Active obstacle avoidance control method for intelligent semi-trailer train

The invention discloses an active obstacle avoidance control method for an intelligent semi-trailer train. The method comprises the following steps: acquiring information of a surrounding environment based on a sensor arranged on the semi-trailer train; performing data preprocessing on the surrounding environment information, and constructing an obstacle contour area around the semi-trailer train based on the preprocessed surrounding environment information; based on the obstacle contour area, a drivable safety area with the semi-trailer train as the center is constructed; establishing an active obstacle avoidance decision model listed by the semi-trailer based on the driving safety area; corresponding control strategies of the semi-trailer train in the longitudinal direction and the transverse direction are obtained based on the active obstacle avoidance decision model; and the longitudinal speed and the transverse moving direction of the semitrailer train are autonomously controlled based on corresponding c