Control method and device for multi-hinged vehicle and storage medium

Abstract

The invention discloses a control method and device of a multi-hinged vehicle and a storage medium. The control method comprises the steps that the hinge angle formed by the adjacent carriages of the multi-hinge vehicle is obtained, and the hinge angle is the included angle between the extension line of the front carriage and the rear carriage in the two adjacent carriages; under the bending working condition of the multi-hinged vehicle, the instantaneous center movement value of the multi-hinged vehicle is determined according to the difference value of the two hinged angles formed by the three adjacent carriages; and controlling the multi-articulated vehicle to turn according to the instantaneous center movement value. According to the technical scheme provided by the invention, the instantaneous center of the rear compartment can be controlled to move backwards when the vehicle is bent, the offset of each axle behind the vehicle is reduced, the vehicle is enabled to run strictly according to the tracking line, the problem of'drifting 'is effectively controlled, and the overall stability of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a control method, device and storage medium for a multi-articulated vehicle. Background Art

[0002] Multi-articulated vehicles are a new type of urban transportation. Due to their advantages such as no need to lay tracks, low investment in infrastructure construction, flexible operation organization, energy saving and environmental protection, they can meet people's growing and diversified travel needs and have broad market prospects.

[0003] Since multi-articulated vehicles have a long body, when facing a small curve radius line, the vehicle needs to use multi-axis steering technology to make the rear vehicle follow the front vehicle and eliminate the "inner wheel difference". At the same time, there are clear requirements for the vehicle's tracking accuracy, and the offset between the rear axle and the path is minimized, the vehicle's driving limit width is reduced, and the risk of scratches due to vehicles occupying the road is avoided. At present, most of the existing multi-articulated vehicles control the steering of each carriage by controlling the steering angle of each axle. The instantaneous center of the carriage remains unchanged, and the position information of the first axle needs to be continuously recorded and stored by the steering controller. It is only applicable to the chassis system with two axles as the head vehicle, and can only be used for one-way vehicles, and cannot have two-way driving function.

[0004] The low control accuracy of existing multi-articulated vehicles and the problem of "tail-swinging" of the rear compartment have become technical problems that need to be urgently solved in the industry. Summary of the invention

[0005] The present invention provides a control method, device and storage medium for a multi-articulated vehicle to solve the problems of low control accuracy and "tail swinging" of the rear compartment of the existing multi-articulated vehicle, thereby enabling the multi-articulated vehicle to travel strictly according to the tracking line.

[0006] According to one aspect of the present invention, a control method for a multi-articulated vehicle is provided, wherein the multi-articulated vehicle comprises n carriages, where n is an integer greater than or equal to 3, and adjacent carriages are connected by hinges; the control method for the multi-articulated vehicle comprises:

[0007] Obtaining an articulation angle formed by adjacent carriages of the multi-articulated vehicle; wherein the articulation angle is the angle between the extension line of the first carriage and the second carriage of two adjacent carriages;

[0008] Under the turning condition of the multi-articulated vehicle, the instantaneous center movement value of the multi-articulated vehicle when turning is determined according to the difference between the two articulation angles formed by three adjacent carriages;

[0009] The multi-articulated vehicle is controlled to turn according to the instantaneous center movement value.

[0010] Optionally, the articulation angles at least include a first articulation angle and a second articulation angle. The first articulation angle is the included angle between the extension line of the first carriage and the second carriage, and the second articulation angle is the included angle between the extension line of the second carriage and the third carriage;

[0011] Before determining the instantaneous center movement value of the multi-articulated vehicle according to the difference between the two articulation angles formed by three adjacent carriages under the condition of the multi-articulated vehicle entering a bend, it further includes:

[0012] Determine the driving condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle; wherein, the driving condition includes the condition of entering a bend.

[0013] Optionally, determining the driving condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle includes:

[0014] When the first articulation angle is greater than the second articulation angle, the multi-articulated vehicle is in the condition of entering a bend.

[0015] Optionally, the driving condition further includes a constant-radius condition and a condition of exiting a bend; determining the driving condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle further includes:

[0016] When the first articulation angle is equal to the second articulation angle, the multi-articulated vehicle is in the constant-radius condition;

[0017] When the first articulation angle is less than the second articulation angle, the multi-articulated vehicle is in the condition of exiting a bend;

[0018] The control method of the multi-articulated vehicle further includes: when the multi-articulated vehicle is in the constant-radius condition and the condition of exiting a bend, the instantaneous center of the multi-articulated vehicle remains unchanged.

[0019] Optionally, the instantaneous center movement value includes the instantaneous center movement value corresponding to the i-th carriage respectively, where i is greater than or equal to 2 and less than or equal to n; the articulation angles at least include a first articulation angle and a second articulation angle. The first articulation angle is the included angle between the extension line of the first carriage and the second carriage, and the second articulation angle is the included angle between the extension line of the second carriage and the third carriage;

[0020] Under the condition of the multi-articulated vehicle entering a bend, determining the instantaneous center movement value of the multi-articulated vehicle when turning according to the difference between the two articulation angles formed by three adjacent carriages includes:

[0021] When i is equal to 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, the preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the first articulation angle and the second articulation angle;

[0022] When i is greater than 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the (i - 2)-th hinge angle and the (i - 1)-th hinge angle; the (i - 2)-th hinge angle is the hinge angle between the (i - 2)-th carriage and the (i - 1)-th carriage, and the (i - 1)-th hinge angle is the hinge angle between the (i - 1)-th carriage and the i-th carriage;

[0023] Controlling the multi-articulated vehicle to turn according to the instantaneous center movement value includes:

[0024] Controlling the corresponding carriages of the multi-articulated vehicle to turn respectively according to the instantaneous center movement value corresponding to the i-th carriage.

[0025] Optionally, when i is equal to 2, the calculation formula for the instantaneous center movement value corresponding to the i-th carriage is:

[0026] K i = tan[S i ×(|R1| - |R2|)]×L i ;

[0027] Wherein, K i is the instantaneous center movement value of the i-th carriage, R1 is the first hinge angle, R2 is the second hinge angle, S i is the preset gradient compensation coefficient of the i-th carriage, and L i is the preset compensation amount constant coefficient of the i-th carriage.

[0028] Optionally, when i is greater than 2, the calculation formula for the instantaneous center movement value corresponding to the i-th carriage is:

[0029] K i = tan[S i ×(|R i-2 | - |R i-1 |)]×L i ;

[0030] Wherein, K i is the instantaneous center movement value of the i-th carriage, R i-2 is the (i - 2)-th hinge angle, R i-1 is the (i - 1)-th hinge angle, S i is the preset gradient compensation coefficient of the i-th carriage, and L i is the preset compensation amount constant coefficient of the i-th carriage.

[0031] Optionally, before determining the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the first hinge angle and the second hinge angle under the cornering condition of the multi-articulated vehicle, the method further includes:

[0032] Construct a dynamic model of the multi-articulated vehicle according to the mechanical model and control model of the multi-articulated vehicle;

[0033] Determine the preset gradient compensation coefficient and preset compensation amount constant coefficient corresponding to the i-th carriage according to the dynamic model.

[0034] According to another aspect of the present invention, there is provided a control device for a multi-articulated vehicle, the multi-articulated vehicle including at least n carriages, where n is an integer greater than or equal to 3, and adjacent carriages are connected by hinges; the control device for the multi-articulated vehicle includes:

[0035] An acquisition module for acquiring the hinge angles formed by adjacent carriages of the multi-articulated vehicle; wherein, the hinge angle is the included angle between the extension line of the previous carriage and the next carriage among adjacent two carriages;

[0036] A determination module for determining the instantaneous center movement value of the multi-articulated vehicle during cornering according to the difference between two hinge angles formed by adjacent three carriages under the cornering condition of the multi-articulated vehicle;

[0037] A control module for controlling the multi-articulated vehicle to corner according to the instantaneous center movement value.

[0038] According to another aspect of the present invention, there is provided a storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the control method of the multi-articulated vehicle described in any one of the above of the present invention.

[0039] In the technical solution of the embodiment of the present invention, first, the articulation angle formed between adjacent carriages of a multi-articulated vehicle is obtained. Then, under the condition that the multi-articulated vehicle enters a curve, the instantaneous center movement value of the multi-articulated vehicle is determined according to the difference between two adjacent articulation angles. Finally, each carriage is controlled to pass through the curve according to the instantaneous center movement value. By determining the instantaneous center movement value based on the difference between two adjacent articulation angles, the instantaneous center of the rear carriage is controlled to move backward when entering the curve, the running attitude of the vehicle is adjusted, the offset of each rear axle of the vehicle is reduced, the vehicle strictly follows the tracking line, the risk of the vehicle occupying the road is reduced, the width of the contour envelope line of the vehicle during driving and the outer offset of the vehicle are effectively reduced, the problem of "fishtailing" is effectively controlled, the overall stability of the vehicle is improved, and the riding comfort of passengers is enhanced. Moreover, only by obtaining the articulation angles of the multi-articulated vehicle can the curve passing control of the multi-articulated vehicle be realized. The control method is simple, the control accuracy is high, the flexibility of the vehicle is increased, and it is convenient for the vehicle to change lanes and turn around.

[0040] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is a flowchart of a control method for a multi-articulated vehicle provided by an embodiment of the present invention;

[0043] Figure 2 It is a flowchart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention;

[0044] Figure 3 It is a flowchart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of a multi-articulated vehicle in a curve entering condition provided by an embodiment of the present invention;

[0046] Figure 5 It is a flowchart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention;

[0047] Figure 6 It is a schematic diagram of an articulated vehicle in a fixed circle condition provided by an embodiment of the present invention;

[0048] Figure 7 Flow chart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention;

[0049] Figure 8 Simulation result diagram of the lateral offset of each axis without introducing the instantaneous center movement value;

[0050] Figure 9 Graph of the change of the dynamic envelope width along the trajectory without introducing the instantaneous center movement value;

[0051] Figure 10 Simulation diagram of the negative deviation of the dynamic envelope without introducing the instantaneous center movement value;

[0052] Figure 11 Simulation result diagram of the lateral offset of each axis when introducing the instantaneous center movement value;

[0053] Figure 12 Graph of the change of the dynamic envelope width along the trajectory when introducing the instantaneous center movement value;

[0054] Figure 13 Simulation diagram of the negative deviation of the dynamic envelope when introducing the instantaneous center movement value;

[0055] Figure 14 Flow chart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention;

[0056] Figure 15 Schematic diagram of a multi-body dynamics simulation model of a multi-articulated vehicle provided by an embodiment of the present invention;

[0057] Figure 16 Schematic diagram of the structure of a control device for a multi-articulated vehicle provided by an embodiment of the present invention. Detailed implementation manners

[0058] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0060] Figure 1 The flowchart of a control method for a multi-articulated vehicle provided by an embodiment of the present invention is applicable to the situation of controlling a multi-articulated vehicle to enter a bend. This method can be executed by a control device of the multi-articulated vehicle, and the device can be implemented in the form of hardware and / or software.

[0061] As Figure 1 shown, the control method for a multi-articulated vehicle provided by an embodiment of the present invention includes:

[0062] S110. Obtain the articulation angle formed by adjacent carriages of the multi-articulated vehicle.

[0063] Specifically, a multi-articulated vehicle is a multi-carriage bus connected together by hinges. The multi-articulated vehicle may include n carriages, where n is an integer greater than or equal to 3. That is to say, the multi-articulated vehicle in the present invention includes at least 3 carriages, and adjacent carriages are connected by hinges. Before controlling the multi-articulated vehicle to turn, it is necessary to first obtain the articulation angle formed between adjacent carriages of the articulated vehicle. The articulation angle is the included angle between the extension line of the previous carriage and the next carriage among two adjacent carriages. Therefore, the number of articulation angles of the multi-articulated vehicle is one less than the number of carriages. Exemplarily, when the multi-articulated vehicle has 3 carriages, 2 articulation angles of the multi-articulated vehicle need to be obtained; when the multi-articulated vehicle has 4 carriages, 3 articulation angles of the multi-articulated vehicle need to be obtained.

[0064] S120. Under the condition of the multi-articulated vehicle entering a bend, determine the instantaneous center movement value of the multi-articulated vehicle turning according to the difference between the two articulation angles formed by adjacent three carriages.

[0065] Specifically, when a multi-articulated vehicle is driving in a turning condition, the first carriage of the multi-articulated vehicle enters the curve first, while the carriages behind the multi-articulated vehicle have not entered the curve yet, which will cause the driving path of the whole vehicle to deviate too much from the tracking line. After obtaining the articulation angles of the articulated vehicle, when the multi-articulated vehicle is in a turning condition, the instantaneous center movement value of the vehicle can be controlled according to the difference between the two articulation angles formed by three adjacent carriages. Optionally, in the turning condition of the vehicle, the instantaneous center movement value of the vehicle is determined according to the difference between the two articulation angles formed by three adjacent carriages and the preset corresponding rule between the difference and the instantaneous center movement value. Among them, the instantaneous center movement values corresponding to different carriages when turning can be different, and correspondingly, the corresponding rules are also different. When the multi-articulated vehicle has 3 carriages, by obtaining the first articulation angle between the extension line of the first carriage and the second carriage, and the second articulation angle between the extension line of the second carriage and the third carriage, the instantaneous center movement values corresponding to the second carriage and the third carriage of the multi-articulated vehicle are determined according to the difference between the first articulation angle and the second articulation angle. When the multi-articulated vehicle has 4 carriages or more carriages, by obtaining the first articulation angle between the first carriage and the second carriage, the second articulation angle between the second carriage and the third carriage, and the fourth articulation angle between the third carriage and the fourth carriage, the instantaneous center movement value of the second carriage is determined according to the difference between the first articulation angle and the second articulation angle, the instantaneous center movement value of the third carriage is determined according to the difference between the first articulation angle and the second articulation angle, and the instantaneous center movement value of the fourth carriage is determined according to the difference between the second articulation angle and the third articulation angle. For more carriages, by analogy, the instantaneous center movement value of the current carriage is determined according to the difference between the two articulation angles formed by three adjacent carriages.

[0066] S130. Control the multi-articulated vehicle to turn according to the instantaneous center movement value.

[0067] Specifically, after the front axle of the multi-articulated vehicle enters the curve, the front axle will generate a steering angle. Before the axles of the carriages behind the multi-articulated vehicle reach the curve, they still need to drive straight. The instantaneous center movement values of the carriages behind the multi-articulated vehicle are used to control the backward movement of the instantaneous centers of the rear carriages, so that the rear carriages tend to drive straight before reaching the curve, and follow the route of the front axle to complete the turn after the rear axles enter the curve. Among them, controlling the multi-articulated vehicle to turn refers to the process of the multi-articulated vehicle between entering the curve and the fixed-circle driving condition.

[0068] The control method for a multi-articulated vehicle provided by an embodiment of the present invention first obtains the articulation angles formed between adjacent carriages of the multi-articulated vehicle, and then, under the condition that the multi-articulated vehicle enters a bend, determines the instantaneous center movement value of the multi-articulated vehicle according to the difference between two adjacent articulation angles, and finally controls each carriage to pass through the bend according to the instantaneous center movement value. By determining the instantaneous center movement value based on the difference between two adjacent articulation angles, the instantaneous center of the rear carriage is controlled to move backward when entering the bend, the running attitude of the vehicle is adjusted, the offset of each rear axle of the vehicle is reduced, the vehicle travels strictly along the tracking line, the risk of the vehicle occupying the road is reduced, the width of the contour envelope line of the vehicle during driving and the outer offset of the vehicle are effectively reduced, the overall stability of the vehicle is improved, and the riding comfort of passengers is enhanced. Moreover, only by obtaining the articulation angles of the multi-articulated vehicle can the cornering control of the multi-articulated vehicle be realized. The control method is simple, the control accuracy is high, the flexibility of the vehicle is increased, and it is convenient for the vehicle to change lanes and turn around.

[0069] Optionally, Figure 2 is a flowchart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention. On the basis of the above embodiment, referring to Figure 2 , the control method for a multi-articulated vehicle provided by an embodiment of the present invention includes:

[0070] S210. Obtain the articulation angles formed between adjacent carriages of the multi-articulated vehicle.

[0071] S220. Determine the running condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle.

[0072] Specifically, since the multi-articulated vehicle includes at least three carriages, the obtained articulation angles of the multi-articulated vehicle are at least two, and the articulation angles may include a first articulation angle and a second articulation angle. Among them, the first articulation angle is the included angle between the extension line of the first carriage and the second carriage, and the second articulation angle is the included angle between the extension line of the second carriage and the third carriage. During the driving process of the multi-articulated vehicle, it is necessary to judge in advance the running condition of the multi-articulated vehicle. Only under the condition of entering a bend, it is necessary to control the instantaneous center of the multi-articulated vehicle. Because the multi-articulated vehicle has at least three carriages, there are at least a first articulation angle and a second articulation angle. Therefore, the running condition of the multi-articulated vehicle at this time can be determined according to the magnitude relationship between the first articulation angle and the second articulation angle. When it is determined that the multi-articulated vehicle is in the bend entering condition, the instantaneous center movement value of the multi-articulated vehicle is determined according to the difference between two adjacent articulation angles, and the multi-articulated vehicle is controlled to enter the bend by controlling the instantaneous center to move backward.

[0073] S230. Under the condition that the multi-articulated vehicle enters a bend, determine the instantaneous center movement value of the multi-articulated vehicle passing through the bend according to the difference between the two articulation angles formed by three adjacent carriages.

[0074] S240. Control the multi-articulated vehicle to pass through the bend according to the instantaneous center movement value.

[0075] The control method of the multi-articulated vehicle provided by the present invention first determines the driving condition of the multi-articulated vehicle according to the relationship between the first articulation angle and the second articulation angle, ensuring that the instantaneous center movement value of the multi-articulated vehicle can be determined in a timely manner according to the difference between two adjacent articulation angles under the cornering condition, controlling the instantaneous center to move backward, improving the vehicle's followability of the virtual track, and reducing the deviation of the rear axle.

[0076] Optionally, optionally, Figure 3 It is a flowchart of another control method of the multi-articulated vehicle provided by the embodiment of the present invention. Figure 4 It is a schematic diagram of the multi-articulated vehicle under the cornering condition provided by the embodiment of the present invention. On the basis of the above embodiments, refer to Figure 3 and Figure 4 The control method of the multi-articulated vehicle provided by the embodiment of the present invention includes:

[0077] S310. Obtain the articulation angles formed by adjacent carriages of the multi-articulated vehicle.

[0078] S320. When the first articulation angle is greater than the second articulation angle, the multi-articulated vehicle is in the cornering condition.

[0079] Specifically, since the multi-articulated vehicle includes at least three carriages, the articulation angles include at least the first articulation angle and the second articulation angle, and the driving condition of the multi-articulated vehicle at this time can be determined according to the magnitude relationship between the first articulation angle and the second articulation angle. When the multi-articulated vehicle is driving in the cornering condition, since the first carriage enters the curve first and the rear carriages have not entered the curve yet, the first articulation angle will be greater than the second articulation angle. When the first articulation angle is greater than the second articulation angle, it is determined that the multi-articulated vehicle is in the cornering condition. When the multi-articulated vehicle is in the cornering condition, the instantaneous center movement value of the multi-articulated vehicle is further determined according to the difference between two adjacent articulation angles, so as to control the instantaneous center of the rear carriage to move backward to control the multi-articulated vehicle to enter the curve. Exemplarily, as Figure 4 shown, when the first articulation angle R1 is greater than the second articulation angle R2, the multi-articulated vehicle is in the cornering condition at this time.

[0080] S330. Under the cornering condition of the multi-articulated vehicle, determine the instantaneous center movement value of the multi-articulated vehicle passing through the curve according to the difference between the two articulation angles formed by three adjacent carriages.

[0081] S340. Control the multi-articulated vehicle to pass through the curve according to the instantaneous center movement value.

[0082] The control method for a multi-articulated vehicle provided by the present invention first determines the driving condition of the multi-articulated vehicle according to the relationship between the first articulation angle and the second articulation angle. When the first articulation angle is greater than the second articulation angle, it is determined that the multi-articulated vehicle is in a turning-in condition. It is ensured that under the turning-in condition, the instantaneous center movement value of the multi-articulated vehicle can be determined according to the difference between two adjacent articulation angles, so as to control the instantaneous center of the rear carriage to move backward, improving the followability of the whole vehicle to the virtual track, reducing the deviation of the rear axle, and reducing the risk of occupying the lane by the rear vehicle.

[0083] Optionally, Figure 5 is a flowchart of another control method for a multi-articulated vehicle provided by an embodiment of the present invention. Figure 6 is a schematic diagram of an articulated vehicle under a fixed-circle condition provided by an embodiment of the present invention. On the basis of the above embodiment, refer to Figure 5 and Figure 6 , the control method for a multi-articulated vehicle provided by an embodiment of the present invention includes:

[0084] S410. Obtain the articulation angles formed by adjacent carriages of the multi-articulated vehicle.

[0085] S420. When the first articulation angle is equal to the second articulation angle, the multi-articulated vehicle is in a fixed-circle condition.

[0086] Specifically, when the multi-articulated vehicle enters a curve, if the first articulation angle and the second articulation angle are equal, it means that the turning radii of multiple carriages of the multi-articulated vehicle are the same at this time, and it can be determined that the driving state of the multi-articulated vehicle at this time is a fixed-circle condition. Exemplarily, as Figure 6 shown, when the first articulation angle R1 and the second articulation angle R2 are equal, the multi-articulated vehicle is in a fixed-circle condition at this time.

[0087] S430. When the first articulation angle is less than the second articulation angle, the multi-articulated vehicle is in a turning-out condition.

[0088] Specifically, if the first articulation angle of the multi-articulated vehicle is less than the second articulation angle at this time, it means that the first carriage of the multi-articulated vehicle has exited the curve, while the rear carriage is still driving on the curve. Therefore, the first articulation angle will be greater than the second articulation angle, and at this time, it can be determined that the driving state of the multi-articulated vehicle is a turning-out driving state.

[0089] S440. When the multi-articulated vehicle is in a fixed-circle condition and a turning-out condition, the instantaneous center of the multi-articulated vehicle remains unchanged.

[0090] Specifically, when it is determined that the driving state of the multi-articulated vehicle is a fixed-circle condition and a turning-out condition, the multi-articulated vehicle can drive along the normal tracking line, and the other rear axles follow the trajectory of the first axle, without controlling the instantaneous center of the rear carriage of the multi-articulated vehicle.

[0091] The control method of the multi-articulated vehicle provided by the present invention determines the driving condition of the multi-articulated vehicle by the first articulation angle and the second articulation angle. In the conditions of circular driving and exiting a curve, there is no need to move the instantaneous center of the multi-articulated vehicle, which effectively simplifies the control logic of the multi-articulated vehicle, simplifies the control process, reduces the computing power, and makes the control logic simpler on the premise of ensuring the vehicle's followability, and reduces the probability of system failures caused by complex logic programs.

[0092] Optionally, Figure 7 is a flowchart of another control method of the multi-articulated vehicle provided by the embodiment of the present invention. On the basis of the above embodiment, refer to Figure 7 , the control method of the multi-articulated vehicle provided by the embodiment of the present invention includes:

[0093] S510. Obtain the articulation angle formed by adjacent carriages of the multi-articulated vehicle.

[0094] S520. When i is equal to 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, the preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the first articulation angle and the second articulation angle.

[0095] Specifically, the instantaneous center movement value of the multi-articulated vehicle includes the instantaneous center movement values corresponding to the i-th carriage respectively, where i is greater than or equal to 2 and less than or equal to n. The first carriage travels at the front, so there is no need to determine the instantaneous center movement value of the first carriage. When i is equal to 2, that is, the instantaneous center movement value of the second carriage of the multi-articulated vehicle, the instantaneous center movement value of the second carriage is determined according to the difference between the first articulation angle and the second articulation angle. The instantaneous center movement value of the second carriage can be determined according to the preset gradient compensation coefficient and the preset compensation amount constant coefficient of the second carriage and the difference between the first articulation angle and the second articulation angle. Among them, the preset gradient compensation coefficient and the preset compensation amount constant coefficient of the second carriage are pre-set coefficients. Optionally, they are obtained by pre-simulation or calculation according to the actual route and the parameters of the multi-articulated vehicle. The present invention does not make specific limitations on this.

[0096] Among them, when i is equal to 2, the instantaneous center movement value corresponding to the i-th carriage is calculated by the following formula:

[0097] K i = tan[S i ×(|R1| - |R2|)] × L i ;

[0098] Among them, K i is the instantaneous center movement value corresponding to the i-th carriage, R1 is the first articulation angle, R2 is the second articulation angle, S i is the preset gradient compensation coefficient of the i-th carriage, and L i is the preset compensation amount constant coefficient of the i-th carriage.

[0099] S530. When i is greater than 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient corresponding to the i-th carriage, the preset compensation amount constant coefficient, and the difference between the (i - 2)-th hinge angle and the (i - 1)-th hinge angle.

[0100] Specifically, when i is greater than 2, that is, when calculating the instantaneous center movement values corresponding to the third carriage and the carriages after the third carriage, it is necessary to determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient and the preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the (i - 2)-th hinge angle and the (i - 1)-th hinge angle. Among them, the (i - 2)-th hinge angle is the hinge angle between the (i - 2)-th carriage and the (i - 1)-th carriage, and the (i - 1)-th hinge angle is the hinge angle between the (i - 1)-th carriage and the i-th carriage. Exemplarily, if the multi-articulated vehicle includes 4 carriages, for the instantaneous center movement value of the third carriage, it is necessary to obtain the first hinge angle and the second hinge angle, and determine the instantaneous center movement value of the third carriage according to the preset gradient compensation coefficient, the preset compensation amount constant coefficient of the third carriage, and the difference between the first hinge angle and the second hinge angle; for the instantaneous center movement value of the fourth carriage, it is necessary to obtain the second hinge angle and the third hinge angle, and determine the instantaneous center movement value of the fourth carriage according to the preset gradient compensation coefficient, the preset compensation amount constant coefficient of the fourth carriage, and the difference between the second hinge angle and the third hinge angle.

[0101] Among them, when i is greater than 2, the instantaneous center movement value corresponding to the i-th carriage is calculated using the following formula:

[0102] K i = tan[S i ×(|R i-2 |-|R i-1 |)]×L i ;

[0103] Among them, K i is the instantaneous center movement value of the i-th carriage, R i-2 is the (i - 2)-th hinge angle, R i-1 is the (i - 1)-th hinge angle, S i is the preset gradient compensation coefficient of the i-th carriage, and L i is the preset compensation amount constant coefficient of the i-th carriage.

[0104] S540. Control the corresponding carriages of the multi-articulated vehicle to turn according to the instantaneous center movement values corresponding to the i-th carriage respectively.

[0105] Specifically, after obtaining the instantaneous center movements of the respective carriages of the multi-articulated vehicle, control the instantaneous center of the corresponding carriage to move backward according to the instantaneous center movement value of each carriage, thereby controlling the multi-articulated vehicle to turn.

[0106] Exemplarily, when the multi-articulated vehicle is performing virtual driving simulation in an R15 circular curve at 10 km / h, Figure 8 is the simulation result diagram of the lateral offset of each axis when the instantaneous center movement value is not introduced, Figure 9 is the diagram of the change of the dynamic envelope width along the trajectory when the instantaneous center movement value is not introduced, Figure 10 is the simulation diagram of the negative deviation of the dynamic envelope when the instantaneous center movement value is not introduced, Figure 11 is the simulation result diagram of the lateral offset of each axis when the instantaneous center movement value is introduced, Figure 12 is the diagram of the change of the dynamic envelope width along the trajectory when the instantaneous center movement value is introduced, Figure 13 is the simulation diagram of the negative deviation of the dynamic envelope when the instantaneous center movement value is introduced. See Figures 8 - 13 , the simulation results are as described in Table (1). The vehicle envelope is reduced by about 0.36 m, the negative deviation is reduced by about 0.5 m, and the offset of the A6 axis is reduced by about 0.55 m. It can be seen that by controlling the multi-articulated vehicle to turn according to the instantaneous center movement value of the multi-articulated vehicle, the "tail-swing" problem of the vehicle when entering the curve can be effectively controlled, the lane occupation risk of the vehicle can be reduced, and the contour envelope width of the vehicle during driving and the outer offset of the vehicle can be effectively reduced.

[0107] Table (1)

[0108] Envelope width Negative deviation A6 axis offset Original strategy 4.5403m -2.7913m -1.075m Instantaneous center movement 4.1892m -2.2958m 0.525m

[0109] The control method of the multi-articulated vehicle provided by the present invention determines the instantaneous center movement value corresponding to the second carriage according to the difference between the first articulation angle and the second articulation angle. When i is greater than 2, the instantaneous center movement value corresponding to the i-th carriage is determined according to the difference between the (i - 2)-th articulation angle and the (i - 1)-th articulation angle. It effectively solves the "tail-swing" problem of the rear carriage of the multi-articulated vehicle when entering the curve, improves the riding comfort of passengers, reduces the lane occupation risk of the vehicle, and effectively reduces the contour envelope width of the vehicle during driving and the outer offset of the vehicle.

[0110] Optionally, Figure 14 is the flowchart of another control method of the multi-articulated vehicle provided by the embodiment of the present invention, Figure 15 is the schematic diagram of the multi-body dynamics simulation model of the multi-articulated vehicle provided by the embodiment of the present invention. On the basis of the above embodiment, see Figure 14 and 15 , the control method of the multi-articulated vehicle provided by the embodiment of the present invention includes;

[0111] S610. Obtain the articulation angles formed by adjacent carriages of the multi-articulated vehicle.

[0112] S620. Construct a dynamic model of the multi-articulated vehicle according to the mechanical model and control model of the multi-articulated vehicle.

[0113] Specifically, after obtaining the multiple articulation angles of a multi-articulated vehicle, it is also necessary to construct a dynamic model of the multi-articulated vehicle based on its mechanical model and control model. The mechanical model of the whole vehicle can be built according to the vehicle components, position parameters, mass parameters, etc. of the multi-articulated vehicle, and the control system can be built according to parameters such as the steering angle of the first axle, the first articulation angle, and the second articulation angle of the multi-articulated vehicle. Then, the dynamic model of the multi-articulated vehicle is constructed based on the mechanical model and control model of the whole vehicle.

[0114] S630. Determine the preset gradient compensation coefficient and preset compensation amount constant coefficient corresponding to the i-th carriage according to the dynamic model.

[0115] Specifically, after constructing the dynamic model of the multi-articulated vehicle, simulation can be carried out in the established dynamic model of the multi-articulated vehicle. After adding the actual driving route of the multi-articulated vehicle to the dynamic model, optimization is performed with the lateral offset of each axle as the calculation target, and the preset gradient compensation coefficient and preset compensation amount constant coefficient corresponding to the corresponding carriage are determined through simulation.

[0116] S640. When i is equal to 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the first articulation angle and the second articulation angle.

[0117] S650. When i is greater than 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the (i - 2)-th articulation angle and the (i - 1)-th articulation angle.

[0118] S660. Control the corresponding carriage of the multi-articulated vehicle to turn according to the instantaneous center movement value corresponding to the i-th carriage respectively.

[0119] The control method of the multi-articulated vehicle provided by the embodiment of the present invention determines the instantaneous center movement value of the corresponding carriage through the difference between two adjacent articulation angles, so as to control the instantaneous center of the rear carriage to move backward when entering a bend, adjust the running posture of the vehicle, effectively solve the "tail swing" problem of the rear carriage of the multi-articulated vehicle when entering a bend, reduce the road occupation risk of the vehicle, effectively reduce the width of the vehicle's running profile envelope and the outer offset of the vehicle, improve the overall stability of the vehicle, and enhance the riding comfort of passengers.

[0120] The embodiment of the present invention also provides a control device for a multi-articulated vehicle. Figure 16 It is a schematic structural diagram of the control device for a multi-articulated vehicle provided by the embodiment of the present invention. On the basis of the above embodiments, as Figure 16 shown, the control device 100 of the multi-articulated vehicle includes:

[0121] An acquisition module 10 is configured to acquire the articulation angle formed by adjacent carriages of a multi-articulated vehicle; wherein, the articulation angle is the angle between the extension line of the previous carriage and the next carriage among two adjacent carriages.

[0122] A determination module 20 is configured to determine the instantaneous center movement value of the multi-articulated vehicle during a cornering condition according to the difference between two articulation angles formed by three adjacent carriages of the multi-articulated vehicle.

[0123] A control module 30 is configured to control the multi-articulated vehicle to turn according to the instantaneous center movement value.

[0124] In the embodiment of the present invention, the acquisition module acquires at least two articulation angles of the multi-articulated vehicle, the determination module determines the instantaneous center movement value of each carriage, and then the control module controls the instantaneous center of the rear carriage to move backward during cornering to adjust the running posture of the vehicle, reduce the offset of each rear axle of the vehicle, enable the vehicle to strictly follow the tracking line, reduce the risk of the vehicle occupying the road, effectively reduce the width of the contour envelope line of the vehicle during driving and the outer offset of the vehicle, improve the overall stability of the vehicle, and enhance the riding comfort of passengers.

[0125] The control device of the multi-articulated vehicle provided by the embodiment of the present invention can execute the control method of the multi-articulated vehicle provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0126] Certainly, the computer-executable instructions of a storage medium provided by the embodiment of the present invention are not limited to the method operations as described above, and can also execute relevant operations in the control method of the multi-articulated vehicle provided by any embodiment of the present invention.

[0127] The storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0128] The program code contained on a computer-readable medium can be transmitted with any suitable medium, including - but not limited to - wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0129] The computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages - such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0130] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for a multi-articulated vehicle, characterized in that, The multi-articulated vehicle includes n carriages, where n is an integer greater than or equal to 3, and adjacent carriages are connected by hinges; the control method of the multi-articulated vehicle includes: Obtain the articulation angle formed by adjacent carriages of the multi-articulated vehicle; wherein, the articulation angle is the angle between the extension line of the previous carriage and the next carriage among two adjacent carriages. Under the cornering condition of the multi-articulated vehicle, determine the instantaneous center movement value of the multi-articulated vehicle turning according to the difference between the two articulation angles formed by three adjacent carriages. Control the multi-articulated vehicle to turn according to the instantaneous center movement value.

2. The control method of the multi-articulated vehicle according to claim 1, wherein The articulation angle at least includes a first articulation angle and a second articulation angle. The first articulation angle is the angle between the extension line of the first carriage and the second carriage, and the second articulation angle is the angle between the extension line of the second carriage and the third carriage. Before determining the instantaneous center movement value of the multi-articulated vehicle turning according to the difference between the two articulation angles formed by three adjacent carriages under the cornering condition of the multi-articulated vehicle, it further includes: Determine the driving condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle; wherein, the driving condition includes the cornering condition.

3. The control method of the multi-articulated vehicle according to claim 2, characterized in that, Determining the driving condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle includes: When the first articulation angle is greater than the second articulation angle, the multi-articulated vehicle is in the cornering condition.

4. The control method of the multi-articulated vehicle according to claim 2, characterized in that, The driving condition further includes a constant-radius condition and an exit cornering condition; determining the driving condition of the multi-articulated vehicle according to the magnitude relationship between the first articulation angle and the second articulation angle further includes: When the first articulation angle is equal to the second articulation angle, the multi-articulated vehicle is in the constant-radius condition; When the first articulation angle is less than the second articulation angle, the multi-articulated vehicle is in the exit cornering condition; The control method of the multi-articulated vehicle further includes: when the multi-articulated vehicle is in the constant-radius condition and the exit cornering condition, the instantaneous center of the multi-articulated vehicle remains unchanged.

5. The control method of the multi-articulated vehicle according to claim 1, characterized in that, The instantaneous center movement value includes the instantaneous center movement value corresponding to the i-th carriage respectively, where i is greater than or equal to 2 and less than or equal to n; the articulation angle at least includes a first articulation angle and a second articulation angle. The first articulation angle is the angle between the extension line of the first carriage and the second carriage, and the second articulation angle is the angle between the extension line of the second carriage and the third carriage. Under the cornering condition of the multi-articulated vehicle, determining the instantaneous center movement value of the multi-articulated vehicle turning according to the difference between the two articulation angles formed by three adjacent carriages includes: When i is equal to 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, the preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the first articulation angle and the second articulation angle. When i is greater than 2, determine the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the (i - 2)-th hinge angle and the (i - 1)-th hinge angle; the (i - 2)-th hinge angle is the hinge angle between the (i - 2)-th carriage and the (i - 1)-th carriage, and the (i - 1)-th hinge angle is the hinge angle between the (i - 1)-th carriage and the i-th carriage; Controlling the multi-articulated vehicle to turn according to the instantaneous center movement value includes: Controlling the corresponding carriages of the multi-articulated vehicle to turn respectively according to the instantaneous center movement value corresponding to the i-th carriage.

6. The control method of the multi-articulated vehicle according to claim 5, characterized in that When i is equal to 2, the calculation formula for the instantaneous center movement value corresponding to the i-th carriage is: K i = tan[S i ×(|R1| - |R2|)] × L i ; Among them, K i is the instantaneous center movement value of the i-th carriage, R1 is the first hinge angle, R2 is the second hinge angle, S i is the preset gradient compensation coefficient of the i-th carriage, L i is the preset compensation amount constant coefficient of the i-th carriage.

7. The control method of the multi-articulated vehicle according to claim 5, characterized in that When i is greater than 2, the calculation formula for the instantaneous center movement value corresponding to the i-th carriage is: K i = tan[S i ×(|R i-2 |-|R i-1 |)] × L i ; Among them, K i is the instantaneous center movement value of the i-th carriage, R i-2 is the (i - 2)-th hinge angle, R i-1 is the (i - 1)-th hinge angle, S i is the preset gradient compensation coefficient of the i-th carriage, L i is the preset compensation amount constant coefficient of the i-th carriage.

8. The control method of the multi-articulated vehicle according to claim 5, characterized in that, Before determining the instantaneous center movement value corresponding to the i-th carriage according to the preset gradient compensation coefficient, preset compensation amount constant coefficient corresponding to the i-th carriage, and the difference between the first hinge angle and the second hinge angle when i is equal to 2, it further includes: Construct a dynamic model of the multi-articulated vehicle according to the mechanical model and control model of the multi-articulated vehicle; Determine the preset gradient compensation coefficient and preset compensation amount constant coefficient corresponding to the i-th carriage according to the dynamic model.

9. A control device for a multi-articulated vehicle, characterized in that, The multi-articulated vehicle includes at least n carriages, n is an integer greater than or equal to 3, and adjacent carriages are connected by hinges; the control device of the multi-articulated vehicle includes: An acquisition module, configured to acquire the hinge angles formed by adjacent carriages of the multi-articulated vehicle; wherein, the hinge angle is the included angle between the extension line of the previous carriage and the next carriage among adjacent two carriages; A determination module, configured to determine the instantaneous center movement value of the multi-articulated vehicle turning according to the difference between two hinge angles formed by adjacent three carriages in the turning condition of the multi-articulated vehicle; A control module, configured to control the multi-articulated vehicle to turn according to the instantaneous center movement value.

10. A storage medium, on which a computer program is stored, characterized in that, When the program is executed by a processor, it implements the control method of the multi-articulated vehicle according to any one of claims 1-8.

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