MULTI-ARTICULATED VEHICLE AND TRAJECTORY-FOLLOWING CONTROL METHOD THEREFOR, AND SYSTEM

WIPO Patent Application WO/2021/249088

A1

A multi-articulated vehicle and a trajectory-following control method therefor, and system. The control method comprises: determining, according to a motion path length, whether a following section is currently in a historical position of a leading section; and if so, controlling a yaw angle and a sideslip angle of the following section by using a yaw angle and a sideslip angle corresponding to a motion path length of the historical position of the leading section as target values, so as to control the following section to follow a trajectory of the leading section. The control method controls the yaw angle and the sideslip angle, such that the multi-articulated vehicle follows a trajectory, thereby improving the safety and reliability of the traveling vehicle, and improving following control precision. In addition, motion path lengths of a leading point and a following point use the following point as a starting point, thereby avoiding a following error caused by a distance between the following point and the leading point, and further improving following precision.

SHEN LONGJIANG (CN)
TAO GONGAN (CN)
ZHANG JIANQUAN (CN)
YU JIAWEN (CN)
KONG YUANYUAN (CN)
WANG LINFENG (CN)

PCT/CN2021/093022

December 16, 2021

May 11, 2021

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CRRC ZHUZHOU LOCOMOTIVE CO LTD (CN)

B60W30/165; B62D6/00; B62D12/02; B62D47/02; B62D53/00

CN111661048A	2020-09-15
CN106327433A	2017-01-11
CN105292249A	2016-02-03
EP3373095B1	2020-05-13
JPH09286346A	1997-11-04
CN110309483A	2019-10-08
CN105564447A	2016-05-11
CN105292244A	2016-02-03
CN105292256A	2016-02-03
CN201710880958A	2017-09-26

See also references of EP 4166406A4

CHANGSHA ZONEKEY PATENT LAW FIRM (CN)

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