The invention relates to a reversing and steering control method for an automatic driving heavy truck trailer, which realizes automatic reversing and steering operation of the heavy truck trailer through cascade control. Automatic driving or manual driving enters a reversing instruction triggering range; the method comprises the following steps: acquiring a reversing instruction, acquiring trailer position posture information according to current heavy truck position posture information, heavy truck-trailer hinge angle information, current vehicle speed, expected vehicle speed, 1-N expected parking positions and anti-folding amplitude limiting, selecting the expected parking positions, planning a reversing driving reference track, calculating a steering wheel control quantity and a vehicle speed control quantity of a heavy truck trailer, and controlling the steering wheel control quantity and the vehicle speed control quantity of the heavy truck trailer according to the steering wheel control quantity and the vehicle speed control quantity of the heavy truck trailer. Enabling the trailer to run to an expected parking position along an expected track in the reversing process; the control precision is improved by setting anti-folding amplitude limiting and according to the vehicle speed and the error between the current position and the reference position, and accurate following of reversing driving of the heavy truck trailer is guaranteed.
本发明涉及一种自动驾驶重卡拖挂车倒车转向控制方法,通过级联控制,实现重卡拖挂车自动倒车转向操纵;自动驾驶或人工驾驶进入倒车指令触发范围内;获得倒车指令,根据当前的重卡位姿信息、重卡‑拖挂车铰接角信息、当前车速、期望车速和1‑N个期望停车位置、防折叠限幅,获取拖挂车位姿信息,选取期望停车位置,规划倒车行驶参考轨迹,计算重卡拖挂车的方向盘控制量和车速控制量,使拖挂车在倒车过程沿期望的轨迹行驶至期望的停车位置;通过设置防折叠限幅并根据车速和当前位置与参考位置的误差提高控制精度,保证重卡拖挂车倒车行驶的精准跟随。
Reversing and steering control method for automatic driving heavy truck trailer
一种自动驾驶重卡拖挂车倒车转向控制方法
2024-07-16
Patent
Electronic Resource
Chinese
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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