李睿 , 项昌乐 , 王超 , 等 . 自动驾驶履带车辆鲁棒自适应轨迹跟踪控制方法 [J ] . 兵工学报 , 2021 , 42 ( 6 ): 1128 - 1137 . DOI: 10.3969/j.issn.1000-1093.2021.06.002 http://doi.org/10.3969/j.issn.1000-1093.2021.06.002 针对野外环境中自动驾驶履带车辆轨迹跟踪控制问题，考虑建模误差、参数不确定性及外界随机强干扰，以强鲁棒性及精确跟踪为目标，提出一种基于误差符号鲁棒积分的自动驾驶履带车辆鲁棒自适应轨迹跟踪控制方法。基于拉格朗日动力学方程建立自动驾驶履带车辆的运动学与动力学耦合模型；采用自适应控制方法实现对模型的精确前馈补偿，抵消模型非线性的影响；通过误差符号鲁棒积分有效抑制外界干扰及不确定性的影响；利用Lyapunov稳定性理论证明了闭环系统的全局渐进稳定性与收敛性。对仿真结果进行了实车实验一致性验证。仿真和实验结果证明：该方法在存在建模误差、参数不确定性、外界干扰条件下，在实现自动驾驶履带车辆高精度轨迹跟踪控制的同时，具有较强的自适应和鲁棒性。

LI R , XIANG C L , WANG C , et al . Robust adaptive trajectory tracking control approach for autonomous tracked vehicles [J ] . Acta Armamentarii , 2021 , 42 ( 6 ): 1128 - 1137 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.06.002 http://doi.org/10.3969/j.issn.1000-1093.2021.06.002 A robust adaptive trajectory tracking control approach based on robust integral of sign of error is presented for the trajectory tracking control of autonomous tracked vehicles in the field environment. In the proposed approach, the modelling errors, parametric uncertainties, and external random and strong disturbances are taken into account. A kinematic and dynamic coupling model of autonomous tracked vehicles is established based on Lagrangian dynamical equation. The feedforward compensation of the established model is realized by adaptive control approach, and the external disturbances and uncertainties can be suppressed by using the robust integral of sign of error. And then the asymptotical global stability and convergence of the closed loop system is demonstrated by Lyapunov stability theory. The simulated results were verified through real vehicle test. Simulated and experimental results show that the proposed approach can be used to realize the high accuracy trajectory tracking and insure the adaptiveness and robustness for autonomous tracked vehicles in the presence of modelling errors, parametric uncertainties and external disturbances.

李欢欢 , 刘辉 , 盖江涛 , 等 . 基于粒子群优化算法PID参数优化的双电机耦合驱动履带车辆转向控制 [J ] . 兵工学报 , 2024 , 45 ( 3 ): 916 - 924 . DOI: 10.12382/bgxb.2022.0788 http://doi.org/10.12382/bgxb.2022.0788 针对电驱动履带车辆转向灵敏度不高、控制精度难的问题进行转向控制策略研究,对双电机耦合驱动履带车辆开展动力学分析,利用数学仿真软件建立转向动力学模型。设计一种基于粒子群优化算法对比例-微分-积分控制器(Proportional-Integral-Differential controller,PID)参数优化的转向控制策略,以改进型时间乘绝对误差积分指标为粒子群优化算法目标函数,对PID转向控制策略中的控制参数进行实时优化,动态调节控制参数,实现车辆转向控制系统优化输出。利用硬件在环仿真平台和实车试验,对控制策略进行仿真和实车试验验证,试验结果验证了控制策略的有效性。

LI H H , LIU H , GAI J T , et al . Steering control of dual-motor coupling drive tracked vehicle based on PSO PID parameter optimization [J ] . Acta Armamentarii , 2024 , 45 ( 3 ): 916 - 924 . (in Chinese) DOI: 10.12382/bgxb.2022.0788 http://doi.org/10.12382/bgxb.2022.0788 In order to improve the accuracy of the steering control system of electric tracked vehicle and the sensitivity of vehicle steering, a steering control strategy is studied, and a dynamic analysis is made on a dual-motor coupling drive electric tracked vehicle. A steering dynamics model of electric tracked vehicle is established based on Mathematical simulation software. Then a steering control strategy based on PID parameter optimization of particle swarm optimization algorithm is designed. The improved ITAE index is used as the objective function of particle swarm optimization algorithm to optimize the control parameters in the PID steering control strategy in real time, and the control parameters are dynamically adjusted to realize the optimal output of vehicle steering control system. Finally, the hardware-in-the-loop simulation platform and real vehicle test are used to verify the control strategy. The test results shows that the steering control strategy is effective.

袁艺 , 盖江涛 , 周广明 , 等 . 高速电驱动履带车辆操纵特性分析 [J ] . 兵工学报 , 2023 , 44 ( 1 ): 203 - 213 . DOI: 10.12382/bgxb.2022.0764 http://doi.org/10.12382/bgxb.2022.0764 为了奠定高速电驱动履带车辆的操纵稳定性评价及控制的基础，进行了高速电驱动履带车辆开环操纵特性分析及高速电驱动履带车辆横摆运动响应试验，并在此基础上完成了基于人- 车- 路闭环系统的电驱动履带车辆操纵特性分析。研究结果表明：车速越高，横摆角速度稳定值越小；路面条件越好，车辆横摆角速度响应越快；当考虑电驱动车辆的动态响应特性后，保证闭环系统稳定的驾驶员预瞄时间需要增大，驾驶员最短反应滞后时间缩短；驱动电机响应速度越快，使系统稳定的最小预瞄时间越大。

YUAN Y , GAI J T , ZHOU G M , et al . Analysis of high-speed electric tracked vehicle’s handling characteristics [J ] . Acta Armamentarii , 2023 , 44 ( 1 ): 203 - 213 . (in Chinese) DOI: 10.12382/bgxb.2022.0764 http://doi.org/10.12382/bgxb.2022.0764 In order to lay the foundation for the evaluation and control of the high-speed electric tracked vehicle's handling stability, the open-loop handling characteristics of the vehicle are analyzed, and the vehicle yaw motion response test is conducted. Then, on this basis, the vehicle's handling characteristics based on the driver-vehicle-road closed-loop system are analyzed. The results show that: the higher the vehicle speed is, the smaller the yaw rate stability value is; the better the road condition is, the faster the yaw rate response is; when the dynamic response characteristics of the vehicle are considered, the driver's preview time to ensure the stability of the closed-loop system needs to be increased, and the driver's shortest reaction delay time is shortened. In addition, faster response speed of the drive motor requires greater minimum preview time to ensure the system stability.

张伟 , 刘辉 , 韩立金 , 等 . 混合动力履带车辆机电联合制动控制 [J ] . 兵工学报 , 2022 , 43 ( 5 ): 969 - 981 . DOI: 10.12382/bgxb.2021.0256 http://doi.org/10.12382/bgxb.2021.0256 为提升混联式机电复合传动（EMT）履带车辆全路况条件下机电联合制动的稳定性，提出一种基于电机饱和度的可变比例系数并联式全工况机电制动力分配策略，以有效处理路面附着条件、驾驶员意图、滑移率和电池荷电状态等约束，减弱履带打滑现象和电机制动力饱和现象。建立EMT系统动力学模型，分析工况约束条件下系统的机电制动特性和动态约束边界。提出以电机制动饱和度为核心的动态机电制动力分配目标，并设计滑移率控制器，以实现满足全工况制动稳定性目标的总制动力求解和底层机电制动力协调分配。利用扩张型状态观测器精确估计时变路面附着系数，并基于遗传算法对控制参数进行优化。利用仿真和硬件在环实验对高速紧急制动进行模拟。研究结果表明：全路况机电联合制动控制策略满足整车制动性能要求，兼顾制动能量回收效率和电机安全运行等多种指标，有效降低液压制动器的机械压力，提高了制动器使用寿命和制动过程的安全性。

ZHANG W , LIU H , HAN L J , et al . Intelligent control strategy of electromechanical braking for hybrid tracked vehicle [J ] . Acta Armamentarii , 2022 , 43 ( 5 ): 969 - 981 . (in Chinese) DOI: 10.12382/bgxb.2021.0256 http://doi.org/10.12382/bgxb.2021.0256 For the better stability of electromechanical braking of tracked vehicles equipped with hybrid electromechanical transmission(EMT) under all road conditions， a parallel electromechanical braking force distribution strategy with variable proportion coefficient based on motor saturation was proposed. This strategy effectively deals with the constraints of road adhesion conditions， driver intention， slip rate， and battery state of charge， and significantly reduces track slip and motor braking force saturation. Firstly， the dynamic model of the EMT was established， and the electromechanical braking characteristics and dynamic constraint boundary were analyzed. Secondly， the expected dynamic braking force distribution based on motor braking saturation was proposed. In addition， the slip rate controller was designed to calculate the total braking force and coordinate electromechanical braking force distribution to meet the braking stability target in all working conditions. Then， the extended state observer was applied to accurately estimate the time-varying road adhesion coefficient， and the control parameters were optimized based on genetic algorithm. Finally， hardware-in-the-loop simulation was applied to simulate the high-speed emergency braking. The results showed that the electromechanical braking control strategy for all road conditions considers the braking energy recovery efficiency and the safe operation of the motor， and effectively reduces the pressure of the hydraulic brake and improves the brake life and safety in the braking process.

卢佳兴 , 刘海鸥 , 关海杰 , 等 . 基于双参数自适应优化的无人履带车辆轨迹跟踪控制 [J ] . 兵工学报 , 2023 , 44 ( 4 ): 960 - 971 .

LU J X , LIU H O , GUAN H J , et al . Trajectory tracking control of unmanned tracked vehicles based on adaptive dual-parameter optimization [J ] . Acta Armamentarii , 2023 , 44 ( 4 ): 960 - 971 . (in Chinese) DOI: 10.12382/bgxb.2022.0009 http://doi.org/10.12382/bgxb.2022.0009 To improve the poor adaptability of trajectory tracking controllers with fixed parameters, an optimized adaptive dual-parameter trajectory tracking algorithm for unmanned tracked vehicles based on the improved Particle Swarm Optimization (IPSO) and Multi-Layer Perceptron (MLP) algorithms is proposed. In the offline state, based on the collected actual vehicle data, the IPSO algorithm is used to construct the optimal parameter data set under different motion primitives, aiming for high accuracy, high stability, and low time cost of trajectory tracking. With the motion primitive type and vehicle speed as feature vectors, control time domain length and control time step length as labels, adaptive learning rate optimization algorithm is used to complete the training of the MLP neural network model. In the online state, according to the trajectory information and vehicle state feedback information provided by the planning layer, the MLP neural network outputs the predicted optimal control time domain length and control time step. These parameters are then input to the model predictive controller as dual parameters, enabling the adaptive trajectory tracking control. ROS-VREP co-simulation test and actual vehicle test based on a bilateral electric drive platform are carried out. Vehicle test results show that under various working conditions including large curvature steering, the proposed controller achieves a 30.5% reduction in average lateral error, a 17.2% decrease in average heading error, and a 7.8% reduction in average change rate of rotation angle, compared with the fixed-parameter trajectory tracking control method with the same calculation time cost. The results verify the feasibility and effectiveness of the new algorithm.

生辉 , 项昌乐 , 盖江涛 , 等 . 双侧电机耦合驱动履带车辆单侧电机故障模式下车辆安全控制 [J ] . 兵工学报 , 2023 , 44 ( 11 ): 3498 - 3507 . DOI: 10.12382/bgxb.2022.0850 http://doi.org/10.12382/bgxb.2022.0850 双侧电机耦合驱动履带车辆单侧电机发生故障如果不及时采取措施,极易导致车辆偏驶,甚至出现安全问题。为了保证单侧电机故障模式下的车辆安全,开展单侧电机故障模式下车辆制动避障安全控制研究。基于实车采取的一侧发生故障、另一侧及时处于故障模式的控制方式进行车辆安全性分析,提出一种双侧电机耦合驱动履带车辆单侧电机故障模式下车辆安全控制策略并通过RT-LAB半实物实时仿真验证。研究结果表明:该控制策略能够按照驾驶员意图,在单侧电机故障模式下实现不同车速下车辆不同相对转向半径的转向控制,而且面对连续的避障需求,可以稳定转向,保证履带车辆的安全。

SHENG H , XIANG C L , GAI J T , et al . Vehicle safety control of tracked vehicle driven by two-sided motor coupling under the failure mode of one-sided motor [J ] . Acta Armamentarii , 2023 , 44 ( 11 ): 3498 - 3507 . (in Chinese) DOI: 10.12382/bgxb.2022.0850 http://doi.org/10.12382/bgxb.2022.0850 The deviation and even safety problems of vehicle are easily caused if the unilateral motor of the tracked vehicle driven by two-sided motor fails. The safety control of vehicle braking and obstacle avoidance in the failure mode of unilateral motor is studied to ensure the safety of vehicles. The vehicle safety is analyzed based on the control mode that one side of the real vehicle fails and the other side is in the failure mode in time. Therefore, an obstacle avoidance control strategy in the braking process is added based on the current control mode. A vehicle safety control strategy of tracked vehicle driven by double-side motor coupling in the mode of single-side motor failure is presenred, and it is verified by RT-LAB hardware-in-the-loop real-time simulation. The results show that this control strategy can be used to realize the steering control of vehicles with different relative steering radii at different speeds in the mode of single-side motor failure according to the driver’s intention, and it can stabilize the steering and ensure the safety of tracked vehicle in the face of continuous obstacle avoidance requirements.

张杰 , 马晓军 , 刘春光 , 等 . 双侧独立电驱动履带车辆反馈线性化解耦与预测行驶控制 [J ] . 兵工学报 , 2021 , 42 ( 4 ): 697 - 705 .

ZHANG J , MA X J , LIU C G , et al . Feedback linearization decoupling and predictive driving control for dual independent electric drive tracked vehicle [J ] . Acta Armamentarii , 2021 , 42 ( 4 ): 697 - 705 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.04.003 http://doi.org/10.3969/j.issn.1000-1093.2021.04.003 A decoupling and predictive control method is proposed for the control problem of driving dynamic coupling and tracking optimization of dual independent electric drive tracked vehicle. Based on the vehicle affine nonlinear model, the decoupling control of longitudinal speed and yaw rate is realized by feedback linearization to eliminate the coupling factors of the system dynamics. On this basis, the adaptive generalized predictive control (GPC) algorithms are designed for the longitudinal speed subsystem and yaw rate subsystem after decoupling, respectively. In the GPC algorithm, the recursive least squares method is used to identify the parameters of the controlled autoregressive integrated moving average model to correct the control law, and constrain the system control and output to achieve the tracking optimization of target speed and yaw rate based on the motor output capability. A series of experiments were conducted for an electric drive tracked vehicle prototype. The experimental results show that the designed algorithm can be used to track the target speed and yaw rate quickly and accurately, the output of the control variable is smooth, and the anti-interference performance is strong, which realizes stable driving of vehicle under various working conditions.

张超朋 , 刘庆霄 , 董昊天 , 等 . 无人驾驶履带车辆机电联合制动的协调控制 [J ] . 兵工学报 , 2022 , 43 ( 11 ): 2727 - 2737 .

ZHANG C P , LIU Q X , DONG H T , et al . Coordinated control of electric-mechanical braking system for unmanned tracked vehicles [J ] . Acta Armamentarii , 2022 , 43 ( 11 ): 2727 - 2737 . (in Chinese) DOI: 10.12382/bgxb.2021.0784 http://doi.org/10.12382/bgxb.2021.0784 Unmanned dual-motor electric drive tracked vehicles have large braking control tracking errors due to poor coordination performance between mechanical and electric systems. To solve this problem, a hierarchical controller is proposed. In the upper controller, a feedforward-feedback controller is constructed based on the expected deceleration sequence of the unmanned driving system. The expected deceleration is used as the feedforward input to compensate the target braking torque, and the speed error is used as the feedback input to correct the target torque difference. In the lower controller, a braking force distribution algorithm is established based on fuzzy control, which combines the characteristics of mechanical braking and motor braking. The vehicle test shows that compared with the speed segmented controller, the hierarchical controller can accurately track the expected speed sequence with the speed tracking error reduced by 60.1% and the acceleration standard deviation reduced by 39.4%. The target tracking accuracy of the brake control of the unmanned dual-motor electric drive tracked vehicle is improved.

刘佳 , 刘海鸥 , 陈慧岩 , 等 . 基于融合特征的无人履带车辆道路类型识别方法 [J ] . 兵工学报 , 2023 , 44 ( 5 ): 1267 - 1276 .

LIU J , LIU H O , CHEN H Y , et al . Road types identification method of unmanned tracked vehicles based on fusion features [J ] . Acta Armamentarii , 2023 , 44 ( 5 ): 1267 - 1276 . (in Chinese) DOI: 10.12382/bgxb.2022.0038 http://doi.org/10.12382/bgxb.2022.0038 Unmanned tracked vehicles often navigate challenging terrain, and incorporating road types as priori information for tasks such as suspension control, automatic gear decision, and path planning can enhance their performance. However, methods based on single-class features have limitations in accuracy and environmental adaptability. To overcome this, a road-type identification method based on fusion features is proposed, combining deep image features with the statistical features of vertical acceleration in time, frequency, and power spectral density domains. Machine learning classification algorithms are used to identify the road types. Compared to using single class of features, the proposed method using fusion features enriches image features and vertical acceleration features, and improves the accuracy and environmental adaptability. The response speed of the method based on fusion features is similar to that of the image-based methods. Five machine learning classification algorithms are compared. The results show that support vector machine and random forest are the most accurate and fastest classification algorithms, achieving over 90% accuracy with a speed of 14 frames per second.

张瑞增 , 龚建伟 , 陈慧岩 , 等 . 硬质路面条件下履带车辆转向模型分析及验证 [J ] . 兵工学报 , 2023 , 44 ( 1 ): 233 - 246 . DOI: 10.12382/bgxb.2021.0849 http://doi.org/10.12382/bgxb.2021.0849 履带车辆与地面之间的作用关系复杂，基于地面剪切位移的方法通常会用到对时间和位置的积分，模型较为复杂，无法直接应用到车辆的实时控制算法中。通常情况下，履带车辆转向分析会将接地压力看作连续线性分布或者多矩形分布，但是试验和计算结果均表明硬质土壤条件下，履带接地压力为多峰值分布，前述两种分布均不能体现接地压力的真实状态。本文针对上述问题，在前人研究的基础上，对履带接地压力分布进行求解，提出了履带车辆接地压力简化模型。该简化模型更符合硬质路面履带接地压力的真实状态，并被应用于履带车辆转向动力学分析与验证。利用J.Y.Wong提出的垂向负载-剪切位移变化关系解决了垂向压力变化的同时剪切位移计算的问题，提出了履带车辆转向分析模型（以下简称分析模型），试验结果表明该模型有较高的精度。但是其复杂度仍然较高，为了进一步简化模型，借鉴轮式车辆轮胎侧偏角和滑转率的概念，利用履带车辆履带-地面剪切位移关系推导了简化履带车辆动力学模型（以下简称简化模型）。该模型避免了复杂的积分或者求和，显著降低了履带车辆动力学模型的复杂度，能够应用于基于模型的无人驾驶履带车辆轨迹控制方法中，且模型精度接近前述履带车辆转向分析模型。

ZHANG R Z , GONG J W , CHEN H Y , et al . Turning model for tracked vehicles on hard ground: analysis and verification [J ] . Acta Armamentarii , 2023 , 44 ( 1 ): 233 - 246 . (in Chinese) DOI: 10.12382/bgxb.2021.0849 http://doi.org/10.12382/bgxb.2021.0849 The interaction between tracked vehicles and the ground is complex. In general, methods based on shear stress-shear displacement theory require the integration of time and position, which is complicated and rarely applied to real-time vehicle control algorithms. Turning analysis of tracked vehicles typically assumes that grounding pressure is uniformly or concentratedly distributed.However, the calculations and test results show that the track-ground pressure forms multiple peaks on hard ground. In view of the above problems, based on previous studies, this paper proposes a simplified model of track-ground pressure, which has good consistency with the actual track-ground pressure on hard road surfaces. The model is then applied to the dynamic analysis of tracked vehicle turning. The vertical pressure-shear displacement relationship proposed by J.Y.Wong is employed to calculate the shear displacement when the track-grounding pressure keeps changing. A steering discretized model for tracked vehicles is proposed, and the test results show that the model has high accuracy yet still high complexity. To further simplify the model, the concepts of wheeled vehicle tire slip angle and slip rate are used.Then, a simplified tracked vehicle dynamics model is derived by using the shear stress-shear displacement theory. It avoids complex integration or summation, and can be applied to model-based motion control methods. Besides, it is almost as accurate as the complex steering analysis model.

GONZALEZ R , APOSTOLOPOULOS D , LAGNEMMA K . Slippage and immobilization detection for planetary exploration rovers via machine learning and proprioceptive sensing [J ] . Journal of Field Robotics , 2018 , 35 ( 2 ): 231 - 247 .

YU Z , SADATI S M H , HAUSER H , et al . A semi-supervised reservoir computing system based on tapered whisker for mobile robot terrain identification and roughness estimation [J ] . IEEE Robotics and Automation Letters , 2022 , 7 ( 2 ): 5655 - 5662 .

张明路 , 王哲 , 李满宏 , 等 . 基于足端位置的六足机器人漫游地形感知与表征 [J ] . 机械工程学报 , 2021 , 57 ( 19 ): 48 - 60 . DOI: 10.3901/JME.2021.19.005 http://doi.org/10.3901/JME.2021.19.005 未知复杂地形的精准感知与量化表征长期制约着六足机器人运动性能与作业效能的本质提升。针对传统基于外部传感的地形感知与表征方法普遍存在的感知范围局限、感知精度不足、表征效果欠佳等突出问题，研究借鉴足式生物地形感知机理，充分利用足端与地形交替离散接触特性，创新提出基于足端位置的六足机器人漫游地形感知与表征方法。通过构建时变机体坐标系下足端位置解算模型，解决漫游地形无序足端序列坐标高效求取难题。基于足端序列的周期化处理与矢量化描述，建立基于周期足端位置状态的局部地形量化表征方法，间接构建时变机体位姿与局部地形间周期映射关系。系统分析相邻周期机体位姿间耦合约束与变换机制，建立基于机体位姿变换的全局形貌拓扑重构方法，以连续精准机体位姿作为参照实现周期映射局部地形的拓扑拼接。样机实验结果表明，基于足端位置的六足机器人地形感知与表征方法相比传统方法能够在无需增设外部观测传感器件条件下较为精准合理的量化表征不同特征局部地形，并实现漫游地形全局形貌的精准拓扑重构。

ZHANG M L , WANG Z , LI M H , et al . Terrain perception and representation of hexapod robot roaming based on foot position [J ] . Journal of Mechanical Engineering , 2021 , 57 ( 19 ): 48 - 60 . (in Chinese)

赵健 , 李雅欣 , 佟静 , 等 . 基于车辆动力学响应特征的越野地面分类方法 [J ] . 汽车工程 , 2022 , 44 ( 6 ): 909 - 918 .

ZHAO J , LI Y X , TONG J , et al . Off-road ground classification method based on vehicle dynamic response characteristics [J ] . Chinese Journal of Automotive Engineering , 2022 , 44 ( 6 ): 909 - 918 . (in Chinese)

OTSU K , ONO M , FUCHS T J , et al . Autonomousterrain classification with co-and self-training approach [J ] . IEEE robotics and automation letters , 2016 , 1 ( 2 ): 814 - 819 .

AL-DABBAGH A H A , RONSSE R . Using depth vision for terrain detection during active locomotion [C ] // Proceedings of 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems. Prague , Czech Republic : IEEE , 2021 : 508 - 515 .

CHEN Y , RASTOGI C , NORRIS W R . A CNN based vision-proprioception fusion method for robust UGV terrain classification [J ] . IEEE Robotics and Automation Letters , 2021 , 6 ( 4 ): 7965 - 7972 .

孟祥瑞 . 基于多线激光雷达的移动机器人环境感知与导航控制研究 [D ] . 北京 : 中国科学院大学 , 2018 .

MENG X R . Research on environment perception and navigation control of mobile robot based on multi-line lidar [D ] . Beijing : University of Chinese Academy of Sciences . (in Chinese)

张波 . 基于激光雷达的非结构化地形特征提取与表征 [D ] . 厦门 : 厦门大学 , 2016 .

ZHANG B . Extraction and characterization of unstructured terrain features based on lidar [D ] . Xiamen : Xiamen University , 2016 . (in Chinese)

刘明 , 荣学文 , 李贻斌 , 等 . 基于地形聚类分析的移动机器人速度自适应控制 [J ] . 吉林大学学报 (工学版) , 2021 , 51 ( 4 ): 1496 - 1505 .

LIU M , RONG X W , LI Y B , et al . Adaptive speed control of mobile robot based on terrain clustering analysis [J ] . Journal of Jilin University (Engineering Edition) , 2021 , 51 ( 4 ): 1496 - 1505 . (in Chinese)

WANG L , LEI T , SI J G , et al . Speed consensus control for a parallel six-wheel-legged robot on uneven terrain [J ] . ISA transactions , 2022 , 129 : 628 - 641 .

ÖZTÜRK B , SEZER V . A new speed planning method based on predictive curvature calculation for autonomous driving [J ] . Turkish Journal of Electrical Engineering and Computer Sciences , 2022 , 30 ( 4 ): 1555 - 1570 .

余嘉星 , 裴晓飞 , 过学迅 . 考虑路径平滑性和避撞稳定性的智能汽车弯道轨迹规划研究 [J ] . 汽车工程 , 2022 , 44 ( 5 ): 656 - 663 .

YU J X , PEI X F , GUO X X . Research on intelligent vehicle curve trajectory planning considering path smoothness and collision avoidance stability [J ] . Chinese Journal of Automotive Engineering , 2022 , 44 ( 5 ): 656 - 663 . (in Chinese)

王猛 , 陈珏璇 , 邓正兴 . 自动驾驶模糊神经网络速度规划方法 [J ] . 计算机工程与科学 , 2021 , 43 ( 11 ): 2011 .

WANG M , CHEN Y X , DENG Z X . Speed planning method of autopilot fuzzy neural network [J ] . Computer Engineering & Science , 2021 , 43 ( 11 ): 2011 . (in Chinese)

ARTUÑEDO A , VILLAGRA J , GODOY J . Jerk-limited time-optimal speed planning for arbitrary paths [J ] . IEEE Transactions on Intelligent Transportation Systems , 2021 , 23 ( 7 ): 8194 - 8208 .

KIM D , EO J S , KIM K K . Service-oriented real-time energy-optimal regenerative braking strategy for connected and autonomous electrified vehicles [J ] . IEEE Transactions on Intelligent Transportation Systems , 2021 , 23 ( 8 ): 11098 - 11115 .

SUN C , LENG J H , SUN F C . A fast optimal speed planning system in arterial roads for intelligent and connected vehicles [J ] . IEEE Internet of Things Journal , 2022 , 9 ( 20 ): 20295 - 20307 .

程金龙 , 冯莹 , 曹毓 , 等 . 车载激光雷达外参数的标定方法 [J ] . 光电工程 , 2013 , 40 ( 12 ): 89 - 94 .

CHEN J L , FEN Y , CAO Y , et al . Calibrationmethod of external parameters of vehicular lidar [J ] . Opto-Electronic Engineering , 2013 , 40 ( 12 ): 89 - 94 . (in Chinese)

HIMMELSBACH M , HUNDELSHAUSEN F V , WUENSCHE H J . Fast segmentation of 3D point clouds for ground vehicles [C ] // Proceedings of Intelligent Vehicles Symposium. La Jolla, CA , US : IEEE , 2010 .