Traction taxiing control method and device of civil aircraft, tractor and storage medium

The invention discloses a traction sliding control method and device of a civil aircraft, a tractor and a medium. The method comprises the steps that a wheel holding mechanism on a tractor is controlled to get close to and be accurately in butt joint with a nose landing gear of a target aircraft in a fast-to-slow mode, and after butt joint is completed, a global planning path from a taxiing starting point to a taxiing ending point is planned; performing trajectory tracking control on the global planning path by adopting a pre-established traction taxiing controller so as to enable the tractor to steadily drag the target aircraft to slide; in the traction sliding process, if it is detected that an obstacle appears in front of the sliding path and the obstacle cannot be avoided in a slow-down and slow-moving mode, a new global planning path is planned again according to the current sliding position point, the obstacle information and the sliding target point. According to the technical scheme, the safety and re