Starting control method for driverless caterpillar

A technology of unmanned driving and control method, which is applied to control devices, vehicle components, input parameters of external conditions, etc., can solve problems such as starting control of crawler vehicles that are not involved, and achieve the effect of reducing sliding and grinding power and improving working life.

Active Publication Date: 2017-06-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Application Information

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Problems solved by technology

[0007] In view of the above analysis, the present invention aims to provide a starting control method of unmanned tracked vehicles, in order to solve the problem of starting control of tracked vehicles that is not involved in the prior art

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  • Starting control method for driverless caterpillar
  • Starting control method for driverless caterpillar
  • Starting control method for driverless caterpillar

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Embodiment Construction

[0055] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0056] A specific embodiment of the present invention discloses a starting control method of an unmanned tracked vehicle, such as figure 1 , including the following steps:

[0057] Step S1. Collect the driving parameters of the unmanned tracked vehicle, and calculate the slope of the slope and the real-time heading of the vehicle on the slope; obtain the planning parameters of the host computer planning system.

[0058]The driving parameters of the above-mentioned unmanned tracked vehicle include vehicle body attitude angle, vehicle speed, vehicle heading, etc., and the vehicle body attitude angle further includes heading angle, pitch angle and roll ang...

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Abstract

The invention relates to a starting control method for a driverless caterpillar. The method comprises the steps that driving parameters of the driverless caterpillar are collected, the ramp slope and real-time ramp heading of the caterpillar on a ramp are calculated, and planning parameters of an upper computer planning system are obtained; on the basis of the collected driving parameters and the obtained planning parameters in the last step, autonomous recognition of starting working conditions is conducted; according to the autonomously recognized starting working conditions, corresponding starting control strategies are adopted for conducting starting of the caterpillar. An autonomous recognition method for the three working conditions of flat ground starting, in-situ steering starting and ramp starting is provided, starting control strategies corresponding to the three working conditions are provided, the slipping frictional power of a clutch is reduced in the control method, and the service life is prolonged. Accordingly, the starting problem of the driverless caterpillar is solved, the driverless demand of the caterpillar can be met, and the maneuverability of the caterpillar is brought into full play.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a starting control method of an unmanned crawler vehicle. Background technique [0002] Unmanned vehicles have entered a stage of rapid development. The control technology of unmanned vehicles can be divided into two types: passenger vehicles and special vehicles. Most scientific researchers and technicians have conducted research on the control technology of self-driving passenger vehicles, forming a research system for accelerator / brake control based on the traditional gasoline engine plus AT transmission / DCT transmission power transmission system. The research in this area has been fruitful, and various control algorithms have achieved good results on the basis of continuous improvement. [0003] With regard to the control technology of the automatic clutch, most researchers have used the AMT system as a platform to conduct research on the clutch automatic control te...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/06B60W10/02B60W40/10B60W40/105B60W40/076B60W50/00
CPCB60W10/02B60W10/06B60W40/076B60W40/10B60W40/105B60W50/00B60W2050/0043B60W2520/10B60W2520/14B60W2520/16B60W2552/15B60W2710/021B60W2710/0611
Inventor 翟涌周陆杰李嘉文
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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