The invention discloses a semi-trailer automatic parking control method combining feedforward and feedback, and the method comprises the steps: building a semi-trailer kinematic model, and calculating a feedforward front wheel rotation angle through the curvature information of a track point and an actual trailer rotation angle; based on a pure tracking control thought, in combination with track point information, a trailer course angle and rear axle center coordinate information, parking motion planning is conducted, and then a target trailer turning angle is obtained; taylor series expansion is carried out on the nonlinear kinematics model to obtain an approximate linear model for describing the change of the turning angle of the trailer, and then a feedback controller is designed; based on the tracking effect of semi-trailer parking control, the feedback front wheel turning angle and the feed-forward front wheel turning angle are dynamically weighted, and a total front wheel turning angle is obtained; finally, the steering wheel rotation angle actually needed by parking control is obtained through the mapping relation between the front wheel rotation angle and the steering wheel rotation angle. According to the parking control method, the structure is clear, debugging is convenient, high universality is achieved, and the actual engineering application requirement of the semi-trailer can be met.

    本发明公开一种结合前馈和反馈的半挂车辆自动泊车控制方法,建立半挂车辆运动学模型,利用轨迹点曲率信息和实际挂车转角计算前馈前轮转角;基于纯跟踪控制思想,结合轨迹点信息和挂车航向角和后轴中心坐标信息,进行泊车运动规划,进而得出目标挂车转角;通过对非线性运动学模型进行泰勒级数展开,得到描述挂车转角变化的近似线性模型,进而设计反馈控制器;基于半挂车辆泊车控制的跟踪效果,对反馈前轮转角和前馈前轮转角进行动态加权,得到总的前轮转角;最后,利用前轮转角与方向盘转角之间的映射关系得到泊车控制实际需要的方向盘转角;该泊车控制方法,结构清晰、调试方便、具有较强的普适性,能够满足半挂车辆的实际工程应用需求。


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    Title :

    Semi-trailer automatic parking control method combining feedforward and feedback


    Additional title:

    一种结合前馈和反馈的半挂车辆自动泊车控制方法


    Contributors:
    ZHANG ZHIDA (author) / ZENG CHAO (author) / YE YUBO (author) / XU ZHENGHAO (author) / ZHAI JIANKUN (author) / LIU FENG (author) / XIA JIAOYANG (author) / AN KAI (author)

    Publication date :

    2023-09-08


    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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