WURTS J , STEIN J L , ERSAL T . Collision imminent steering at high speed using nonlinear model predictive control [J ] . IEEE Transactions on Vehicular Technology , 2020 , 69 ( 8 ): 8278 - 8289 . DOI: 10.1109/TVT.25 http://doi.org/10.1109/TVT.25 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=25 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=25

邓海鹏 , 麻斌 , 赵海光 , 等 . 自主驾驶车辆紧急避障的路径规划与轨迹跟踪控制 [J ] . 兵工学报 , 2020 , 41 ( 3 ): 585 - 594 . DOI: 10.3969/j.issn.1000-1093.2020.03.020 http://doi.org/10.3969/j.issn.1000-1093.2020.03.020 为减少道路突发事故，提高车辆通行效率，需要研究车辆的紧急避障以实现自主驾驶。基于车辆点质量模型，设计了非线性模型预测控制（MPC）路径规划器；基于车辆动力学模型，设计了线性时变MPC轨迹跟踪器。在路径规划层引入避障功能函数，通过车辆与障碍物的距离调节函数值大小，综合避障函数权重和路径偏差权重，规划出一条既能避开障碍物又使路径偏差最小的临时轨迹。在轨迹跟踪层，利用该临时轨迹和航向角偏差作为车辆主动转向控制参考量，将线性时变MPC优化问题转化为二次规划问题，计算满足车辆动力学约束的前轮转向角最优解。结果表明：所设计的双层MPC紧急避障控制策略对低速(60 km/h)、中速(80 km/h)、高速(100 km/h)行驶车辆有很强的适应性，高速行驶时最大质心侧偏角不超过1.0°，最大航向角偏差不超过2.5°，车辆横向稳定性良好，随着车速增大，车辆避障响应时刻提前；在多车连续避障场景中，自主驾驶车辆的质心侧偏角和航向角偏差均能控制在较小范围内，在多目标连续避障的路径规划和轨迹跟踪问题上同样具有很好的控制效果。

DENG H P , MA B , ZHAO H G , et al. Path planning and tracking control of autonomous vehicle for obstacle avoidance [J ] . Acta Armamentarii , 2020 , 41 ( 3 ): 585 - 594 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.03.020 http://doi.org/10.3969/j.issn.1000-1093.2020.03.020 Emergency obstacle avoidance is one of the key points for autonomous driving system. A path planning controller based on non-linear model predictive control and a path tracking controller based on linear time-varying model predictive control are designed.In path planning controller，an obstacle-avoiding function is used to adjust the distance between the intelligent vehicle and obstacles by calculating the value of obstacle-avoiding function.A new route is supposed to be planned，which can not only keep away from obstacles but also decrease the deviations from the global course，by considering the different weights of obstacle-avoiding function and the planning error. In path tracking controller，the solution of linear time-varying model predictive control is converted into a positive-definite quadratic program.And then the desired steering angles of front wheel are calculated by using the reference trajectory and orientation angle of vehicle center. The results show that the obstacle-avoiding controller has strong robustness and the path tracking controller has better performance in controlling accuracy and vehicle dynamics stability when a vehicle travels at 60 km/h，80 km/h，or 100 km/h. The maximal side-slip angle is no more than 1°，and the maximal deviation of yaw angle is less than 2.5°.Obstacle avoiding action occurs in advance with the increase in velocity of autonomous vehicle. In addition，the dual-MPC controller is adaptive to the circumstance of multi-obstacles avoidance as well，which can be easily demonstrated by the small deviation of yaw angles and small side-slip angles.Key

PEREIRA G C , LIMA P F , WHLBERG B , et al. Reference aware model predictive control for autonomous vehicles [C ] //Proceedings of 2020 IEEE Intelligent Vehicles Symposium (IV).Las Vegas, NV, US:IEEE , 2020 : 376 - 383 .

胡家铭 , 胡宇辉 , 陈慧岩 , 等 . 基于模型预测控制的无人驾驶履带车辆轨迹跟踪方法研究 [J ] . 兵工学报 , 2019 , 40 ( 3 ): 456 - 463 . DOI: 10.3969/j.issn.1000-1093.2019.03.002 http://doi.org/10.3969/j.issn.1000-1093.2019.03.002 无人驾驶履带车辆的轨迹跟踪面临着系统不确定性和外界干扰等难以克服的不利因素。针对这一问题，通过研究履带车辆的滑动转向特性，建立了基于瞬时转向中心的履带车辆运动学模型。同时，针对参考路径是离散路点序列的特点，提出了一种基于3次Bezier曲线的参考路径自适应拟合方法，在实现路径平滑基础上提供道路的曲率信息。考虑到模型不确定性和外界干扰对轨迹跟踪精度的影响，设计了基于模型预测控制的轨迹跟踪控制器，并引入反馈校正，系统地处理无人驾驶履带车辆建模误差、环境约束以及执行机构约束。实车试验结果表明，该方法可以有效地抑制系统不确性和外界干扰的影响，实现无人驾驶履带车辆高精度的轨迹跟踪控制。

HU J M , HU Y H , CHEN H Y , et al. Research ontrajectory tracking of unmanned tracked vehicles based on model predictive control [J ] . Acta Armamentarii , 2019 , 40 ( 3 ): 456 - 463 . (in Chinese)

ZHAO Z Y , LIU H O , CHEN H Y , et al. Kinematics-aware model predictive control for autonomous high-speed tracked vehicles under the off-road conditions [J ] . Mechanical Systems and Signal Processing , 2019 , 123 : 333 - 350 . DOI: 10.1016/j.ymssp.2019.01.005 http://doi.org/10.1016/j.ymssp.2019.01.005 https://linkinghub.elsevier.com/retrieve/pii/S0888327019300068 https://linkinghub.elsevier.com/retrieve/pii/S0888327019300068

PEREIDA K , SCHOELLIG A P . Adaptive model predictive control for high-accuracy trajectory tracking in changing conditions[C]//Proceedings of 2018 International Conference on Intelligent Robots and Systems(IROS) . Madrid, Spain:IEEE , 2018 : 7831 - 7837 .

YUAN X , HUANG G Y , SHI K . Improved adaptive path following control system for autonomous vehicle in different velocities [J ] . IEEE Transactions on Intelligent Transportation Systems , 2019 , 21 ( 8 ): 3247 - 3256 . DOI: 10.1109/TITS.6979 http://doi.org/10.1109/TITS.6979 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

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.

WANG Y , JIANG S , LIN W M , et al. A learning-based tune-free control framework for large scale autonomous driving system deployment: arXiv:2011.04250 [R/OL ] . Ithaca, NY, US: Cornell University , 2020 (2020-11-09). https://arxiv.org/abs/2011.04250. https://arxiv.org/abs/2011.04250. https://arxiv.org/abs/2011.04250.

刘凯 , 陈慧岩 , 龚建伟 , 等 . 高速无人驾驶车辆的操控稳定性研究 [J ] . 汽车工程 , 2019 , 41 ( 5 ): 514 - 521 .

LIU K , CHEN H Y , GONG J W , et al. Aresearch on handling stability of high-speed unmanned vehicles [J ] . Automotive Engineering , 2019 , 41 ( 5 ): 514 - 521 . (in Chinese)

赵新 , 纪永祥 , 罗熙斌 , 等 . 基于改进粒子群优化算法的近炸引信最佳炸高计算方法 [J ] . 兵工学报 , 2021 , 42 ( 5 ): 924 - 929 .

ZHAO X , JI Y X , LUO X B , et al. Computation method for the optimal burst height of proximity fuze based on improved particle swarm optimization algorithm [J ] . Acta Armamentarii , 2021 , 42 ( 5 ): 924 - 929 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.05.004 http://doi.org/10.3969/j.issn.1000-1093.2021.05.004 The timely detonation of warhead with proximity fuze is related to whether it can effectively attack and destroy a target. The optimal coordination relationship of fuze and warhead is proposed. A mathematical model of warhead power is established. The relationship between related parameters is analyzed using the particle swarm optimization algorithm, and the inertia weight is dynamically updated using the Euler distance method. An improved particle swarm optimization algorithm was presented and applied to the mathematical model to obtain the calculation model of warhead power in fuze-warhead coordination. Through simulation experiments, the relationship among lethal area, burst height and falling angle was obtained, the best power conditions for fuze-warfare coordination were determined, and the maximum lethal area, the corresponding interval of 90% lethal area and the corresponding burst height were calculated. The results show that the proposed method has higher calculation accuracy of the maximum lethal area than the traditional method, and has faster convergence speed than the particle swarm optimization algorithm, which can better meet the speed calculation requirements for the range test and tactical fied firing.

谭顿 , 陶建峰 , 王旭永 . 基于改进粒子群算法的双液压马达同步控制策略 [J ] . 机械工程学报 , 2020 , 56 ( 16 ): 254 - 261 . DOI: 10.3901/JME.2020.16.254 http://doi.org/10.3901/JME.2020.16.254 为提高双液压马达同步控制系统的同步控制精度，消除由于两组阀控马达系统的差异导致的同步误差，提出采用压力反馈的共反馈同步误差校正同步控制策略。同时采用一种改进的粒子群优化算法用于寻找同步控制系统的最优PID控制系数。这种改进的粒子群算法引入遗传算法中的交叉和变异操作提高传统粒子群算法的寻优性能。在考虑传动轴刚度的情况下，建立双液压马达同步控制系统的数学模型。进一步的仿真与试验结果表明，基于压力反馈的同步控制与改进的粒子群算法相结合的复合控制策略，能有效减小系统系统超调与同步控制误差，提升系统响应速度。研究成果为改善粒子群算法的寻优性能以及提升马达同步控制系统的动态响应性能与稳态精度提供了理论指导。

TAN D , TAO J F , WANG X Y . Synchronouscontrol strategy of dual hydraulic motors based on improved particle swarm optimization algorithm [J ] . Journal of Mechanical Engineering , 2020 , 56 ( 16 ): 254 - 261 . (in Chinese) DOI: 10.3901/JME.2020.16.254 http://doi.org/10.3901/JME.2020.16.254 In order to improve the precision of synchronous control of dual hydraulic motor synchronous drive system and eliminate the synchronization error caused by the difference between the two groups of valve control motor system, a common feedback synchronization error correction synchronization control strategy based on pressure feedback is proposed. Meanwhile, an improved particle swarm optimization (IPSO) algorithm is used to obtain the optimal PID control coefficient of the synchronous control system. The proposed IPSO algorithm is a composite with the addition of crossover and mutation operations in the genetic algorithm to enhance the optimization performance of the algorithm. Taken the stiffness of the drive shaft into account, the mathematical model of the dual hydraulic motor synchronous drive system is established. Further simulation and experiment results show that the above pressure feedback-based synchronous control strategy combined with IPSO algorithm effectively reduces the overshoot and the synchronization error of system and improves the system response speed, which provides theoretical guidance for enhancing the optimization performance of particle swarm optimization algorithm and improving the dynamic response performance and steady-state accuracy of motor synchronous drive system.

HE H W , SHI M , LI J W , et al. Design and experiential test of a model predictive path following control with adaptive preview for autonomous buses [J ] . Mechanical Systems and Signal Processing , 2021 , 157 : 107701 . DOI: 10.1016/j.ymssp.2021.107701 http://doi.org/10.1016/j.ymssp.2021.107701 https://linkinghub.elsevier.com/retrieve/pii/S0888327021000960 https://linkinghub.elsevier.com/retrieve/pii/S0888327021000960

刘海鸥 , 卢佳兴 , 彭建鑫 , 等 . 基于决策树算法的AMT挂挡过程冗余控制研究 [J ] . 北京理工大学学报 , 2022 , 42 ( 1 ): 63 - 73 .

LIU H O , LU J X , PENG J X , et al. Research on redundant control of AMT system gear shifting process based on decision tree algorithm [J ] . Transactions of Beijing Institute of Technology , 2022 , 42 ( 1 ): 63 - 73 . (in Chinese)

高玉波 , 张伟 , 李达诚 , 等 . 基于反向传播神经网络的陶瓷损伤参数反演分析 [J ] . 兵工学报 , 2018 , 39 ( 1 ): 146 - 152 . DOI: 10.3969/j.issn.1000-1093.2018.01.016 http://doi.org/10.3969/j.issn.1000-1093.2018.01.016 陶瓷材料冲击加载条件下的损伤累积过程伴随着裂纹扩展、体积膨胀等因素，为准确获取陶瓷损伤参数，以钨合金球弹丸高速撞击陶瓷复合装甲的侵彻深度实验为基础，获得了陶瓷面板破碎情况。根据现有文献\[14\]数据中陶瓷材料JH-II本构模型的损伤参数范围，确定了反向传播(BP)神经网络的样本点；采用有限元分析软件AUTODYN对所有样本点的侵彻过程进行数值模拟，结合仿真和实验数据完成了BP神经网络模型的建立和TiB₂-B₄C复合材料损伤参数的反演。仿真结果和实验侵彻深度、回收陶瓷面板的损伤比对，充分验证了所建立的BP神经网络模型对陶瓷损伤参数反演的有效性。

GAO Y B , ZHANG W , LI D C , et al. Reversion analysis of ceramic damage based on back propagation neural network [J ] . Acta Armamentarii , 2018 , 39 ( 1 ): 146 - 152 . (in Chinese)

牛江川 , 韩利涛 , 李素娟 , 等 . 基于PSO-BP神经网络的盾构刀具配置研究 [J ] . 机械工程学报 , 2018 , 54 ( 10 ): 167 - 172 . DOI: 10.3901/JME.2018.10.167 http://doi.org/10.3901/JME.2018.10.167 盾构刀具在盾构机掘进过程中起着关键的作用，其配置选型是否合理决定着工程的成败。为了对盾构刀具进行合理的配置，根据盾构刀具的配置原则，针对盾构刀具配置的地质适用性，在粒子群优化算法（Particle swarm optimization，PSO）与神经网络算法（Back propagation，BP）的基础上提出智能配置方法。建立地质条件与盾构刀具类型之间的关系模型，并利用成功的盾构施工案例作为样本数据对该模型进行训练，训练后可以利用模型智能推荐盾构刀具配置方案。利用工程案例进行测试分析，将测试结果与实际配置方案进行对比，并与BP神经网络测试结果进行比较。测试结果表明，基于PSO-BP神经网络算法不但能够很好地实现盾构刀具配置方案的合理推荐，并且在计算精度和训练时间两个方面PSO-BP神经网络算法比BP神经网络算法都有显著提高。

NIU J C , HAN L T , LI S J , et al. Research on shield cutting tool configuration based on PSO-BP neural network [J ] . Journal of Mechanical Engineering , 2018 , 54 ( 10 ): 167 - 172 . (in Chinese) DOI: 10.3901/JME.2018.10.167 http://doi.org/10.3901/JME.2018.10.167 Shield cutting tools play a key role in the process of shield machine tunneling, and its reasonable configuration selection affects the success of the project. For the reasonable configuration and the geological applicability of shield cutting tools, an intelligent configuration method based on PSO-BP neural network hybrid algorithm is put forward, where the configuration principle of shield cutting tools is considered. The successful shield construction cases are used as sample data to train the relationship model, which is established between geological conditions and the types of shield cutting tools. And the trained model can achieve intelligent recommendation for the configuration scheme of shield cutting tools. The trained model is tested by engineering case, and the test result is compared with the actual configuration scheme. The test results show that, the PSO-BP neural network algorithm can not only achieve the reasonable recommendation on configuration scheme of shield cutting tools, but also it has significant improvement compared with the BP neural network algorithm in two aspects of calculation accuracy and training time.

熊光明 , 鲁浩 , 郭孔辉 , 等 . 基于滑动参数实时估计的履带车辆运行轨迹预测方法研究 [J ] . 兵工学报 , 2017 , 38 ( 3 ): 600 - 607 . DOI: 10.3969/j.issn.1000-1093.2017.03.025 http://doi.org/10.3969/j.issn.1000-1093.2017.03.025 要实现履带车辆的无人驾驶，在轨迹规划阶段需要准确预测其未来一段时间内的运动轨迹，然而履带与地面之间的滑动使车辆运动轨迹的准确预测变得非常困难。通过研究转向过程中履带接地段的运动，建立基于瞬时转向中心的履带车辆运动学模型。针对车辆的相对位姿是滑动参数的泛函，雅可比矩阵难以求解的问题，通过对泛函微分方程线性化，推导了雅可比矩阵的解析解。根据车辆相对位置计算值和测量值的差值，运用Levenberg-Marquardt算法迭代求解滑动参数，并结合给定控制序列预测未来一段时间内车辆的运动轨迹。该方法不需要提前知道土壤参数，并且能够实时估计滑动参数，以适应路面变化。实车试验结果表明，与传统轨迹预测方法相比，利用该方法预测车辆轨迹时，车辆位置偏差减少30%以上。

XIONG G M , LU H , GUO K H , et al. Research on trajectory prediction of tracked vehicles based on real time slip estimation [J ] . Acta Armamentarii , 2017 , 38 ( 3 ): 600 - 607 . (in Chinese)

王红岩 , 陈冰 , 芮强 , 等 . 集中载荷作用下的履带车辆稳态转向分析与试验 [J ] . 兵工学报 , 2016 , 37 ( 12 ): 2196 - 2204 . DOI: 10.3969/j.issn.1000-1093.2016.12.003 http://doi.org/10.3969/j.issn.1000-1093.2016.12.003 为了研究集中载荷条件下履带车辆稳态转向性能，提高转向模型精度，分析了履带张力对接地压力分布的影响，推导履带车辆接地压力分布计算模型。运用履带与土壤之间的剪切应力-剪切位移关系推导新的转向动力学模型，建立相应的动力学方程组并求解。分析了履带宽度和履带张力引起的接地压力变化对稳态转向运动学和动力学参数的影响，并通过实车试验测试对分析结果进行验证。结果表明，理论计算结果与试验数据有很好的一致性，验证了该模型的正确性。

WANG H Y , CHEN B , RUI Q , et al. Analysis and experiment of steady-state steering of tracked vehicle under concentrated load [J ] . Acta Armamentarii , 2016 , 37 ( 12 ): 2196 - 2204 . (in Chinese)

王博洋 , 龚建伟 , 张瑞增 , 等 . 基于真实驾驶数据的运动基元提取与再生成 [J ] . 机械工程学报 , 2020 , 56 ( 16 ): 155 - 165 . DOI: 10.3901/JME.2020.16.155 http://doi.org/10.3901/JME.2020.16.155 类人驾驶系统是通过学习人类驾驶员知识与经验来提升无人驾驶系统适用性与接受度的重要技术途径。为解决驾驶员轨迹和操控层面经验的表述问题，以采集得到的大量真实驾驶数据为依托，提出一种基于轨迹基元与操控基元的分层式驾驶员经验表述模型。轨迹基元以动态运动基元算法进行表征，并由概率提取算法完成基元从无标签连续轨迹数据中的分割提取。操控基元在轨迹基元的提取分类结果上，利用高斯混合模型完成基元的训练，并利用高斯回归算法完成转向操控序列的预测。结果表明，概率提取算法既利用到了表征与提取之间的相互关联关系，又借助于初始分割点的合理设置，提升了算法的效率并使得提取得到的运动基元符合特定的驾驶假设。此外，所提出的运动基元既能以较高精度完成对驾驶员轨迹和操控层面数据的表征，又具备良好的泛化能力以应对运动基元再生成时在期望位置和时间尺度上的变化需求。最终构建了描述全工况驾驶行为的运动基元库，并大幅提升了运动基元应对不同行车环境时的适用性。

WANG B Y , GONG J W , ZHANG R Z , et al. Motion primitives extraction and regeneration based on real driving data [J ] . Journal of Mechanical Engineering , 2020 , 56 ( 16 ): 155 - 165 . (in Chinese) DOI: 10.3901/JME.2020.16.155 http://doi.org/10.3901/JME.2020.16.155 The human-like driving system is an essential technical way to improve the applicability and acceptance of an unmanned driving system by learning the knowledge and experience of human drivers. In order to solve the driving skills representation problem at trajectory and control level, by utilizing a large amount of collected real driving data, a hierarchical driver model based on trajectory primitives and operation primitives is proposed. The trajectory primitives are represented by the dynamic movement primitive, and the probabilistic extraction algorithm is applied to extract primitives from the unlabeled continuous trajectory data. The operation primitives use the Gaussian mixture model to complete the training process based on the extraction and classification results of the trajectory primitives. The Gaussian mixture regression(GMR) algorithm is applied to predict the steering angle. The results show that the probabilistic extraction algorithm not only utilizes the correlation between representation and extraction but also uses the reasonable setting of the initial segmentation point, which improves the efficiency of the algorithm and makes the extracted motion primitives conform to specific driving assumptions. The proposed motion primitives can not only represent the driver's driving data with high precision but also have good generalization ability to deal with the desired position and time duration change when the motion primitives are regenerated. Finally, the motion primitive library describing the driving behavior under all conditions is established, and the applicability of the motion primitives to different driving situations is significantly improved.

GUAN H J , WANG B Y , WEI J M , et al. Generation and selection of driver-behavior-based transferable motion primitives [J ] . Chinese Journal of Mechanical Engineering volume , 2022 , 35 : 9 .