a current driving state is determined based on a controllable domain of a hinge angle during backing of the semi-trailer train; according to the back-up folding time and a time threshold value, back-up folding early warning is carried out; the hinge angle is the difference obtained by subtracting the course angle of the trailer from the course angle of the tractor; in the reversing process, if the size of the hinge angle is within the controllable domain, the size of the hinge angle can be changed in the direction tending to zero by controlling the size of the deflection angle of the front wheels of the tractor; the reversing folding time is the time required for changing the size of the hinge angle out of the controllable range under the condition that the current speed of the tractor and the current deflection angle of the front wheel of the tractor are kept unchanged in the reversing process of the semi-trailer train. The reversing stability, accuracy and safety of the semi-trailer train are improved.

    本公开实施例公开了一种半挂汽车列车倒车折叠预警方法、装置、设备和介质,该方法包括:基于半挂汽车列车倒车时铰接角的可控域确定当前行驶状态所对应的倒车折叠时间;根据所述倒车折叠时间以及时间阈值进行倒车折叠预警;所述铰接角是牵引车的航向角减半挂拖斗的航向角所得之差;在倒车过程中若所述铰接角的大小处于所述可控域之内,通过控制牵引车前轮偏角的大小能够使所述铰接角的大小向趋于0的方向变化;所述倒车折叠时间是在半挂汽车列车倒车过程中保持牵引车的当前车速和牵引车的当前前轮偏角不变的情况下,所述铰接角的大小变化至可控域之外所需要的时间。本公开提高了半挂汽车列车的倒车稳定性、准确性以及安全性。


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    Title :

    Semitrailer train reversing folding early warning method, device and equipment and medium


    Additional title:

    半挂汽车列车倒车折叠预警方法、装置、设备和介质


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

    Publication date :

    2023-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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