The invention relates to the technical field of automatic driving, and discloses a semi-trailer steering control method and system, a vehicle and a storage medium, and the method comprises the steps: obtaining vehicle parameters and historical state information of a semi-trailer; establishing a vehicle kinematic model based on vehicle parameters, and determining a relational expression of a tractor front wheel steering angle, a trailer equivalent front wheel steering angle and a hinge angle; acquiring a current equivalent front wheel steering angle of the trailer, and performing curvature constraint on the current equivalent front wheel steering angle of the trailer based on a current road curvature in the vehicle parameters to obtain a first equivalent front wheel steering angle of the trailer; according to vehicle parameters, a vehicle kinematic model and historical state information, performing compensation processing on the hinge angle to obtain a compensation hinge angle, performing amplitude limiting processing on the current trailer equivalent front wheel rotation angle by the compensation hinge angle and the first trailer equivalent front wheel rotation angle to obtain a second trailer equivalent front wheel rotation angle, and substituting the second trailer equivalent front wheel rotation angle into a relational expression to obtain a rotation angle control quantity; the method is used for semi-trailer steering control. The stability and the accuracy of semitrailer control are improved.

    本发明涉及自动驾驶技术领域,公开了一种半挂车辆转向控制方法、系统、车辆及存储介质,方法包括:获取半挂车辆的车辆参数和历史状态信息;基于车辆参数建立车辆运动学模型并其确定牵引车前轮转角、挂车等效前轮转角和铰接角的关系式;获取当前挂车等效前轮转角,基于车辆参数中的当前道路曲率对当前挂车等效前轮转角进行曲率约束得到第一挂车等效前轮转角;根据车辆参数、车辆运动学模型和历史状态信息对铰接角进行补偿处理得到补偿铰接角,将其与第一挂车等效前轮转角对当前挂车等效前轮转角进行限幅处理,得到第二挂车等效前轮转角并结合补偿铰接角代入关系式得到转角控制量,用于半挂车辆转向控制。本发明提高了半挂车控制的稳定性和准确性。


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    Title :

    Steering control method and system for semi-trailer, vehicle and storage medium


    Additional title:

    一种半挂车辆转向控制方法、系统、车辆及存储介质


    Contributors:
    HU HAILONG (author) / LIN XIAOPENG (author) / LI JUNKUAN (author)

    Publication date :

    2024-02-09


    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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