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Method for predicting reversing track of semi-trailer train without hinge angle sensor

A technology of angle sensor and automobile train, which is applied in the field of semi-trailer steering control, can solve the problems of cumulative error, high cost, and insufficient precision, and achieve the effects of eliminating cumulative error, improving safety, and improving efficiency

Active Publication Date: 2020-06-09
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the actual process, due to the small available space at the hinge position of the tractor and the semi-trailer, the harsh working environment, and the huge force and moment during driving, it is almost impossible to install the traditional angle sensor normally, and some unconventional sensors are used to obtain Articulation angle, on the one hand, this method usually has to realize the conversion of other measurement units and angles, resulting in insufficient accuracy and corresponding cumulative errors, on the other hand, it is costly and complicated to install, considering the use of actual semi-trailer trains demand, so the feasibility is not high

Method used

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  • Method for predicting reversing track of semi-trailer train without hinge angle sensor
  • Method for predicting reversing track of semi-trailer train without hinge angle sensor
  • Method for predicting reversing track of semi-trailer train without hinge angle sensor

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Embodiment Construction

[0042] In this embodiment, a method for predicting the reversing trajectory of a semi-trailer train without an articulation angle sensor is to obtain the change trend of the articulation angle through a numerical accumulation method, and perform initial calibration by adding a check digit The initial articulation angle is zero, and the process verification is carried out through the check digit while accumulating the instantaneous change of the articulation angle, so as to eliminate the error in the numerical calculation, so that it can be carried out through the structure and kinematic relationship between the tractor and the semi-trailer t 1Prediction of reversing trajectory after time. Specifically, proceed as follows:

[0043] Step 1, such as figure 1 As shown, take any point on the extension line of the central axis of the tractor as the origin, and establish a Cartesian coordinate system, and determine the coordinates of the center point of the front axle of the tracto...

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Abstract

The invention discloses a method for predicting a reversing track of a semi-trailer train without a hinge angle sensor. Based on the special structure and kinematics relationship of a semi-trailer train, the method predicts a reversing track after a moment t1 through a three-layer relation of a hinge point, a hinge angle and a semi-trailer tail center point, the hinge angle is predicted in real time in a numerical accumulation manner; and meanwhile, a check bit is set for calibration, so that a reversing track prompt can be given without a hinge angle sensor to prevent a driver from reversingthe semi-trailer train to a dangerous or unreasonable working condition, and then double guarantees are provided for the safety of the driver and the logistics efficiency.

Description

technical field [0001] The invention belongs to the field of semi-trailer steering control, in particular to a method for predicting the reversing track of a semi-trailer train without an articulated angle sensor. Background technique [0002] In the past ten years, with the continuous improvement of the national road network, road transportation has become an important transportation mode in the comprehensive transportation system, and various types of transportation have the advantages of large load capacity, high transportation efficiency, good fuel economy and low transportation cost. Semi-trailer trains are getting more and more attention from the society and have become the main force of road freight worldwide. [0003] But at the same time, the dynamic state of the semi-trailer train composed of tractors and semi-trailers is open-loop stable when running in a straight line, but due to its own nonlinear, instability, uncertainty and other factors, the semi-trailer trai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W50/00
CPCB60W50/0097B60W50/0098
Inventor 夏光赵名卓石鹏许立平纵华宇李嘉诚于星海王跃强
Owner HEFEI UNIV OF TECH
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