The invention discloses an unmanned articulated vehicle transverse control method and system, and the method comprises the steps: calculating an expected articulated angle through a transverse control algorithm according to tracking information and the pose information of a vehicle; the turning radius, the steering center coordinate, the rear wheel inner side steering angle and the rear wheel outer side steering angle of the vehicle are sequentially calculated according to the expected hinge angle and the like; the rear wheel inner side steering angle and the rear wheel outer side steering angle correspond to an expected left rear wheel steering angle and an expected right rear wheel steering angle by judging whether the expected hinge angle is positive or negative; and the expected hinging angle, the expected left rear wheel steering angle and the expected right rear wheel steering angle are sent to a steering system to control steering. According to the invention, an unmanned articulated steering and rear wheel steering technology is adopted, the inner side steering angle and the outer side steering angle of the rear wheel are calculated according to an expected articulated angle calculated by a transverse control algorithm under the condition that the front and rear axle centers have the same turning radius, and the aim that the transverse control of the unmanned articulated vehicle is more flexible and stable is achieved.

    本发明公开了一种无人驾驶铰接式车辆横向控制方法及系统,方法包括:根据循迹信息和车辆的位姿信息,通过横向控制算法计算出期望铰接角;根据所述期望铰接角等依次计算出车辆的转弯半径、转向中心坐标、后轮内侧转向角和后轮外侧转向角;通过判断期望铰接角的正负,将后轮内侧转向角和所述后轮外侧转向角对应到期望左后轮转向角和期望右后轮转向角;将期望铰接角、期望左后轮转向角和期望右后轮转向角发送给转向系统控制转向。本发明通过采用无人铰接转向加后轮转向技术,根据横向控制算法计算出的期望铰接角推算出在前后轴中心相同转弯半径情况下后轮的内侧转向角和外侧转向角,达到无人铰接式车辆横向控制更加灵活和平稳的目的。


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    Title :

    Transverse control method and system for unmanned articulated vehicle


    Additional title:

    一种无人驾驶铰接式车辆横向控制方法及系统


    Contributors:
    TANG JIANLIN (author) / SI GUANNAN (author) / WANG KAI (author)

    Publication date :

    2024-09-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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