Steering control method for multi-marshalling articulated vehicle

The invention relates to a steering control method for a multi-marshalling articulated vehicle, which is characterized in that a multi-marshalling train is divided into three parts according to engineering quantity in an order reduction manner, namely multi-marshalling train single-axle control, multi-marshalling train front-wheel steering control and multi-marshalling train full-axle steering control, and the single-axle control can be described by using a single-vehicle motion characteristic that wheels are positioned on the central axis of the vehicle; the front wheel steering of the multi-marshalling train can be described as a semitrailer model for control, and the full-axle steering control of the multi-marshalling train is multi-axle corner coordination control according to the reasoning of an Ackerman formula; according to the invention, the problem that the vehicle adopts a full-axle steering bogie mechanism is solved, and attitude control of a plurality of bogies with independent steering control ca