CN113859233A - Track keeping method under steering and braking conditions of two-side independent electrically-driven crawler - Google Patents

Track keeping method under steering and braking conditions of two-side independent electrically-driven crawler Download PDF

Info

Publication number
CN113859233A
CN113859233A CN202111103559.3A CN202111103559A CN113859233A CN 113859233 A CN113859233 A CN 113859233A CN 202111103559 A CN202111103559 A CN 202111103559A CN 113859233 A CN113859233 A CN 113859233A
Authority
CN
China
Prior art keywords
vehicle
target
speed
vehicle speed
deceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111103559.3A
Other languages
Chinese (zh)
Other versions
CN113859233B (en
Inventor
赵坤
张前
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Yingtuo Power Technology Co Ltd
Original Assignee
Jiangsu Yingtuo Power Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Yingtuo Power Technology Co Ltd filed Critical Jiangsu Yingtuo Power Technology Co Ltd
Priority to CN202111103559.3A priority Critical patent/CN113859233B/en
Publication of CN113859233A publication Critical patent/CN113859233A/en
Application granted granted Critical
Publication of CN113859233B publication Critical patent/CN113859233B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/44—Tracked vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

The invention provides a track keeping method under the steering and braking conditions of a bilateral independent electrically-driven crawler, which comprises the following steps of: monitoring the curvature of a running path of the target tracked vehicle; monitoring the curvature of a running path and the running speed of the tracked vehicle after deceleration; determining the inner side vehicle speed after deceleration and the outer side vehicle speed after deceleration; determining a target inside vehicle speed and a target outside vehicle speed; determining the inner and outer side torques according to a variable parameter PI method based on the difference value between the inner and outer side speeds after the speed reduction of the tracked vehicle and the target inner and outer side speeds; controlling the tracked vehicle based on the determined inboard and outboard torques. The running curvature is adjusted in a closed-loop control mode, and the torques of the driving motors on the two sides are controlled to be involved in the steering braking working condition. Under the working condition of steering and braking, the bilateral independent electrically-driven tracked vehicle utilizes the motor torque compensation to keep the running track consistent with that before deceleration, effectively assists a driver in running and improves the driving smoothness.

Description

Track keeping method under steering and braking conditions of two-side independent electrically-driven crawler
Technical Field
The invention relates to the field of control methods of tracked vehicles, in particular to a track keeping method under the steering and braking conditions of a bilateral independent electrically-driven tracked vehicle.
Background
Under the steering working condition, if the speed of the crawler of the bilateral independent electrically-driven crawler is reduced by braking, the crawler cannot run according to a preset track, namely the running curvature of the crawler changes under the braking working condition, which is not in accordance with the expectation that a driver only reduces the speed of the crawler and does not change the running track.
In summary, how to make the crawler of the dual-side independent electrically driven crawler travel according to the predetermined track under the working condition of steering and braking is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a track maintaining method for a dual-side independent electrically driven tracked vehicle under a steering braking condition, so that the tracked vehicle travels according to a predetermined track under the steering braking condition.
In order to achieve the above purpose, the invention provides the following technical scheme:
the track keeping method under the steering and braking conditions of the double-side independent electrically-driven crawler comprises the following steps of:
monitoring the curvature of a running path of the target tracked vehicle;
monitoring the curvature of a traveling path of the tracked vehicle after deceleration;
determining a running vehicle speed and determining an inner side vehicle speed after deceleration and an outer side vehicle speed after deceleration;
determining a target inside vehicle speed and a target outside vehicle speed;
determining the inner and outer side torques according to a variable parameter PI method based on the difference value between the inner and outer side speeds after the speed reduction of the tracked vehicle and the target inner and outer side speeds;
controlling the tracked vehicle based on the determined inboard and outboard torques.
In some preferred embodiments, the curvature of the travel path of the target tracked vehicle is monitored and the inside vehicle speed and the outside vehicle speed of the target tracked vehicle are determined, specifically:
and under the steering working condition, when the brake pedal is pressed down, the curvature of the traveling path of the tracked vehicle is recorded as the curvature of the traveling path of the target tracked vehicle.
In some preferred embodiments, determining the post-deceleration inboard actual vehicle speed and the post-deceleration outboard actual vehicle speed is specifically:
according to the expression: v. ofOuter cover=（1/ρ+B/2）*v/(1/ρ)；vInner part=（1/ρ-B/2）*v/(1/ρ)
Determining the post-deceleration outboard vehicle speed vOuter coverAnd the inner vehicle speed v after decelerationInner partAnd the rho is the curvature of the traveling path of the decelerated tracked vehicle, the B is the center distance of the tracks, and the v is the traveling vehicle speed.
In some preferred embodiments, with the pre-deceleration running curvature as the target, determining the post-deceleration inside target vehicle speed and the post-deceleration outside target vehicle speed is specifically:
according to the expression: v'Outer cover=（1/ρ0+B/2）*v/(1/ρ0)；v′Inner part=（1/ρ0-B/2）*v/(1/ρ0)
Determining a target outside vehicle speed v'Outer coverAnd target inside vehicle speed v'Inner partWhere ρ is0The curvature of a running path of the target tracked vehicle is shown, B is the center distance of the tracks, and v is the running speed.
In some preferred embodiments, the difference between the vehicle speeds at the inner and outer sides of the steering is determined as follows, based on the actual vehicle speed at the inner and outer sides of the steering and the target vehicle speed: according to the expression:
△outer cover= vExternal medicine v′Outer cover=（ρ-ρ0）*BV/2; △Inner part= vInner wall material v′Inner part=（ρ0-ρ）*BV/2
Determining the difference between the outboard speed and the target speed ΔOuter coverAnd difference between inboard speed and target speed ΔInner part，vOuter coverFor outside vehicle speed and v after decelerationInner partFor the inner side speed after deceleration，v′Outer coverIs target outside vehicle speed and is v'Inner partTarget inside vehicle speed，ρ0And p is the curvature of the running path of the tracked vehicle after speed reduction, v is the running vehicle speed, B is the center distance of the track, and v is the running vehicle speed.
In some preferred embodiments, the inner and outer side torques are determined based on the difference between the inner and outer side vehicle speeds after the tracked vehicle is decelerated and the target inner and outer side vehicle speeds and the inner and outer side vehicle speeds after the tracked vehicle is decelerated according to a variable parameter PI method, specifically:
according to the expression:
Touter cover=Kp(vOuter cover) △Outer cover+ Ki(vOuter cover)∫△Outer coverdt; TInner part= Kp(vInner part) △Inner part+ Ki(vInner part)∫△Inner partdt；
Determining the outboard torque TOuter coverAnd inboard side torque TInner partWherein v isOuter coverFor outside vehicle speed and v after decelerationInner partFor the inner side speed after deceleration，△Outer coverIs the difference between the outside speed and the target speed, ΔInner partThe difference between the inner side speed and the target speed is obtained, Kp is a proportional parameter to be set, Ki is an integral coefficient to be set, and t is time.
The invention has the advantages that:
the running curvature is adjusted in a closed-loop control mode, and the torques of the driving motors on the two sides are controlled to be involved in the steering braking working condition. Under the working condition of steering and braking, the crawler of the bilateral independent electrically-driven crawler keeps the running track consistent with that before deceleration by using the torque compensation of the motor, effectively assists a driver in running and improves the driving smoothness.
Drawings
FIG. 1: the invention provides a flow chart of a track keeping method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the track maintaining method under the steering braking condition of the two-side independent electrically-driven tracked vehicle comprises the following steps:
monitoring the curvature of a running path of the target tracked vehicle;
monitoring the curvature of a running path and the running speed of the tracked vehicle after deceleration;
determining the inner side vehicle speed after deceleration and the outer side vehicle speed after deceleration;
determining a target inside vehicle speed and a target outside vehicle speed;
determining the inner and outer side torques according to a variable parameter PI method based on the difference value between the inner and outer side speeds after the speed reduction of the tracked vehicle and the target inner and outer side speeds;
controlling the tracked vehicle based on the determined inboard and outboard torques.
It is noted that in the sense of the present invention, a determination is a determination and a calculation from a relationship. And the steps of determining the inner side vehicle speed after deceleration and the outer side vehicle speed after deceleration and determining the target inner side vehicle speed and the target outer side vehicle speed are not in sequence.
The bilateral independent electrically driven tracked vehicle is independently driven by a left motor and a right motor; under the working condition of steering braking, the motor does not provide driving torque, and the hydraulic braking system provides the same braking torque for the crawler belts on the two sides; this results in a reduction in vehicle speed while also changing the curvature of travel and thus the travel path. The running curvature is adjusted by adopting a closed-loop control mode, the torques of the driving motors on two sides are controlled, the torques of the driving motors are involved in the steering braking working condition, and the running track is corrected.
Further, the curvature of the running path of the target crawler is monitored, and the inside vehicle speed and the outside vehicle speed of the target are determined, specifically:
and under the steering working condition, when the brake pedal is pressed down, the curvature of the traveling path of the tracked vehicle is recorded as the curvature of the traveling path of the target tracked vehicle. According to the embodiment of the invention, the brake pedal signal monitoring module is used for monitoring the time point when the brake pedal is stepped on, feeding the time point back to the running path curvature monitoring module and recording the running path curvature of the tracked vehicle at the time.
Under the steering condition, the curvature of the running path of the tracked vehicle when the brake pedal is stepped is the curvature of the running path of the tracked vehicle when the braking starts, the curvature is marked as the curvature of the running path of the target tracked vehicle, and the curvature of the running path of the target tracked vehicle is adjusted to keep the front and the back of the braking unchanged, so that the running track before and after the braking is not changed.
Further, determining the post-deceleration inside vehicle speed and the post-deceleration outside vehicle speed specifically includes:
according to the expression: v. ofOuter cover=（1/ρ+B/2）*v/(1/ρ)；vInner part=（1/ρ-B/2）*v/(1/ρ)
Determining the post-deceleration outboard vehicle speed vOuter coverAnd the inner vehicle speed v after decelerationInner partAnd the rho is the curvature of the traveling path of the decelerated tracked vehicle, the B is the center distance of the tracks, and the v is the traveling vehicle speed.
Further, determining the post-deceleration inside vehicle speed and the post-deceleration outside vehicle speed specifically includes:
according to the expression: v'Outer cover=（1/ρ0+B/2）*v/(1/ρ0)；v′Inner part=（1/ρ0-B/2）*v/(1/ρ0)
Determining a target outside vehicle speed v'Outer coverAnd target inside vehicle speed v'Inner partWhere ρ is0The curvature of a running path of the target tracked vehicle is shown, B is the center distance of the tracks, and v is the running speed.
Further, calculating the difference between the speed of the crawler at the inner side and the speed at the outer side of the turning direction and the target speed:
△outer cover= vExternal medicine v′Outer cover=（ρ-ρ0）*BV/2; △Inner part= vInner wall material v′Inner part=（ρ0-ρ）*BV/2
When delta isOuter coverOr deltaInner partWhen the speed is more than 0, the corresponding side crawler belt needs to be controlled to decelerate; when delta isOuter coverOr deltaInner partWhen the inner diameter is less than 0, the corresponding side crawler belt needs to be controlled to accelerate.
Determining the inner and outer side torques according to a variable parameter PI method based on the difference value between the inner and outer side speeds of the tracked vehicle after being decelerated and the target inner and outer side speeds,
according to the expression:
Touter cover=Kp(vOuter cover) △Outer cover+ Ki(vOuter cover)∫△Outer coverdt; TInner part= Kp(vInner part) △Inner part+ Ki(vInner part)∫△Inner partdt；
Determining the outboard torque TOuter coverAnd inboard side torque TInner partKp is a proportional parameter to be set, Ki is an integral coefficient to be set, and t is time, in particular the time of torque control intervention of the patent after the brake is stepped on. Wherein KpAnd KiIs at the same speed asThe function related to the degree is determined in the actual debugging process, and a corresponding torque set value can be output through the variable parameter PI regulator.
The above description of the embodiments is only intended to facilitate the understanding of the method of the invention and its core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (6)

1. The track keeping method under the steering and braking conditions of the double-side independent electrically-driven crawler is characterized by comprising the following steps of:
monitoring the curvature of a running path of the target tracked vehicle;
monitoring the curvature of a running path and the running speed of the tracked vehicle after deceleration;
determining the inner side vehicle speed after deceleration and the outer side vehicle speed after deceleration;
determining a target inside vehicle speed and a target outside vehicle speed;
determining the inner and outer side torques according to a variable parameter PI method based on the difference value between the inner and outer side speeds after the speed reduction of the tracked vehicle and the target inner and outer side speeds;
controlling the tracked vehicle based on the determined inboard and outboard torques.
2. The track keeping method for the double-side independent electrically-driven crawler vehicle under the steering braking condition according to claim 1, wherein the curvature of the traveling path of the target crawler vehicle is monitored, and the target inner vehicle speed and the target outer vehicle speed are determined, specifically:
and under the steering working condition, when the brake pedal is pressed down, the curvature of the traveling path of the tracked vehicle is recorded as the curvature of the traveling path of the target tracked vehicle.
3. The track keeping method for the double-side independent electrically-driven and double-side independent electrically-driven crawler vehicle under the steering braking condition according to claim 1, wherein the determination of the actual speed of the inner side after the deceleration and the actual speed of the outer side after the deceleration is specifically:
according to the expression: v out = (1/ρ + B/2) × v/(1/ρ); v inner = (1/rho-B/2) × v/(1/rho)
And determining the outside vehicle speed v outside after the deceleration and the inside vehicle speed v inside after the deceleration, wherein rho is the curvature of the traveling path of the tracked vehicle after the deceleration, B is the center distance of the track, and v is the traveling vehicle speed.
4. The track keeping method for the steering brake condition of the double-side independent electrically-driven crawler vehicle according to claim 1, wherein the target curvature of the traveling vehicle before deceleration is determined as follows:
according to the expression: v' out = (1/ρ 0+ B/2) × v/(1/ρ 0); v' In = (1/rho 0-B/2) × v/(1/rho 0)
And determining the outside of the target outside vehicle speed v 'and the inside of the target inside vehicle speed v', wherein rho 0 is the curvature of the running path of the target tracked vehicle, B is the center distance of the tracks, and v is the running vehicle speed.
5. The track keeping method under the steering brake condition of the double-side independent electrically-driven crawler vehicle according to claim 1, wherein the difference value of the vehicle speeds at the inner side and the outer side of the steering is determined according to the actual vehicle speed at the inner side and the outer side of the steering and the target vehicle speed as follows: according to the expression:
extraΔ = extrav-extrav = (ρ - ρ 0) × BV/2, intraΔ = endov-endov = (ρ 0- ρ) × BV/2
Determining the difference delta-outer between the outside speed and the target speed and the difference delta-inner between the inside speed and the target speed, wherein veout is the outside vehicle speed after deceleration and vein is the inside vehicle speed after deceleration, veout is the target outside vehicle speed and vein is the target inside vehicle speed, rho 0 is the curvature of the running path of the target tracked vehicle, rho is the curvature of the running path of the tracked vehicle after deceleration, v is the running vehicle speed, B is the center distance of the track, and v is the running vehicle speed.
6. The track keeping method under the steering brake condition of the double-side independent electrically-driven crawler vehicle according to claim 5, wherein the inner and outer side torques are determined based on the difference value between the inner and outer side vehicle speeds after the crawler vehicle decelerates and the target inner and outer side vehicle speeds and the inner and outer side vehicle speeds after the crawler vehicle decelerates according to a variable parameter PI method, and specifically:
according to the expression:
t outer = Kp (v outer) Δ outer + Ki (v outer) integral ­ Δ outer dt, T inner = Kp (v inner) Δ inner + Ki (v inner) integral ­ Δ inner dt;
and determining an outer side torque T and an inner side torque T, wherein veout is an outer side vehicle speed after deceleration and vein is an inner side vehicle speed after deceleration, delta out is a difference between the outer side speed and a target speed, delta in is a difference between the inner side speed and the target speed, Kp is a proportional parameter to be set, Ki is an integral coefficient to be set, and T is time.
CN202111103559.3A 2021-09-17 2021-09-17 Track keeping method under steering and braking working conditions of bilateral independent electric drive tracked vehicle Active CN113859233B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111103559.3A CN113859233B (en) 2021-09-17 2021-09-17 Track keeping method under steering and braking working conditions of bilateral independent electric drive tracked vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111103559.3A CN113859233B (en) 2021-09-17 2021-09-17 Track keeping method under steering and braking working conditions of bilateral independent electric drive tracked vehicle

Publications (2)

Publication Number Publication Date
CN113859233A true CN113859233A (en) 2021-12-31
CN113859233B CN113859233B (en) 2023-06-27

Family

ID=78992981

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111103559.3A Active CN113859233B (en) 2021-09-17 2021-09-17 Track keeping method under steering and braking working conditions of bilateral independent electric drive tracked vehicle

Country Status (1)

Country Link
CN (1) CN113859233B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114661035A (en) * 2022-05-25 2022-06-24 江苏英拓动力科技有限公司 Unmanned tracked vehicle direction control testboard
CN114919647A (en) * 2022-05-18 2022-08-19 北京市农林科学院智能装备技术研究中心 Method and device for calibrating steering efficiency of guide wheel

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3013179B1 (en) * 1999-06-14 2000-02-28 ヤンマー農機株式会社 Traveling equipment for mobile farm machines
CN101318509A (en) * 2007-05-22 2008-12-10 株式会社日立制作所 Vehicle speed control apparatus in accordance with curvature of vehicle trajectory
JP2009023538A (en) * 2007-07-20 2009-02-05 Mitsubishi Electric Corp Vehicle deceleration control apparatus
CN103350719A (en) * 2013-06-27 2013-10-16 中国北方车辆研究所 Steering control method for crawler driven by motors on two sides in coupling manner
JP2018203173A (en) * 2017-06-08 2018-12-27 マツダ株式会社 Vehicle operation support device and method thereof
DE102018121434A1 (en) * 2018-09-03 2020-03-05 Prinoth Gmbh Tracked vehicle device
WO2020100617A1 (en) * 2018-11-15 2020-05-22 国立研究開発法人農業・食品産業技術総合研究機構 Automatic travel control device, automatic travel control method, and program for automatic travel control

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3013179B1 (en) * 1999-06-14 2000-02-28 ヤンマー農機株式会社 Traveling equipment for mobile farm machines
CN101318509A (en) * 2007-05-22 2008-12-10 株式会社日立制作所 Vehicle speed control apparatus in accordance with curvature of vehicle trajectory
JP2009023538A (en) * 2007-07-20 2009-02-05 Mitsubishi Electric Corp Vehicle deceleration control apparatus
CN103350719A (en) * 2013-06-27 2013-10-16 中国北方车辆研究所 Steering control method for crawler driven by motors on two sides in coupling manner
JP2018203173A (en) * 2017-06-08 2018-12-27 マツダ株式会社 Vehicle operation support device and method thereof
DE102018121434A1 (en) * 2018-09-03 2020-03-05 Prinoth Gmbh Tracked vehicle device
WO2020100617A1 (en) * 2018-11-15 2020-05-22 国立研究開発法人農業・食品産業技術総合研究機構 Automatic travel control device, automatic travel control method, and program for automatic travel control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114919647A (en) * 2022-05-18 2022-08-19 北京市农林科学院智能装备技术研究中心 Method and device for calibrating steering efficiency of guide wheel
CN114919647B (en) * 2022-05-18 2023-03-14 北京市农林科学院智能装备技术研究中心 Steering efficiency calibration method and device for guide wheel
CN114661035A (en) * 2022-05-25 2022-06-24 江苏英拓动力科技有限公司 Unmanned tracked vehicle direction control testboard

Also Published As

Publication number Publication date
CN113859233B (en) 2023-06-27

Similar Documents

Publication Publication Date Title
CN113859233A (en) Track keeping method under steering and braking conditions of two-side independent electrically-driven crawler
JP3838048B2 (en) Vehicle travel control device
US7472766B2 (en) Regeneration control system
JP4162013B2 (en) Lane departure prevention device
US5570935A (en) Anti-lock controller
JP2001310719A (en) Lane deviation preventing device
JPH0549106A (en) Motor controller
JPH11291788A (en) Running control device for vehicle
CN110654244A (en) System and method for decentralized driving of hub motor
JP4259537B2 (en) Lane departure prevention device
JPS621666A (en) Antiskid controller
JPH0632242A (en) Motion control device for vehicle
US5683152A (en) Vehicle turn speed control
JP4736742B2 (en) Electric drive vehicle
JP3885420B2 (en) Vehicle travel control device
JP2021172210A (en) Drive support device of vehicle
JP3957057B2 (en) Vehicle traveling control apparatus and method
JP3518174B2 (en) Vehicle follow-up running control device
JP3817892B2 (en) Vehicle travel control device
CN114620029A (en) Method, apparatus and computer program product for adjusting speed during parking
JPS60191875A (en) Controlling method of steerage for vehicles
JP3713995B2 (en) Vehicle travel control device
JP3324966B2 (en) Forward judgment device in vehicle motion control device
JPH05310110A (en) Automatic brake device for vehicle
JP4327817B2 (en) Lane departure prevention device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant