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Acta Armamentarii ›› 2018, Vol. 39 ›› Issue (9): 1675-1682.doi: 10.3969/j.issn.1000-1093.2018.09.002

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Longitudinal and Lateral Path Following Coordinated Control Method of Tracked Vehicle Based on Double-layer Driver Model

WANG Bo-yang1, GONG Jian-wei1, GAO Tian-yun1,2, ZHANG Rui-zeng1, CHEN Hui-yan1, XI Jun-qiang1   

  1. (1.School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China; 2.NORINCO Unmanned Vehicle Research & Development Center, China North Vehicle Research Institute, Beijing 100072, China)
  • Received:2017-12-15 Revised:2017-12-15 Online:2018-10-25

Abstract: A longitudinal and lateral joint path following coordinated control method based on double-layer driver model is proposed to solve the path following control problem of tracked vehicle with clutch and brake steering structure. The first layer of driver model is based on the Gaussian mixture model and hidden Markov model. The desired path is taken as an input. The aim is to predict the steering mode sequences and switch the control mode according to the sequences. The second layer of driver model is established by using the fuzzy logic to reflect the skilled driver’s longitudinal and lateral operation experience. The longitudinal and lateral control commands are calculated according to the desired deviation of course. The results show that the driving experience can be utilized effectively to settle a challenge due to longitudinal and lateral combined vehicle dynamic characteristic and steering uncertainty in the proposed control method. The lateral control accuracy is less than 1.0 m under the particular scenario.Key

Key words: trackedvehicle, pathfollowingcontrol, drivermodel, longitudinalandlateralcoordinatedcontrol

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