A control method for ramp start of a planetary steering gear speed difference steering vehicle
A technology of ramp start and control method, which is applied in the field of control of planetary steering gear speed differential steering vehicles to ramp start, can solve the problems of low start success rate, clutch heating, vehicle slippage, etc., so as to improve the success rate and avoid slippage The car, the effect of ensuring the starting speed
Active Publication Date: 2021-04-27
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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[0005] In view of the above-mentioned analysis, the present invention aims to provide a control method for a planetary steering gear speed difference steering vehicle to start on a hill, to solve the problem of low success rate and poor start-up effect of existing unmanned vehicles, clutch heating during start-up and vehicle failure. backtracking problem
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[0045] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.
[0046]In order to solve the problem of starting control of a speed differential steering vehicle equipped with a planetary steering gear and consider manual driving experience, the present invention formulates a vehicle starting control strategy considering road environment information and driver experience. The strategy includes the acquisition and calculation of road environment information, the vehicle ramp start control strategy and the engine fuzzy control strategy during the start process.
[0047] figure 1 A simplified diagram of a vehicle steered by a speed difference of a planetary s...
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The invention relates to a method for controlling ramp start of a planetary steering gear speed differential steering vehicle, which belongs to the technical field of unmanned driving and solves the problems of low starting success rate of unmanned driving, clutch heating during starting, and vehicle slippage. The invention obtains positioning information through GPS, determines the control amount of the starting accelerator after matching the road condition information, controls the idle speed of the engine, puts into gear and combines the clutch, and then adjusts the engine speed through the fuzzy control strategy, and further controls the joystick of the planetary steering machine to reach the designated position. During the process, the fuzzy control is used to adjust the speed to complete the control of the start process; to judge the success of the start, and to start again if it fails. The invention realizes the control of the vehicle joystick and the planetary steering gear through the hydraulic system, the speed of the engine through the fuzzy control, and further realizes the starting of the vehicle under the state of unmanned driving.
Description
technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a control method for a planetary steering gear speed difference steering vehicle to start on a hill. Background technique [0002] In recent years, unmanned vehicles have developed rapidly. There are not only wheeled unmanned vehicles based on institutionalized roads, but also a large number of crawler-type differential steering vehicles for off-road roads. At present, the research on unmanned tracked vehicles mainly focuses on the lateral and longitudinal control of the vehicle, and there are few studies on the control process of unmanned tracked vehicles under some special working conditions. [0003] The general working environment of differential steering tracked vehicles is an off-road environment, and the environmental conditions are complex, and often encounter situations such as starting on a slope. Due to the heavy weight of the tracked vehicle, it is easy to ...
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IPC IPC(8): B60W30/18B60W10/06B60W10/02B60W10/11
CPCB60W10/02B60W10/06B60W10/11B60W30/18027B60W2510/0638
Inventor 龚建伟张瑞增陈慧岩
Owner BEIJING INSTITUTE OF TECHNOLOGYGY