A vehicle control method for a distributed electric drive unmanned tracked vehicle
A vehicle control and vehicle technology, applied in tracked vehicles, non-electric variable control, vehicle position/route/height control, etc., can solve the problems of unmanned vehicles immature, to ensure driving safety and normal parking , through the effect of flexibility
Active Publication Date: 2021-02-02
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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Problems solved by technology
However, in many cases, for example, unmanned vehicles are very immature in the early stage of the test, and multiple interventions by the driver are required during the test, so the rapid switching between manned and unmanned vehicles is particularly important
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[0044]The preferred embodiments of the present invention will be described in detail below with reference to 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.
[0045]A specific embodiment of the present invention discloses a vehicle control method for an unmanned tracked vehicle;
[0046]Among them, the electrical equipment mounted on the unmanned crawler vehicle involved in the embodiment of the present invention includes low-voltage electrical equipment and high-voltage electrical equipment; low-voltage electrical equipment and high-voltage electrical equipment are controlled by the low-voltage power-on module and the high-voltage power-on module, respectively Power on and power off the device.
[0047]Low-voltage power equipment can be divided into upper-level planning and decision-making systems, perception systems, bottom...
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The invention relates to a vehicle control method for a distributed electrically driven unmanned tracked vehicle, comprising: powering on low and high voltage electrical equipment of the vehicle; judging whether the vehicle is in a manual braking state; yes, Then enter the manual braking mode; if not, then further judge the current vehicle driving mode, if the driving mode is manned driving, the driver controls the vehicle by manipulating the remote control pilot; if the driving mode is unmanned driving, then the The above-mentioned vehicles are unmanned under the control of the upper-level planning and decision-making system. The invention ensures the driving safety and free switching of the vehicle when it is manned or unmanned, and the braking mode is divided into normal braking and emergency braking, which not only ensures the normal parking of the vehicle, but also can deal with various emergencies Emergency situation; the forward and reverse under the traveling mode can be subdivided into direct driving and steering sub-modes respectively, which can give full play to the passability and flexible steering performance of the distributed electric drive tracked vehicle.
Description
Technical field[0001]The invention relates to the field of unmanned vehicles, in particular to a vehicle control method for distributed electric drive unmanned tracked vehicles.Background technique[0002]The whole vehicle logic switching of an unmanned vehicle is the prerequisite for its safe, smooth, and stable driving. It involves the control of various devices at the bottom and the coordination between the devices. It is currently one of the core technologies in the field of unmanned vehicle control. The existing vehicle control logic is mainly for the fully unmanned state, that is, the included control modes correspond to the unmanned mode, and the driver's control of the unmanned vehicle is ignored. However, in many cases, for example, unmanned vehicles are very immature at the beginning of the test, and require multiple interventions by the driver during the test. Therefore, the rapid switching between manned and unmanned driving is particularly important.Summary of the inventi...
Claims
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IPC IPC(8): B60W50/02B60L15/20G05D1/00B62D11/00
CPCB60L15/2009B60L15/2036B60L2240/421B60W50/0205B60W2300/44B62D11/003G05D1/0061Y02T10/72
Inventor 陈慧岩梁文利
Owner BEIJING INSTITUTE OF TECHNOLOGYGY