CN112572420B - Articulated vehicle parking control method, device and articulated vehicle - Google Patents

Abstract

The embodiment of the application relates to the technical field of vehicle parking, and provides an articulated vehicle parking control method and device and an articulated vehicle, wherein the method comprises the following steps: determining the articulation angular velocity of the vehicle based on the articulation angles acquired by the angle sensors respectively arranged at the two ends of the articulation shaft of the vehicle; determining steering parameters of the vehicle based on the vehicle head mass center parameter and the articulation angular velocity of the vehicle; and controlling the vehicle to park to the parking point based on the steering parameter of the vehicle. The articulated angular velocity of the vehicle is acquired based on the two articulated angle sensors which are already arranged on the articulated vehicle, so that the articulated angular velocity can be quickly and accurately acquired, smooth parking is realized through control logic, the control error is small, and the accurate parking position is realized.

Description

Articulated vehicle parking control method, device and articulated vehicle

technical field

The present application relates to the technical field of vehicle parking, and in particular, to an articulated vehicle parking control method and device, and an articulated vehicle.

Background technique

A method for assisting reverse parking of an articulated vehicle in the prior art includes the steps of: recording a predetermined number of positions of a first articulated vehicle for a specified path; Articulation angle; record the orientation of the first articulated vehicle at a predetermined number of positions; save the recorded value of the designated path in memory; calculate the first articulated vehicle for the designated path by using the recorded value and the dimensional information of the articulated vehicle a swept area of the vehicle; and using the swept area to control the steering of the articulated vehicle when the articulated vehicle is reversing along a specified path so that the articulated vehicle does not extend beyond the swept area during reversing. However, this method needs to record the hinge angles of a predetermined number of positions in advance, and the hinge angles are not easy to measure, the operation is complicated, and the labor cost is relatively high.

SUMMARY OF THE INVENTION

The present application provides a parking control method and device for an articulated vehicle, and an articulated vehicle, so as to realize accurate parking.

The present application provides a parking control method for an articulated vehicle, including:

Determine the articulation angular velocity of the vehicle based on the articulation angle collected by the angle sensors located at both ends of the articulation shaft of the vehicle;

Determine the steering parameters of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle;

Based on the steering parameters of the vehicle, the vehicle is controlled to park to a parking spot.

According to a parking control method for an articulated vehicle provided by the present application, the articulation angular velocity of the vehicle is determined based on the articulation angles collected by angle sensors disposed at both ends of the articulation shaft of the vehicle, including:

Collect the first articulation angle set and the second articulation angle set by means of angle sensors disposed at both ends of the articulation shaft of the vehicle;

determining the first angular velocity based on the first set of articulation angles, and determining the second angular velocity based on the second set of articulation angles;

Based on the first angular velocity and the second angular velocity, an articulation angular velocity of the vehicle is determined.

According to an articulated vehicle parking control method provided by the present application, the collection of the first articulation angle set and the second articulation angle set by means of angle sensors disposed at both ends of the articulation shaft of the vehicle, including:

collecting a first articulation angle through a articulation angle sensor disposed at one end of the articulation shaft every first preset time interval, and placing the first articulation angle set;

Every second preset time interval, a second articulation angle is collected by the articulation angle sensor disposed at the other end of the articulation shaft, and the second articulation angle set is set.

According to a parking control method for an articulated vehicle provided by the present application, the determining of the first angular velocity based on the first articulation angle set and the determination of the second angular velocity based on the second articulation angle set include:

Based on the difference between every two adjacent angle values in the first articulation angle set and the first preset time interval, a first initial angular velocity is determined, and each first initial angular velocity is filtered to obtain the first initial angular velocity. angular velocity;

Based on the difference between every two adjacent angle values in the second articulation angle set and the second preset time interval, a second initial angular velocity is determined, and each second initial angular velocity is filtered to obtain the first angular velocity. angular velocity.

According to a parking control method for an articulated vehicle provided by the present application, the steering parameters of the vehicle are determined based on the parameters of the center of mass of the front of the vehicle and the articulation angular velocity of the vehicle, including:

Based on the parameters of the center of mass of the head, determine the parameters of the hinge point of the head;

Based on the front articulation point parameters and the articulation angular velocity of the vehicle, determine the mass center parameter of the rear of the vehicle;

Based on the parameters of the center of mass of the rear of the vehicle, the steering parameters of the vehicle are determined.

According to a parking control method for an articulated vehicle provided by the present application, the parameters of the head mass center include: the position of the head mass center, the speed of the head mass center, the heading angle of the head mass center, and the heading angular velocity of the head mass center, and the head articulation point parameter Including: the position of the front hinge point, the speed of the front hinge point, the heading angle of the front hinge point and the heading angular velocity of the front hinge point;

The determination of the parameters of the hinge point of the front of the vehicle based on the parameters of the center of mass of the front of the vehicle includes:

Converting the position of the center of mass of the head and the speed of the center of mass of the head by means of lever arm compensation to obtain the position of the hinge point of the head and the speed of the hinge point of the head;

The heading angle of the head mass center is taken as the heading angle of the head joint point, and the heading angular velocity of the head mass centre is taken as the heading angular velocity of the head joint point.

According to an articulated vehicle parking control method provided by the present application, the parameters of the center of mass of the rear of the vehicle include: the position of the center of mass of the rear of the vehicle, the speed of the center of mass of the rear of the vehicle, the heading angle of the center of mass of the rear of the vehicle, and the heading angular velocity of the center of mass of the rear of the vehicle;

The parameters of the center of mass of the rear of the vehicle are obtained based on the parameters of the hinge point of the front of the vehicle and the hinge angular velocity of the vehicle, including:

Based on the heading angle of the front joint point, the heading angular velocity of the front joint point and the joint angular velocity of the vehicle, the heading angle of the rear joint point and the heading angular velocity of the rear joint point are obtained;

Taking the position of the front hinge point as the position of the rear hinge point, and taking the speed of the front hinge point as the speed of the rear hinge point;

The position of the rear hinge point and the speed of the rear hinge point are converted by lever arm compensation to obtain the position of the rear mass center and the speed of the rear mass center, and the heading of the rear hinge point is calculated. The angle is taken as the heading angle of the center of mass of the rear of the vehicle, and the heading angular velocity of the hinge point of the rear of the vehicle is taken as the heading angular velocity of the center of mass of the rear of the vehicle.

According to a parking control method for an articulated vehicle provided by the present application, the heading of the rear hinge point is obtained based on the heading angle of the front hinge point, the heading angular velocity of the front hinge point and the hinge angular velocity of the vehicle Heading angular velocity at corner and rear articulation points, including:

Taking the sum of the heading angle of the front hinge point and the hinge angular velocity of the vehicle as the heading angle of the rear hinge point;

The sum of the heading angular velocity of the hinge point at the front of the vehicle and the hinge angular velocity of the vehicle is taken as the heading angular velocity of the hinge point at the rear of the vehicle.

According to a parking control method for an articulated vehicle provided by the present application, the obtaining of the steering parameters of the vehicle based on the parameters of the center of mass of the rear of the vehicle includes:

determining a position error based on the position of the center of mass of the rear of the vehicle and the position of the preset reference point;

determining a speed error based on the speed of the center of mass of the rear of the vehicle and the speed of the preset reference point;

Based on the position error and the speed error, a steering parameter of the vehicle is determined.

The application also provides an articulated vehicle parking control device, comprising:

According to an articulated vehicle parking control device provided by the present application, an angular velocity acquisition unit is used to determine the articulation angular velocity of the vehicle based on the articulation angle collected by the angle sensors disposed at both ends of the articulation shaft of the vehicle;

a steering parameter obtaining unit, configured to determine the steering parameter of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle;

The parking unit is used for controlling the vehicle to park to a parking spot based on the steering parameter of the vehicle.

According to an articulated vehicle parking control device provided by the present application, the angular velocity acquisition unit includes:

a first acquisition unit, configured to collect the first articulation angle set and the second articulation angle set through angle sensors disposed at both ends of the articulation shaft of the vehicle;

a second acquiring unit, configured to determine the first angular velocity based on the first articulation angle set, and determine the second angular velocity based on the second articulation angle set;

A third acquiring unit, configured to determine the articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.

According to an articulated vehicle parking control device provided by the present application, the steering parameter acquisition unit includes:

a first parameter acquisition unit, configured to determine the parameters of the front hinge point based on the parameters of the front center of mass;

a second parameter acquisition unit, configured to determine the center of mass parameter of the rear of the vehicle based on the front hinge point parameters and the hinge angular velocity of the vehicle;

The third parameter obtaining unit is configured to determine the steering parameter of the vehicle based on the center of mass parameter of the rear of the vehicle.

The present application also provides an articulated vehicle, comprising the articulated vehicle parking control device according to any one of the above embodiments.

The present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to achieve any of the above The steps of the articulated vehicle parking control method.

The present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any one of the above-mentioned articulated vehicle parking control methods.

In the articulated vehicle parking control method, device and articulated vehicle provided by the present application, the articulation angular velocity of the vehicle is determined based on the articulation angles collected by angle sensors located at both ends of the articulation shaft of the vehicle; The angular velocity determines the steering parameters of the vehicle; based on the steering parameters of the vehicle, the vehicle is controlled to park to the parking spot. Since the articulation angular velocity of the vehicle in this application is obtained based on the two articulated angle sensors already equipped on the articulated vehicle, the articulation angular velocity can be quickly and accurately obtained, and then the control logic can be used to achieve smooth parking with less control error, and to achieve accurate Arrive at the parking spot.

Description of drawings

In order to illustrate the technical solutions in the present application or the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a method for controlling the parking of an articulated vehicle provided by the present application;

FIG. 2 is a schematic flowchart of an embodiment of step 110 in the articulated vehicle parking control method provided by the present application;

3 is a schematic flowchart of an embodiment of step 111 in the articulated vehicle parking control method provided by the present application;

4 is a schematic flowchart of an embodiment of step 112 in the articulated vehicle parking control method provided by the present application;

5 is a schematic flowchart of an embodiment of step 120 in the articulated vehicle parking control method provided by the present application;

6 is a schematic flowchart of an embodiment of step 121 in the articulated vehicle parking control method provided by the present application;

Fig. 7 is the schematic diagram of the head mass center and the head hinge point provided by the present application;

8 is a schematic flowchart of an embodiment of step 122 in the articulated vehicle parking control method provided by the present application;

9 is a schematic diagram of the center of mass of the front, the center of mass of the rear, and the front hinge point provided by the present application;

10 is a schematic flowchart of an embodiment of step 122a in the articulated vehicle parking control method provided by the present application;

11 is a schematic flowchart of an embodiment of step 123 in the articulated vehicle parking control method provided by the present application;

12 is a schematic structural diagram of an articulated vehicle parking control device provided by the present application;

13 is a schematic structural diagram of an angular velocity acquisition unit of an articulated vehicle parking control device provided by the present application;

14 is a schematic structural diagram of a first acquisition unit of the articulated vehicle parking control device provided by the present application;

15 is a schematic structural diagram of a steering parameter acquisition unit of the articulated vehicle parking control device provided by the present application;

16 is a schematic structural diagram of a first parameter acquisition unit of the articulated vehicle parking control device provided by the present application;

17 is a schematic structural diagram of a second parameter acquisition unit of the articulated vehicle parking control device provided by the present application;

18 is a schematic structural diagram of a third computing unit of the articulated vehicle parking control device provided by the present application;

19 is a schematic structural diagram of a third parameter acquisition unit of the articulated vehicle parking control device provided by the present application;

FIG. 20 is a schematic structural diagram of an electronic device provided by the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the accompanying drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application. , not all examples. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

A method for assisting reverse parking of an articulated vehicle in the prior art includes the steps of: recording a predetermined number of positions of a first articulated vehicle for a specified path; Articulation angle; record the orientation of the first articulated vehicle at a predetermined number of positions; save the recorded value of the designated path in memory; calculate the first articulated vehicle for the designated path by using the recorded value and the dimensional information of the articulated vehicle a swept area of the vehicle; and using the swept area to control the steering of the articulated vehicle when the articulated vehicle is reversing along a specified path so that the articulated vehicle does not extend beyond the swept area during reversing. However, this method needs to record the hinge angles of a predetermined number of positions in advance, and the hinge angles are not easy to measure, the operation is complicated, and the labor cost is relatively high.

In this regard, the present application provides a parking control method for an articulated vehicle, as shown in FIG. 1 , the method includes the following steps:

Step 110 : Determine the articulation angular velocity of the vehicle based on the articulation angles collected by the angle sensors disposed at both ends of the articulation shaft of the vehicle.

In this step, it should be noted that an articulated vehicle refers to a wheeled vehicle and a tracked vehicle composed of two or more body bodies connected together by a hinge device. A special hydraulic mechanism is used to make the body relative to each other. Move on a horizontal or vertical profile (or transverse) plane. It changes the advancing direction by the mutual rotation of the connecting rings between the bodies. Since the articulated vehicle has no steering axle and steering wheel, its steering is uniquely realized by relying on the yaw motion of the front body around the articulated body. Therefore, for the articulated vehicle, it is necessary to control the parking of the articulated vehicle through the articulation angular velocity of the vehicle.

In this embodiment, an articulation angle sensor is provided at each end of the articulation shaft, and the first articulation angle set and the second articulation angle set are obtained respectively based on the two articulation angle sensors. Set the condition to obtain several vehicle articulation angles, and several vehicle articulation angles constitute the first articulation angle set; the preset condition may be to obtain the vehicle articulation angle at equal time intervals (for example, every 5ms), or it may be obtained by time The articulation angle of the vehicle is acquired incrementally at intervals (for example, the first interval is 1 ms, the second interval is 2 ms, the third interval is 3 ms, and so on for the Nth interval N ms), which is not specifically limited in this embodiment. Similarly, a number of vehicle articulation angles are acquired according to preset conditions through the articulation angle sensing at the other end of the articulation shaft to form a second articulation angle set.

It should be noted that, since the angle sensor itself will have unstable factors such as measurement error, in order to avoid the influence of the sensor itself on the measurement results, in this embodiment, two angle sensors are set to obtain the hinge angle respectively, so as to avoid the need for a single sensor to obtain the angle. Due to the measurement error caused by the instrument itself, the obtained hinge angle results are more stable and accurate. At the same time, the angle sensor is directly installed on the hinged shaft, does not depend on any mechanical structure, and has a large measurement range, so that the measurement results can be obtained quickly and conveniently. In addition, in this embodiment, considering the specific structural space of the hinge shaft of the articulated vehicle, two angle sensors are provided, and if the space is sufficient, multiple angle sensors may be provided.

Step 120: Determine the steering parameters of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle.

In this step, the parameters of the head mass center may include: the position of the head mass center, the speed of the head mass center, the attitude of the head mass center, and the attitude angular velocity of the head mass center. Among them, the position of the center of mass includes longitude, latitude and altitude, the speed includes the speed in the three directions of east, north and sky, the attitude can include the heading angle, the pitch angle and the roll angle, and the attitude angular velocity includes: the heading angular velocity, the pitch angular velocity and the roll angle angular velocity. Since inertial navigation is installed on the current articulated vehicle, and the positioning sensor is installed at the front position of the vehicle, the parameters of the center of mass of the head can be obtained through the positioning sensor and inertial navigation. Based on the parameters of the center of mass of the head of the vehicle and the articulation angular velocity of the vehicle, the steering parameters of the vehicle can be determined, so that the vehicle can accurately stop according to the steering parameters.

Step 130: Control the vehicle to park to a parking spot based on the steering parameters of the vehicle.

In this step, by judging the relationship between the position of the vehicle and the position of the parking spot in real time, the vehicle is controlled to steer according to the steering parameters, and when the vehicle reaches the parking spot, the vehicle is controlled to stop, so that there is no need to add a positioning sensor, Moreover, it is not necessary to pre-record the hinge angles of a predetermined number of positions, and the existing positioning sensor set on the front part and the angle sensor on the hinge shaft are used to realize smooth parking, and the control error is small, and the parking can be accurately reached at the parking point.

In the articulated vehicle parking control method provided by the present application, the articulation angular velocity of the vehicle is determined based on the articulation angle collected by the angle sensors disposed at both ends of the articulation shaft of the vehicle; the steering of the vehicle is determined based on the parameters of the head center of mass and the articulation angular velocity of the vehicle Parameter; based on the steering parameters of the vehicle, control the vehicle to park to the parking spot. Since the articulation angular velocity of the vehicle in this application is obtained based on the two articulated angle sensors already equipped on the articulated vehicle, the articulation angular velocity can be obtained quickly and accurately, and then the control logic can be used to realize smooth parking with small control error and achieve accurate Arrive at the parking spot.

Based on the above embodiment, as shown in FIG. 2 , step 110 includes:

Step 111 , collecting the first articulation angle set and the second articulation angle set through angle sensors disposed at both ends of the articulation shaft of the vehicle;

Step 112, determining the first angular velocity based on the first articulation angle set, and determining the second angular velocity based on the second articulation angle set;

Step 113: Determine the articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.

In this embodiment, it should be noted that since the articulation angle acquired by the angle sensor carries corresponding time information, the corresponding articulation angular velocity can be obtained based on "articulation angular velocity=articulation angle variation/time".

For example, the first set of hinge angles includes hinge angles α ₁ , α ₂ , α ₃ , α ₄ , α ₅ , α ₆ , α ₇ , α ₈ , α ₉ , α ₁₀ , α ₁₁ , and two adjacent hinges The time interval of the angle is T, then the corresponding angular velocity ω ₁ =(α ₂ -α ₁ )/T, ω ₂ =(α ₃ -α ₂ )/T, ..., ω ₁₀ =( α ₁₁ -α ₁₀ )/T, the corresponding angular velocity ω' ₁ =(α ₃ -α ₁ )/2T, ω' ₂ =(α ₄ -α ₂ )/2T, . . . ω' ₉ =(α ₁₁ -α ₉ )/2T.

It can be seen that a plurality of articulation angular velocities can be obtained based on the first articulation angle set, and then the plurality of articulation angular velocities are filtered (eg, mean filtering) to obtain the first angular velocity. Similarly, a plurality of articulation angular velocities may be obtained based on the second articulation angle set, and then the plurality of articulation angular velocities may be filtered (eg, mean filtering) to obtain the second angular velocity.

In addition, since the first angular velocity and the second angular velocity are obtained based on two angle sensors, the measurement accuracy of the two angle sensors is different in different situations, for example, a certain angle sensor is damaged, the measurement accuracy is low, or a certain sensor model corresponds to higher precision. Therefore, in this embodiment, the first angular velocity weight and the second angular velocity weight can be determined based on the measurement accuracy of the two angle sensors (for example, the angle sensor with higher measurement accuracy corresponds to the higher articulation angular velocity weight), and then the articulation angular velocity of the vehicle can be obtained, The average value of the first angular velocity and the second angular velocity may also be used as the articulation angular velocity of the vehicle.

Based on any of the above embodiments, as shown in FIG. 3 , step 111 includes:

Step 111a, collecting a first articulation angle through a articulation angle sensor disposed at one end of the articulation shaft every first preset time interval, and placing the first articulation angle set;

In step 111b, at every second preset time interval, a second articulation angle is collected by the articulation angle sensor disposed at the other end of the articulation shaft, and the second articulation angle set is placed.

In this embodiment, in order to accurately obtain the articulation angle of the vehicle, both the first articulation angle set and the second articulation angle set are composed of a plurality of articulation angles, that is, according to the first preset time interval, the articulation axis is arranged on the articulation axis according to the first preset time interval. The articulation angle sensor at one end acquires several sets of vehicle articulation angles to obtain a first articulation angle set. For example, according to the time interval T1, several sets of vehicle articulation angles are collected by the angle sensor. Similarly, the second articulation angle set may collect several groups of vehicle articulation angles through the angle sensor according to the time interval T2.

It should be noted that the first preset time interval and the second preset time interval may be set according to the state of the angle sensor, wherein the first preset time interval may be the same as the second preset time interval, which is not made in this embodiment. Specific restrictions.

Based on any of the above embodiments, as shown in FIG. 4 , step 112 includes:

Step 112a: Based on the difference between each two adjacent angle values in the first articulation angle set and the first preset time interval, determine a first initial angular velocity, and obtain after filtering each first initial angular velocity. the first angular velocity;

Step 112b: Determine a second initial angular velocity based on the difference between every two adjacent angle values in the second articulation angle set and the second preset time interval, and obtain after filtering each second initial angular velocity. the second angular velocity.

In this step, it should be noted that the angle sensor converts the sensed measured angle into a usable output angle signal, and due to the influence of noise, there will be errors in the angle signal output by the angle sensor. In order to ensure that the vehicle can be accurately obtained The angle signal output by the angle sensor needs to be filtered to remove the bit error in the signal, that is, filter processing is performed on the first articulation angle set and the second articulation angle set respectively. The filtering process may include median filtering, mean filtering, smoothing filtering, low-pass filtering, and the like.

In this embodiment, if the first preset time interval is T ₁ , the first articulation angle set includes articulation angles α ₁ , α ₂ , α ₃ , α ₄ , α ₅ , α ₆ , α ₇ , α ₈ , α ₉ , α ₁₀ , α ₁₁ , then the corresponding first initial angular velocity ω ₁ =(α ₂ -α ₁ )/T ₁ can be obtained by means of mean filtering, ω ₂ =(α ₃ -α ₂ )/T ₁ , ..., ω ₁₀ =(α ₁₁ -α ₁₀ )/T ₁ , then the first angular velocity is ω=(ω ₁ +ω ₂ +...+ω ₁₀ )/10. Similarly, if the first preset time interval is T ₂ , the second hinge angle set includes hinge angles α′ ₁ , α′ ₂ , α′ ₃ , α′ ₄ , α′ ₅ , α′ ₆ , α′ ₇ , α' ₈ , α' ₉ , α' ₁₀ , α' ₁₁ , then the corresponding second initial angular velocity ω' ₁ =(α' ₂ -α' ₁ )/T ₂ , ω' ₂ =( α' ₃ -α' ₂ )/T ₂ ,...,ω' ₁₀ =(α' ₁₁ -α' ₁₀ )/10, then the second angular velocity is ω'=(ω' ₁ +ω' ₂ +. ..+ω' ₁₀ ). Similarly, other filtering methods (such as median filtering, low-pass filtering) may also be performed on each of the first initial angular velocity and the second initial angular velocity to obtain the first angular velocity and the second angular velocity. In this embodiment, median filtering is preferably used. The median filtering is to collect N cycles of data, remove the maximum and minimum values in the N cycles of data, and take the average value of the remaining data, thereby reducing the chance of accidental The effect of abnormal sensor data on angular velocity. Therefore, in this embodiment, based on the preset filter length, the median value filtering is performed on the first articulation angle set and the second articulation angle set respectively, which can not only filter out bit errors in the output signal of the angle sensor, but also reduce the occasional sensor The impact of abnormal data on angular velocity, accurate and stable acquisition of angular velocity. The preset filtering length may be set according to the actual situation, which is not specifically limited in this embodiment.

Based on any of the above embodiments, as shown in FIG. 5 , step 120 includes:

Step 121 , based on the parameters of the center of mass of the front of the vehicle, determine the parameters of the hinge point of the front of the vehicle;

Step 122: Determine the center of mass parameter of the rear of the vehicle based on the front hinge point parameters and the hinge angular velocity of the vehicle;

Step 123: Determine the steering parameter of the vehicle based on the center of mass parameter of the rear of the vehicle.

In this embodiment, the parameters of the head mass center may include: the position of the head mass center, the speed of the head mass center, the attitude of the head mass center, and the attitude angular velocity of the head mass center. Among them, the position of the center of mass includes longitude, latitude and altitude, the speed includes the speed in the three directions of east, north and sky, the attitude can include the heading angle, the pitch angle and the roll angle, and the attitude angular velocity includes: the heading angular velocity, the pitch angular velocity and the roll angle angular velocity.

On the basis of determining the parameters of the front joint point and the joint angular velocity of the vehicle, the parameters of the rear joint point can be obtained, and then the center of mass parameters of the rear can be obtained according to the parameters of the rear joint point. Since the rear hinge point and the rear center of mass are on the same rigid body, the attitude angle of the rear center of mass is the same as the attitude angle of the rear hinge point, and the attitude angular velocity of the rear center of mass is the same as that of the rear hinge point, but the attitude angle of the rear center of mass is the same as that of the rear hinge point. The position of the rear hinge point and the speed of the rear hinge point need to be converted respectively to obtain the position of the center of mass of the rear and the speed of the center of mass of the rear.

On the basis of determining the parameters of the center of mass of the rear of the vehicle, the steering parameters of the vehicle can be determined, and then the vehicle parking can be precisely controlled according to the steering parameters.

Based on any of the above embodiments, the parameters of the head mass center include: the position of the head mass center, the speed of the head mass center, the heading angle of the head mass center, and the heading angular velocity of the head mass center, and the head hinge point parameters include: the position of the head hinge point, the head hinge point the speed of the point, the heading angle of the head joint point and the heading angle speed of the head joint point;

As shown in Figure 6, step 121 includes:

Step 121a: Convert the position of the center of mass of the head and the speed of the center of mass of the head by means of lever arm compensation, and obtain the position of the hinge point of the head and the speed of the hinge point of the head;

Step 121b: Take the heading angle of the head mass center as the heading angle of the head hinge point, and use the heading angular velocity of the head mass center as the heading angular velocity of the head head joint point.

In this embodiment, since the head mass center and the head hinge point are on the same rigid body, it is not necessary to convert the heading angle and the heading angular velocity, but only need to convert the position and speed of the head mass center to obtain the position and speed of the head hinge point. That is to say, the heading angle and heading angular velocity of the head mass center are the heading angle and heading angular velocity of the head hinge point.

Among them, the position and speed of the center of mass of the head are converted to the position and speed of the hinge point of the head by means of lever arm compensation. The specific conversion process is as follows:

As shown in Figure 7, it is assumed that the vector of the front hinge point relative to the center of the earth O is R, the vector of the front center of mass relative to the base salary O is r, and the vector of the front hinge point relative to the center of mass is δl. The vector relationship between the three Satisfy: R=r+δl.

According to the relative positional relationship in the figure, combined with the relative derivation formula, the positional relationship between the head hinge point and the head mass center can be obtained:

R_Mh＝R_M+h，R_Nh＝R_N+h，

In the formula,

R _Mh =R _M +h, R _Nh =R _N +h,

表示在车体系(b系)相对于导航坐标系(n系)的姿态矩阵，ψ、θ、γ分别表示航向角、俯仰角和横滚角，s_ψ表示-sin(ψ)，c_ψ表示cos(ψ)，s_θ表示sin(θ)，c_θ表示cos(θ)，s_γ表示sin(γ)，c_γ表示cos(γ)，

表示向量

对应的叉乘矩阵，

为b系相对于n系的角速度，可近似为IMU(Inertial Measurement Unit，惯性测量仪)的陀螺仪输出，δl^b表示车头铰接点相对于车头质心的矢量，p_vhh表示车头铰接点的位置矢量，p_chcm表示车头质心的位置矢量，M_pv表示参数矩阵，secL表示纬度L的正割函数，R_Mh为高度h位置子午圈主曲率半径，R_Nh为高度h位置卯酉圈主曲率半径，R_M为子午圈主曲率半径，R_N为卯酉圈主曲率半径，B表示经度，a表示地球长轴半径，b表示地球短轴半径，e表示地球椭圆面的离心率。Among them, v _vhh represents the velocity vector of the front hinge point, v _chcm represents the velocity vector of the front center of mass,

Represents the attitude matrix of the vehicle system (b system) relative to the navigation coordinate system (n system), ψ, θ, γ represent the heading angle, pitch angle and roll angle, respectively, s _ψ represents -sin(ψ), c _ψ represents cos(ψ), s _θ represents sin(θ), c _θ represents cos(θ), s _γ represents sin(γ), c _γ represents cos(γ),

representation vector

The corresponding cross-product matrix,

is the angular velocity of the b system relative to the n system, which can be approximated as the gyroscope output of the IMU (Inertial Measurement Unit), δl ^b represents the vector of the front hinge point relative to the front center of mass, p _vhh represents the position vector of the front hinge point , p _chcm represents the position vector of the head mass center, M _pv represents the parameter matrix, secL represents the secant function of the latitude L, R _Mh is the main radius of curvature of the meridian circle at the height h position, R _Nh is the main curvature radius of the unitary circle at the height h position, _RM is the main radius of curvature of the meridian circle, R _N is the main radius of curvature of the 卯unitary circle, B is the longitude, a is the radius of the long axis of the earth, b is the radius of the short axis of the earth, and e is the eccentricity of the ellipsoid of the earth.

Based on any of the above embodiments, the parameters of the center of mass of the rear of the vehicle include: the position of the center of mass of the rear of the vehicle, the speed of the center of mass of the rear of the vehicle, the heading angle of the center of mass of the rear of the vehicle, and the heading angular velocity of the center of mass of the rear of the vehicle;

As shown in Figure 8, step 122 includes:

Step 122a, based on the heading angle of the front hinge point, the heading angular velocity of the front hinge point and the hinge angular velocity of the vehicle, obtain the heading angle of the rear hinge point and the heading angular velocity of the rear hinge point;

Step 122b, taking the position of the front joint point as the position of the rear joint point, and taking the speed of the front joint point as the speed of the rear joint point;

Step 122c: Convert the position of the rear hinge point and the speed of the rear hinge point by lever arm compensation, obtain the position of the rear mass center and the speed of the rear mass center, and articulate the rear The heading angle of the point is taken as the heading angle of the rear mass center, and the heading angular velocity of the rear hinge point is taken as the heading angular velocity of the tail mass center.

In this embodiment, since the front joint point and the rear joint point are the same point, the position and speed of the front joint point are the position and speed of the rear joint point. However, the front joint point is fixed at the front part, while the The rear hinge point is fixed on the rear part of the car, so the heading angle and heading angular velocity of the front hinge point and the rear hinge point are different.

The articulation angle is obtained by the articulation angle sensor, such as the angle α in Fig. 9, and the angular velocity ω' of the articulation can be obtained based on the angle α, and the obtained angular velocity of the articulation is filtered. Assuming that a series of hinge angle values α ₁ , α ₂ , α ₃ , α ₄ , α ₅ , α ₆ , α ₇ , α ₈ , α ₉ , α ₁₀ , α ₁₁ are obtained, and the calculation period is T, then it can be obtained correspondingly The value of the joint angular velocity ω ₁ ′=(α ₂ -α ₁ )/T,...,ω ₁₀ ′=(α ₁₁ -α ₁₀ )/T, and the filter length is set to 10, the joint angular velocity ω′=( ω ₁ ′+ω ₂ ′+...+ω ₁₀ ′)/10. It can be understood that if the filter length is not enough to 10, then several data are obtained and averaged according to several data. The purpose of using filtering is to eliminate differential noise.

Assume that the heading angle of the front hinge point is ψ _H (same as the heading angle of the head mass center), the heading angular velocity is ω _H (same as the heading angular velocity of the head mass center), the heading angle of the rear hinge point is ψ _T , and the heading angular velocity is ω _T , then the heading angle of the rear hinge point can be calculated as ψ _T , and the heading angular velocity is ω _T : ψ _T =ψ _H +α, ω _H =ω _T +ω′.

Using the lever arm compensation method, the parameters of the center of mass of the rear of the vehicle are obtained according to the parameters of the hinge point of the rear of the vehicle. Among them, the rear hinge point and the rear mass center are on the same rigid body, so there is no need to convert the heading angle and the heading angular velocity, only the position and speed of the rear hinge point need to be converted. For the specific conversion mode, refer to the above-mentioned embodiments, which will not be described in detail here.

Based on any of the above embodiments, as shown in FIG. 10, step 122a includes:

Step 122a-1, taking the sum of the heading angle of the front hinge point and the hinge angular velocity of the vehicle as the heading angle of the rear hinge point;

Step 122a-2, taking the sum of the heading angular velocity of the front hinge point and the hinge angular velocity of the vehicle as the heading angular velocity of the rear hinge point.

Based on any of the above embodiments, as shown in FIG. 11 , step 123 includes:

Step 123a, determining the position error based on the position of the center of mass of the rear of the vehicle and the position of the preset reference point;

Step 123b, determining a speed error based on the speed of the rear center of mass and the speed of the preset reference point;

Step 123c: Determine the steering parameter of the vehicle based on the position error and the speed error.

In this embodiment, the steering command can be calculated according to the center of mass parameter of the rear of the vehicle and the preset reference point parameter. The acquisition method of the preset reference point is as follows: there are a series of target trajectory points in FIG. 9 (the information of each reference point includes: position, speed in three directions of the northeast sky, heading angle, heading angular velocity). Convert the position coordinates of the center of mass of the rear of the vehicle to the same coordinate system as the reference point, and find the nearest reference point according to the position of the center of mass of the rear of the vehicle as the preset reference point.

Among them, the steering command is calculated according to the parameters of the center of mass of the rear of the vehicle and the preset reference point parameters, including: calculating the position, speed, heading angle and heading angular velocity of the rear of the vehicle and the position, speed, heading angle and the preset reference point respectively. The error between the yaw rate; the steering command is calculated from the position error, velocity error, yaw error, and yaw rate error.

Specifically, it is assumed that the parameters of the preset reference point include: position coordinates (x _ref , y _ref ), easting velocity v _xref , northing velocity v _yref , heading angle ψ _ref , heading angular velocity ω _ref , the center of mass of the rear of the vehicle The parameters are: center of mass position coordinates (x, y), east velocity v _x , north velocity v _y , heading angle ψ, heading angular velocity ω, then, the lateral position error and lateral velocity error of the vehicle are as follows:

L _laterr =(xx _ref )cosψ+(yy _ref )sinψ _ref ;

v _laterr =(v _x -v _xref )cosψ+(v _y -v _yref )sinψ _ref ;

Among them, L _laterr represents the position error, x and y represent the position coordinates of the rear mass center, x _ref and y _ref represent the position coordinates of the preset reference point, ψ represents the heading angle of the rear mass center, and ψ _ref represents the preset reference point. heading angle; v _laterr represents the speed error, v _x represents the eastward speed of the rear mass center, v _xref represents the easting speed of the preset reference point, v _y represents the northing speed of the rear mass center, and v _yref represents the preset reference point Northbound speed.

In the formula, cosψ and sinψ _ref in the two formulas involve converting the position vector and velocity vector from the preset reference point to the center of mass of the rear of the vehicle to the preset reference point coordinate system (the coordinate origin is the preset reference point, and the vertical The coordinates are the tangent direction of the preset reference point, such as the preset reference point coordinate system in FIG. 8 ), and the abscissa is the lateral position error and lateral velocity error. It should be noted that the heading north is 0 degrees, north-west is positive, and north-east is negative.

According to the lateral position error L _laterr , the lateral velocity error v _laterr , the heading angle error ψ-ψ _ref , and the heading angular velocity error ω-ω _ref calculated in real time. Using the PD control algorithm, the steering command is calculated by the following formula:

S _cmd =k _px L _laterr +k _dv v _laterr +k _pψ (ψ-ψ _ref )+k _dω (ω-ω _ref );

Among them, S _cmd represents the steering parameter, k _px , k _dv , k _pψ and k _dω represent constants, ω represents the heading angular velocity of the rear mass center, and ω _ref represents the heading angular velocity of the preset reference point. Among them, S _cmd has a positive and negative distinction, and the positive and negative signs indicate the reverse direction of the steering of the control vehicle. For example, when S _cmd is negative, the vehicle is controlled to turn left, and when S _cmd is positive, the vehicle is controlled to turn right. .

It can be understood that, in order to reduce the noise in the above several conversion processes, low-pass filtering may also be performed on the obtained steering command.

The articulated vehicle parking control device provided by the present application is described below, and the articulated vehicle parking control device described below and the articulated vehicle parking control method described above can be referred to each other correspondingly.

Based on any of the above embodiments, the present application provides a parking control method for an articulated vehicle. As shown in FIG. 12 , the device includes:

an angular velocity acquisition unit 1210, configured to determine the articulation angular velocity of the vehicle based on the articulation angle collected by the angle sensors located at both ends of the articulation shaft of the vehicle;

a steering parameter obtaining unit 1220, configured to determine the steering parameter of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle;

The parking unit 1230 is configured to control the vehicle to park to a parking spot based on the steering parameter of the vehicle.

Based on any of the above embodiments, as shown in FIG. 13 , the angular velocity acquisition unit 1210 includes:

The first acquisition unit 1211 is configured to collect the first articulation angle set and the second articulation angle set through angle sensors disposed at both ends of the articulation shaft of the vehicle;

a second acquiring unit 1212, configured to determine the first angular velocity based on the first articulation angle set, and determine the second angular velocity based on the second articulation angle set;

The third obtaining unit 1213 is configured to determine the articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity.

Based on any of the foregoing embodiments, as shown in FIG. 14 , the first obtaining unit 1211 includes:

The first angle acquiring unit 1211a is configured to collect a first articulation angle through the articulation angle sensor disposed at one end of the articulation shaft every first preset time interval, and insert the first articulation angle set;

The second angle acquiring unit 1211b is configured to collect a second articulation angle through the articulation angle sensor disposed at the other end of the articulation shaft every second preset time interval, and set it into the second articulation angle set.

Based on any of the foregoing embodiments, a filtering unit is further included, configured to perform filtering processing on the first articulation angle set and the second articulation angle set respectively after collecting the first articulation angle set and the second articulation angle set.

Based on any of the above embodiments, as shown in FIG. 15 , the steering parameter obtaining unit 1220 includes:

a first parameter obtaining unit 1221, configured to determine the parameters of the hinge point of the front of the vehicle based on the parameters of the center of mass of the front of the vehicle;

The second parameter acquisition unit 1222 is configured to determine the center of mass parameter of the rear of the vehicle based on the front hinge point parameters and the hinge angular velocity of the vehicle;

The third parameter obtaining unit 1223 is configured to determine the steering parameter of the vehicle based on the center of mass parameter of the rear of the vehicle.

Based on any of the above-mentioned embodiments, the parameters of the head mass center include: the position of the head mass center, the speed of the head mass center, the heading angle of the head mass center, and the heading angular velocity of the head mass center, and the head hinge point parameters include: the position of the head hinge point, The speed of the front hinge point, the heading angle of the front hinge point, and the heading angle speed of the front hinge point;

As shown in Figure 16, the first parameter obtaining unit 1221 includes:

a first calculation unit 1221a, configured to convert the position of the center of mass of the head and the speed of the center of mass of the head by means of lever arm compensation, and obtain the position of the hinge point of the head and the speed of the hinge point of the head;

The second calculation unit 1221b is configured to use the heading angle of the head mass center as the heading angle of the head hinge point, and use the heading angular velocity of the head mass center as the heading angular velocity of the head hinge point.

Based on any of the foregoing embodiments, the parameters of the center of mass of the rear of the vehicle include: the position of the center of mass of the rear of the vehicle, the speed of the center of mass of the rear of the vehicle, the heading angle of the center of mass of the rear of the vehicle, and the heading angular velocity of the center of mass of the rear of the vehicle;

As shown in FIG. 17 , the second parameter obtaining unit 1222 includes:

The third calculation unit 1222a is configured to obtain the heading angle of the rear hinge point and the heading angular velocity of the rear hinge point based on the heading angle of the front hinge point, the heading angular velocity of the front hinge point and the hinge angular velocity of the vehicle ;

a fourth calculation unit 1222b, configured to use the position of the front hinge point as the position of the rear hinge point, and use the speed of the front hinge point as the speed of the rear hinge point;

The fifth calculation unit 1222c is configured to convert the position of the rear hinge point and the speed of the rear hinge point by means of lever arm compensation, obtain the position of the center of mass of the rear and the speed of the center of mass of the rear, and convert the The heading angle of the rear hinge point is used as the heading angle of the rear mass center, and the heading angular velocity of the vehicle rear hinge point is used as the heading angular velocity of the tail mass center.

Based on any of the foregoing embodiments, as shown in FIG. 18 , the third computing unit 1222a includes:

a heading angle calculation unit 1222a-1, configured to use the sum of the heading angle of the front hinge point and the hinge angular velocity of the vehicle as the heading angle of the rear hinge point;

The heading angular velocity calculation unit 1222a-2 is configured to use the sum of the heading angular velocity of the front joint point and the joint angular velocity of the vehicle as the heading angular velocity of the rear joint point.

Based on any of the above embodiments, as shown in FIG. 19 , the third parameter obtaining unit 1223 includes:

a position error obtaining unit 1223a, configured to determine a position error based on the position of the center of mass of the rear of the vehicle and the position of the preset reference point;

a speed error obtaining unit 1223b, configured to determine a speed error based on the speed of the rear mass center and the speed of the preset reference point;

The parameter calculation unit 1223c is configured to determine the steering parameter of the vehicle based on the position error and the speed error.

The articulated vehicle parking control device provided by the embodiment of the present application is used to execute the above-mentioned articulated vehicle parking control method. The beneficial effects will not be repeated here.

Based on the above embodiments, the present application further provides an articulated vehicle, including the articulated vehicle parking control device as described in any of the above embodiments.

FIG. 20 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 20, the electronic device may include: a processor (processor) 2010, a communication interface (Communications Interface) 2020, a memory (memory) 2030, and a communication bus 2040, The processor 2010 , the communication interface 2020 , and the memory 2030 communicate with each other through the communication bus 2040 . The processor 2010 can call the logic instructions in the memory 2030 to execute the articulated vehicle parking control method, the method includes: determining the articulation angular velocity of the vehicle based on the articulation angle collected by the angle sensors located at both ends of the articulation shaft of the vehicle; The center of mass parameter of the head of the vehicle and the articulation angular velocity of the vehicle determine the steering parameters of the vehicle; and based on the steering parameters of the vehicle, the vehicle is controlled to park to a parking spot.

In addition, the above-mentioned logic instructions in the memory 2030 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

The processor 2010 in the electronic device provided by the embodiment of the present application can call the logic instruction in the memory 2030 to implement the above-mentioned articulated vehicle parking control method, the implementation of which is the same as that of the articulated vehicle parking control method provided by the present application. are consistent, and can achieve the same beneficial effects, which will not be repeated here.

On the other hand, the present application also provides a computer program product. The computer program product provided by the present application is described below. The computer program product described below and the articulated vehicle parking control method described above can be referred to each other correspondingly.

The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the articulated type provided by the above methods. A vehicle parking control method, the method comprises: determining the articulation angular velocity of the vehicle based on the articulation angles collected by angle sensors disposed at both ends of the articulation shaft of the vehicle; determining the steering of the vehicle based on a head mass center parameter and the articulation angular velocity of the vehicle parameter; based on the steering parameters of the vehicle, control the vehicle to park to a parking spot.

When the computer program product provided by the embodiment of the present application is executed, the above-mentioned articulated vehicle parking control method is implemented, and the implementation thereof is consistent with the implementation of the articulated vehicle parking control method provided by the present application, and the same beneficial effects can be achieved. , and will not be repeated here.

In another aspect, the present application also provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium provided by the present application is described below. The non-transitory computer-readable storage medium described below is the same as the above description. The articulated vehicle parking control method can refer to each other correspondingly.

The present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the computer program is implemented to execute the articulated vehicle parking control methods provided above, the method comprising: based on The hinge angle collected by the angle sensors located at both ends of the hinge shaft of the vehicle determines the hinge angular velocity of the vehicle; based on the head mass center parameter and the hinge angular velocity of the vehicle, the steering parameters of the vehicle are determined; based on the steering parameters of the vehicle, the control Park the vehicle to the parking spot.

When the computer program stored on the non-transitory computer-readable storage medium provided by the embodiment of the present application is executed, the above-mentioned articulated vehicle parking control method is realized, and the implementation of the method is the same as that of the articulated vehicle parking control method provided by the present application. The method is the same, and the same beneficial effect can be achieved, which is not repeated here.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims (13)

1. An articulated vehicle parking control method, characterized in that, comprising: Determine the articulation angular velocity of the vehicle based on the articulation angle collected by the angle sensors located at both ends of the articulation shaft of the vehicle; Determine the steering parameters of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle; controlling the vehicle to park to a parking spot based on the steering parameters of the vehicle; The steering parameters of the vehicle are determined based on the parameters of the center of mass of the head of the vehicle and the articulation angular velocity of the vehicle, including: Based on the parameters of the center of mass of the head, determine the parameters of the hinge point of the head; Based on the front articulation point parameters and the articulation angular velocity of the vehicle, determine the mass center parameter of the rear of the vehicle; Based on the parameters of the center of mass of the rear of the vehicle, the steering parameters of the vehicle are determined. 2. The articulated vehicle parking control method according to claim 1, characterized in that, determining the articulation angular velocity of the vehicle based on the articulation angles collected by angle sensors disposed at both ends of the articulation shaft of the vehicle, comprising: Collect the first articulation angle set and the second articulation angle set by means of angle sensors disposed at both ends of the articulation shaft of the vehicle; determining the first angular velocity based on the first set of articulation angles, and determining the second angular velocity based on the second set of articulation angles; Based on the first angular velocity and the second angular velocity, an articulation angular velocity of the vehicle is determined. 3. The articulated vehicle parking control method according to claim 2, wherein the collection of the first articulation angle set and the second articulation angle set by means of angle sensors disposed at both ends of the articulation shaft of the vehicle, comprising: collecting a first articulation angle through a articulation angle sensor disposed at one end of the articulation shaft every first preset time interval, and placing the first articulation angle set; Every second preset time interval, a second articulation angle is collected by the articulation angle sensor disposed at the other end of the articulation shaft, and the second articulation angle set is set. 4. The articulated vehicle parking control method according to claim 3, wherein determining the first angular velocity based on the first articulation angle set and determining the second angular velocity based on the second articulation angle set comprises: Based on the difference between every two adjacent angle values in the first articulation angle set and the first preset time interval, a first initial angular velocity is determined, and each first initial angular velocity is filtered to obtain the first initial angular velocity. angular velocity; Based on the difference between every two adjacent angle values in the second articulation angle set and the second preset time interval, a second initial angular velocity is determined, and each second initial angular velocity is filtered to obtain the first angular velocity. angular velocity. 5 . The articulated vehicle parking control method according to claim 1 , wherein the parameters of the center of mass of the head include: the position of the center of mass of the head, the speed of the center of mass of the head, the heading angle of the center of mass of the head, and the heading angular velocity of the center of mass of the head, 6 . The parameters of the front hinge point include: the position of the front hinge point, the speed of the front hinge point, the heading angle of the front hinge point, and the heading angular velocity of the front hinge point; The determination of the parameters of the hinge point of the front of the vehicle based on the parameters of the center of mass of the front of the vehicle includes: Converting the position of the center of mass of the head and the speed of the center of mass of the head by means of lever arm compensation to obtain the position of the hinge point of the head and the speed of the hinge point of the head; The heading angle of the head mass center is taken as the heading angle of the head joint point, and the heading angular velocity of the head mass centre is taken as the heading angular velocity of the head joint point. 6 . The articulated vehicle parking control method according to claim 5 , wherein the parameters of the center of mass of the rear of the vehicle include: the position of the center of mass of the rear of the vehicle, the speed of the center of mass of the rear of the vehicle, the heading angle of the center of mass of the rear of the vehicle, and the The heading angular velocity of the tail centroid; The parameters of the center of mass of the rear of the vehicle are obtained based on the parameters of the hinge point of the front of the vehicle and the hinge angular velocity of the vehicle, including: Based on the heading angle of the front joint point, the heading angular velocity of the front joint point and the joint angular velocity of the vehicle, the heading angle of the rear joint point and the heading angular velocity of the rear joint point are obtained; Taking the position of the front hinge point as the position of the rear hinge point, and taking the speed of the front hinge point as the speed of the rear hinge point; The position of the rear hinge point and the speed of the rear hinge point are converted by lever arm compensation to obtain the position of the rear mass center and the speed of the rear mass center, and the heading of the rear hinge point is calculated. The angle is taken as the heading angle of the center of mass of the rear of the vehicle, and the heading angular velocity of the hinge point of the rear of the vehicle is taken as the heading angular velocity of the center of mass of the rear of the vehicle. 7 . The articulated vehicle parking control method according to claim 6 , wherein the method is obtained based on the heading angle of the head joint point, the heading angular velocity of the head joint point and the joint angular velocity of the vehicle. 8 . The heading angle of the rear hinge point and the heading angular velocity of the rear hinge point, including: Taking the sum of the heading angle of the front hinge point and the hinge angular velocity of the vehicle as the heading angle of the rear hinge point; The sum of the heading angular velocity of the hinge point at the front of the vehicle and the hinge angular velocity of the vehicle is taken as the heading angular velocity of the hinge point at the rear of the vehicle. 8 . The articulated vehicle parking control method according to claim 1 , wherein the obtaining the steering parameters of the vehicle based on the center of mass parameter of the rear of the vehicle comprises: determining a position error based on the position of the center of mass of the rear of the vehicle and the position of the preset reference point; determining a speed error based on the speed of the center of mass of the rear of the vehicle and the speed of the preset reference point; Based on the position error and the speed error, a steering parameter of the vehicle is determined. 9. An articulated vehicle parking control device, characterized in that it comprises: The angular velocity acquisition unit is used for determining the articulation angular velocity of the vehicle based on the articulation angle collected by the angle sensors disposed at both ends of the articulation shaft of the vehicle; a steering parameter acquisition unit, configured to determine the steering parameter of the vehicle based on the head mass center parameter and the articulation angular velocity of the vehicle; a parking unit for controlling the vehicle to park to a parking spot based on the steering parameters of the vehicle; The steering parameter acquisition unit includes: a first parameter acquisition unit, configured to determine the parameters of the front hinge point based on the parameters of the front center of mass; a second parameter acquisition unit, configured to determine the center of mass parameter of the rear of the vehicle based on the front hinge point parameters and the hinge angular velocity of the vehicle; The third parameter obtaining unit is configured to determine the steering parameter of the vehicle based on the center of mass parameter of the rear of the vehicle. 10. The articulated vehicle parking control device according to claim 9, wherein the angular velocity acquisition unit comprises: a first acquisition unit, configured to collect the first articulation angle set and the second articulation angle set through angle sensors disposed at both ends of the articulation shaft of the vehicle; a second acquiring unit, configured to determine the first angular velocity based on the first articulation angle set, and determine the second angular velocity based on the second articulation angle set; A third acquiring unit, configured to determine the articulation angular velocity of the vehicle based on the first angular velocity and the second angular velocity. 11. An articulated vehicle, characterized by comprising the articulated vehicle parking control device according to any one of claims 9 to 10. 12. An electronic device, comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements the program as claimed in claim 1 when executing the program To any one of the steps of the articulated vehicle parking control method described in 8. 13. A non-transitory computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the articulated vehicle parking according to any one of claims 1 to 8 is realized The steps of the control method.

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