Research on parking control of semi-trailer truck

The automatic parking scene of freight trucks is an important part of the 'smart port'. The trajectory tracking effect in the automatic parking scene directly determines the success of parking. Therefore, the development of stable and reliable trajectory tracking control algorithms has great practical applications value. This paper aims to develop a reversing trajectory tracking algorithm for semi-trailer trucks that meets the needs of actual engineering applications, so as to achieve the purpose of accurately and stably following the reversing planned trajectory. In this paper, under the input of trajectory planning based on kinematics model, a two-layer path following controller is designed. The first-level controller superimposes the feedforward control based on planning and the feedback control based on the trailer trajectory error to obtain the expected yaw rate of the tractor as the control output. The second-level controller outputs the steering wheel angle command to the EPS angle tracking system to realize the following control of the desired tractor yaw rate. The simulation verification under TruckSim/Simulink shows that the controller designed in this paper has good following performance and stability.