The invention provides a motion control method, device and equipment of an articulated vehicle and a storage medium, and relates to the technical field of intelligent control. The method comprises the steps of determining a next pre-anchor point on a preset movement track according to the preset movement track, current position information and a preset look-ahead distance of a target vehicle; wherein the target vehicle comprises a front vehicle body and a rear vehicle body which are connected in a hinged mode, and the next pre-anchor point is a position point where the target vehicle will pass on a preset movement track after preset time; according to the position of the next pre-anchor point, the front wheel rotation radius of the target vehicle and the rear wheel rotation radius of the target vehicle, a preset kinematics algorithm is adopted to determine the steering angle of the target vehicle; according to the steering angle, the target vehicle is controlled to steer so that the target vehicle can pass through the next pre-anchor point. By means of the motion control method of the articulated vehicle, accurate control over the motion trail of the articulated vehicle can be achieved.

    本申请提供一种铰接式车辆的运动控制方法、装置、设备及存储介质,涉及智能控制技术领域。该方法包括根据目标车辆的预设运动轨迹、当前位置信息以及预设前瞻距离,在预设运动轨迹上确定下一预锚点;其中,目标车辆包括铰接连接的前车体和后车体,所述下一预锚点为经过预设时间后目标车辆将要在预设运动轨迹上经过的位置点;根据下一预锚点的位置、目标车辆的前轮旋转半径、目标车辆的后轮旋转半径,采用预设运动学算法,确定目标车辆的转向角度;根据转向角度,控制目标车辆转向,以使目标车辆经过下一预锚点。采用本申请提供的铰接式车辆的运动控制方法,可以实现铰接式车辆运动轨迹的精准控制。


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    Title :

    Motion control method, device and equipment of articulated vehicle and storage medium


    Additional title:

    铰接式车辆的运动控制方法、装置、设备及存储介质


    Contributors:
    CHEN GUANGDA (author) / YAO SHUNYI (author) / GAN YINGHAO (author) / CHEN YINGFENG (author) / YANG XINWEI (author) / FAN CHANGJIE (author) / HU ZHIPENG (author)

    Publication date :

    2024-03-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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