基于无人驾驶单流传动的中型履带车辆大坡道起步控制

为解决基于二级行星转向机速差转向的无人驾驶履带车辆坡道起步控制问题，对该类型车辆的起步过程进行分析，提出一种无人驾驶履带车辆的协调自动起步控制策略，并进行了实车验证。控制策略包括车辆起步负载的获取与计算，起步过程中发动机、操纵杆控制策略和车辆起步控制流程。在大坡道（≥15°的坡道）起步的情况下，利用双侧二级行星转向机进行起步，减少起步过程中摩擦元件的磨损，避免起步过程中发动机熄火，减少或者避免车辆“倒溜”现象的发生。控制策略通过无人驾驶履带车辆自身装备的环境感知设备和电子地图信息对车辆当前状态进行准确估计，生成发动机转速等初始坡道起步控制参量。对起步过程中操纵杆动作进行聚类分析，确定操纵杆第一位置敏感区域和非敏感区域的分界面，对不同区域进行针对性控制。依据试验数据确定发动机初始转速，制定控制规则。实车试验结果表明，上述控制算法能够有效保证无人驾驶二级行星转向机的履带车辆坡道起步成功率。

Hill-start Control of a Medium Unmanned Tracked Vehicle with Single Circulating Moving

In order to solve the hill-start control problem of a medium unmanned tracked vehicle with second-order planetary steering, the starting process of this type of tracked vehicle is analyzed, and an automatic starting control strategy is proposed to solve the problem above，and the real car verification is performed. The control strategy includes the acquisition and calculation of vehicle starting load, and the engine and joystick control strategy and vehicle starting control flow during starting. Under the condition of a large slope（greater than or equal to 15°）, the second-order planetary steering system is used to reduce the abrasion of friction components and vehicle slip in the process of hill starting, and avoid the engine flameout. The control strategy is used to estimate the current state of vehicle through vehicle-mounted environmental sensing device and electronic map information, and generate the starting control parameters. The interface between the sensitive area and non-sensitive area at the first position of joystick is determined by the cluster analysis, and then the targeted control of the two areas is conducted. The initial engine speed and control rules are determined based on the experimental data. Experimental results show that the control algorithm can effectively make sure the hill-start success rate of the test platform.