Modeling and Prediction of Driver’s Steering Control Behavior for Stepless Steering Tracked Vehicle

doi:10.12382/bgxb.2024.0877

Abstract

Abstract:

Reforming the current manned tracked vehicles into the unmanned tracked vehicles is one effective way to develop the unmanned tracked vehicle.To this end,a data acquisition system is designed to collect the vehicle state and driver’s operation data.Based on the collected data,the driver’s steering behaviors during the tracked vehicle’s operation are clustered and analyzed based on the Gaussian mixture model(GMM),and a steering control behavior model is established.Based on different steering categories from GMM,a prediction model for the driver’s steering operation is trained by taking the running speed and steering angle deviation of vehicle as model inputs and the turning angle of hydraulic motor swinging arm as the predictive truth value of steering control.The proposed predsiction model is used for the statistical modeling and prediction of driver steering behavior in the in real cross-country environment.Experimental results show that the proposed steering control model can predict the driver’s steering behavior accurately.

Key words: tracked vehicle, steering behavior, behavior prediction, Gaussian mixture model, random forest

DU Yunsheng, WANG Wenshuo, WEI Yuan, CHEN Huiyan. Modeling and Prediction of Driver’s Steering Control Behavior for Stepless Steering Tracked Vehicle[J]. Acta Armamentarii, 2024, 45(S2): 162-169.

Figures/Tables 13

Fig.1 Stepless steering tracked vehicle

Fig.2 Transmission system of continuously stepless steering tracked vehicles

Fig.3 Connection diagram of data acquisition system

Fig.4 Arrangement of driver control action vision sensor

Fig.5 Driver steering behavior prediction model

Fig.6 Driver steering control device

Fig.7 Random forest algorithm

Fig.8 Experimental site

Fig.9 Training process of driver steering prediction model

Fig.10 The corresponding relationship between the turning angle data of hydrostatic motor swinging arm and the steering wheel

Table 1 Clustering results of left-turn driving

转向类别	均值/(°)	标准差/(°)
直线行驶	18.51	0.41
小曲率转向	16.61	1.33
中等曲率转向	12.46	1.20
大曲率转向	7.76	4.38

Fig.11 Probability density of left turning

Fig.12 Results of steering control prediction

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