The invention relates to the technical field of vehicle control, in particular to a tractor, a tractor control method, device and equipment and a storage medium, and the control method comprises the steps that when the tractor receives a towing task, the towing task is analyzed to obtain a target towing vehicle, the position of an aiming point and the standard pose of the tractor at the aiming point; after the tractor starts the reversing mode, the tractor is controlled to run to the aiming point according to the position of the aiming point; after the tractor travels to the aiming point, the posture of the tractor is adjusted according to the standard posture; namely, by adjusting the posture of the tractor at the aiming point, the posture of the tractor can be adjusted in advance, and the difference between the vehicle body posture of the tractor at the aiming point and the target posture of the target towed vehicle is reduced, so that even if the area is narrow, the target towed vehicle can be parked when the tractor arrives at the parking end point. And the saddle of the tractor is butted with the lock pin of the trailer.

    本发明涉及车辆控制技术领域,具体涉及一种牵引车、牵引车的控制方法、装置、设备及存储介质,其中控制方法包括:当牵引车接收到拖挂任务时,通过对拖挂任务进行解析,得到目标拖挂车辆、瞄准点的位置及牵引车在瞄准点的标准位姿;在牵引车启动倒车模式后,根据瞄准点的位置控制牵引车行驶至瞄准点;并在牵引车行驶至瞄准点之后,根据标准位姿对牵引车的姿态进行调整;即通过在瞄准点对牵引车的姿态进行调整,可以提前对牵引车的姿态进行调整,减小牵引车在瞄准点的车身位姿与目标拖挂车辆的目标位姿的差异,使得即使区域较为狭窄时,也能在牵引车在到达泊车终点时,牵引车的鞍座与挂车的锁销完成对接。


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    Title :

    Tractor, control method and device of tractor, equipment and storage medium


    Additional title:

    一种牵引车、牵引车的控制方法、装置、设备及存储介质


    Contributors:
    ZHU SENMIN (author) / WANG YIBO (author) / CHEN RONGYAN (author)

    Publication date :

    2024-05-03


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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