The invention provides an articulated vehicle and a control method and device for tracking parking of the articulated vehicle. The method comprises the following steps: acquiring centroid parameters of a headstock; acquiring parameters of a headstock hinge point according to the centroid parameters of the headstock; acquiring parameters of a tailstock hinge point according to the parameters of theheadstock hinge point; acquiring centroid parameters of the tailstock according to the parameters of the tailstock hinge point; calculating a steering instruction according to the centroid parametersof the tailstock and a preset reference point parameter; and controlling the steering of a vehicle according to the steering instruction, and controlling the vehicle to park when the vehicle reachesa parking point. According to the control method for tracking parking, smooth parking can be achieved, the control error is small, and the parking position can be accurately reached.

    本发明提供一种铰接式车辆及其循迹泊车的控制方法和装置,所述方法包括以下步骤:获取车头的质心参数;根据车头的质心参数获取车头铰接点的参数;根据车头铰接点的参数获取车尾铰接点的参数;根据车尾铰接点的参数获取车尾的质心参数;根据车尾的质心参数和预设的参考点参数计算转向指令;根据转向指令控制车辆的转向,在车辆位置达到停车点时,控制车辆停车。本发明的循迹泊车的控制方法,能够流畅泊车、且控制误差小,实现准确到达停车位置。


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    Title :

    Articulated vehicle and control method and device for tracking parking of articulated vehicle


    Additional title:

    铰接式车辆及其循迹泊车的控制方法和装置



    Publication date :

    2021-01-05


    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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