Navigation control method of tracked vehicle and related device

Abstract

The invention discloses a navigation control method of a tracked vehicle and a related device, and relates to the field of automatic driving control, a discretization error tracking model enables a control variable and a state variable to be in a linearization relationship by constructing a linear relationship between a pose tracking error vector and a track speed error vector in a discrete form, and the control precision of the tracked vehicle is improved. A left track speed error and a right track speed error can be obtained by solving the linear problem. An expected value of the left track speed is calculated based on the left track speed error and the reference value of the left track speed, and an expected value of the right track speed is calculated based on the right track speed error and the reference value of the right track speed. The reference value of the bilateral crawler speed is calculated according to the left crawler speed error, the right crawler speed error and the steering curvature of the target reference point on the preset reference path, so that the expected value of the bilateral crawler speed can realize that the actual driving path of the crawler approaches the reference path. In conclusion, according to the scheme, the adaptability and the control precision of the navigation control method to the crawler are improved.

Description

Technical Field

[0001] The present application relates to the field of automatic driving control technology, and in particular to a navigation control method and related devices for a tracked vehicle. Background Art

[0002] Tracked vehicles (abbreviated as crawler vehicles) refer to vehicles that move using crawler tracks. Crawler vehicles have the advantages of large driving force, low ground contact pressure, good passability, etc., and can adapt well to special terrains. They have been widely used in the field of agricultural machinery. With the development of sensor, navigation and control technology, the research on automatic driving of agricultural machinery has become a trend. However, the navigation system of existing agricultural machinery is mainly developed for front-wheel steering vehicles and has poor adaptability to crawler vehicles. Therefore, a high-precision navigation control method for crawler vehicles is urgently needed. Summary of the invention

[0003] In view of the above problems, the present application provides a navigation control method and related devices for a tracked vehicle to achieve the purpose of improving the navigation control accuracy of the tracked vehicle. The specific scheme is as follows:

[0004] A first aspect of the present application provides a navigation control method for a tracked vehicle, comprising:

[0005] Acquire the driving state information of the crawler vehicle in real time, wherein the driving state information includes real-time posture information and real-time speed information, wherein the real-time posture information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed;

[0006] Calculating a reference value of the left track speed and a reference value of the right track speed based on the real-time value of the driving speed and a reference value of the turning curvature, wherein the reference value of the turning curvature is a turning curvature of a target reference point on a preset reference path;

[0007] Based on the discretized error tracking model and the driving state information, obtaining a left track speed error and a right track speed error;

[0008] Wherein, the discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, the posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error, the track speed error vector is composed of the left track speed error and the right track speed error, the X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point, the Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point, the heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point; the left track speed error is the difference between the expected left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the expected right track speed of the tracked vehicle and the right track speed of the target reference point;

[0009] Calculating an expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and calculating an expected value of the right track speed based on the right track speed error and the reference value of the right track speed;

[0010] A track drive command is generated, the track drive command including a desired value of the left track speed and a desired value of the right track speed.

[0011] In a possible implementation, the navigation control method of the crawler vehicle further includes:

[0012] Constructing an original kinematic model of the tracked vehicle, wherein the original kinematic model is used to describe the relationship between a posture vector and a track speed vector, wherein the posture vector is composed of an X-axis coordinate value, a Y-axis coordinate value, and a heading angle of the tracked vehicle in a global coordinate system, and the track speed vector is composed of a left track speed and a right track speed of the tracked vehicle;

[0013] Linearizing the original kinematic model to construct an error tracking model of the tracked vehicle, wherein the error tracking model is used to describe the linear relationship between the posture tracking error vector and the track speed error vector in a continuous form;

[0014] Based on a preset sampling time, the error tracking model is discretized to obtain the discretized error tracking model.

[0015] In a possible implementation, calculating a reference value of a left track speed and a reference value of a right track speed based on the real-time value of the driving speed and the reference value of the turning curvature includes:

[0016] Based on the real-time posture information, determine a target reference point from the reference path, and obtain the posture information of the target reference point;

[0017] Calculating the distance between the reference point located after the target reference point on the reference path and the target reference point in order from near to far until the distance is greater than a preset preview distance threshold, thereby obtaining a preview reference point and a preview distance;

[0018] Calculating a reference value of the steering curvature based on the pose information of the preview reference point and the target reference point;

[0019] The reference value of the left track speed and the reference value of the right track speed are calculated based on the structural parameters of the tracked vehicle, the real-time value of the travel speed, and the reference value of the turning curvature.

[0020] In a possible implementation, obtaining a left track speed error and a right track speed error based on a discretized error tracking model and the driving state information includes:

[0021] Based on the discretized error tracking model, an LQR performance function is constructed, and the track speed error vector is calculated by the Riccati equation;

[0022] Based on the driving state information, the left track speed error and the right track speed error are obtained.

[0023] In a possible implementation, calculating the expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and calculating the expected value of the right track speed based on the right track speed error and the reference value of the right track speed, includes:

[0024] Calculating the sum of the reference value of the left crawler track speed and the left crawler track speed error as the expected value of the left crawler track speed;

[0025] The sum of the reference value of the right track speed and the right track speed error is calculated as the expected value of the right track speed.

[0026] Based on a preset sampling time, the error tracking model is discretized to obtain the discretized error tracking model.

[0027] A second aspect of the present application provides a navigation control device for a tracked vehicle, comprising:

[0028] A driving state monitoring unit, used for obtaining driving state information of the crawler vehicle in real time, wherein the driving state information includes real-time position information and real-time speed information, wherein the real-time position information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed;

[0029] a reference curvature calculation unit, used to calculate a reference value of a left track speed and a reference value of a right track speed based on the real-time value of the driving speed and a reference value of a turning curvature, wherein the reference value of the turning curvature is a turning curvature of a target reference point on a preset reference path;

[0030] A speed error monitoring unit, used for obtaining a left track speed error and a right track speed error based on a discretized error tracking model and the driving state information;

[0031] Wherein, the discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, the posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error, the track speed error vector is composed of the left track speed error and the right track speed error, the X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point, the Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point, the heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point; the left track speed error is the difference between the left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the right track speed of the tracked vehicle and the right track speed of the target reference point;

[0032] an expected speed prediction unit, configured to calculate an expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and to calculate an expected value of the right track speed based on the right track speed error and the reference value of the right track speed;

[0033] The speed driving unit is used to generate a track driving instruction, wherein the track driving instruction includes an expected value of the left track speed and an expected value of the right track speed.

[0034] In a possible implementation, the navigation control device of the crawler vehicle further includes a model building unit for

[0035] Constructing an original kinematic model of the tracked vehicle, wherein the original kinematic model is used to describe the relationship between a posture vector and a track speed vector, wherein the posture vector is composed of an X-axis coordinate value, a Y-axis coordinate value, and a heading angle of the tracked vehicle in a global coordinate system, and the track speed vector is composed of a left track speed and a right track speed of the tracked vehicle;

[0036] The original kinematic model is linearized to construct an error tracking model of the tracked vehicle, wherein the error tracking model is used to describe the linear relationship between the posture tracking error vector and the track speed error vector in a continuous form.

[0037] A third aspect of the present application provides a computer program product, comprising computer-readable instructions, which, when executed on an electronic device, enables the electronic device to implement the navigation control method for a tracked vehicle according to the first aspect or any implementation of the first aspect.

[0038] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0039] The memory is used to store computer programs;

[0040] The processor is used to execute the computer program so that the electronic device can implement the navigation control method of the tracked vehicle according to the first aspect or any implementation method of the first aspect.

[0041] A fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the navigation control method of a tracked vehicle according to the first aspect or any implementation of the first aspect.

[0042] By means of the above technical solution, the present application provides a navigation control method and related devices for a tracked vehicle, which obtain the driving state information of the tracked vehicle in real time, and calculate the reference value of the left track speed and the reference value of the right track speed based on the real-time value of the driving speed and the reference value of the steering curvature. The reference value of the steering curvature is the steering curvature of the target reference point on the preset reference path. Based on the discretized error tracking model and the driving state information, the left track speed error and the right track speed error are obtained. Since the driving state information includes real-time posture information and real-time speed information, the real-time posture information includes the real-time value of the X-axis coordinate value and the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed. The discretized error tracking model is used to describe the linear relationship between the discrete posture tracking error vector and the track speed error vector. The posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error. The track speed error vector is composed of the left track speed error and the right track speed error. The X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point. The Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point. The heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point. The left track speed error is the difference between the left track speed of the tracked vehicle and the left track speed of the target reference point. The right track speed error is the difference between the right track speed of the tracked vehicle and the right track speed of the target reference point. It can be seen that the discretized error tracking model makes the control variable and the state variable present a linear relationship by constructing a linear relationship between the discrete form of the posture tracking error vector and the track speed error vector. Therefore, the real-time driving state information obtained in real time is substituted into the discretized error tracking model, and the real-time value of the control variable, that is, the left track speed error and the right track speed error, can be obtained by solving the linear problem. Further, the expected value of the left track speed is calculated based on the left track speed error and the reference value of the left track speed, and the expected value of the right track speed is calculated based on the right track speed error and the reference value of the right track speed. The track drive instruction is generated, and the track drive instruction includes the expected value of the left track speed and the expected value of the right track speed. Since the reference value of the double-sided track speed is calculated according to the real-time value of the driving speed and the turning curvature of the target reference point on the preset reference path, the expected value of the double-sided track speed can realize the actual driving path of the tracked vehicle approaching the reference path. In summary, this solution can be applied to all types of tracked vehicles, improve the adaptability of the navigation control method to tracked vehicles, and improve the navigation control accuracy of tracked vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0044] Figure 1 A flowchart of a specific implementation of the navigation control method for a tracked vehicle provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of steering of a tracked vehicle provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of left and right steering of a crawler vehicle provided in an embodiment of the present application;

[0047] Figure 4 A schematic flow chart of a navigation control method for a tracked vehicle provided in an embodiment of the present application;

[0048] Figure 5 A schematic structural diagram of a navigation control device for a tracked vehicle provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0051] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0052] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0053] An existing navigation control method applied to tracked vehicles realizes agricultural machinery path tracking control through fuzzy-PID. Specifically, the method uses preview control to obtain the lateral deviation and heading deviation of the real-time position of the target agricultural vehicle and the driving trajectory; when the lateral deviation is [-0.3m, 0.3m] and the heading deviation is [-30 degrees, 30 degrees], the lateral deviation and heading deviation are fitted into an error ERROR using a linear formula; the error ERROR is input into the PID controller, and the output of the PID controller is used as the front wheel angle. However, since the control variable of this method is the front wheel angle, it is only applicable to the navigation control of tracked vehicles with lateral and longitudinal decoupling, and is not applicable to all types of tracked vehicles. In addition, the existing technology has poor applicability to different speed conditions, and the straight line trajectory tracking effect is acceptable, but the curve tracking effect is poor. At present, the operation is mainly carried out for AB straight line driving. However, during use, for some irregular plots, obstacle avoidance, and U-turns, it is necessary to track the curve path for automatic driving.

[0054] In order to solve the above problems, the present application proposes to control the speed of the left and right tracks of the tracked vehicle in real time when the tracked vehicle is navigated by studying the structural characteristics and motion characteristics of the tracked vehicle. By controlling the speed of the left and right tracks, the steering of the tracked vehicle is controlled, thereby controlling the tracked vehicle to drive automatically along a curved path. In view of the nonlinear relationship between the navigation control parameters of the tracked vehicle (the speed of the left and right tracks) and the position of the tracked vehicle, the present solution further proposes to introduce an intermediate quantity, linearize the original kinematic model of the tracked vehicle, and convert the nonlinear problem into a linear problem. Therefore, the present application proposes a navigation control method suitable for all types of tracked vehicles, which improves the curve trajectory tracking control accuracy of the tracked vehicle.

[0055] The embodiment of the present application provides a navigation control method for a tracked vehicle that can be applied in the field of autonomous driving control, and is specifically applied to the autonomous driving scenario of a tracked vehicle. A reference path of the tracked vehicle is tracked, and based on the current position information of the tracked vehicle, the tracked vehicle is navigated and controlled by controlling the track speeds of the tracks on both sides, so that the tracked vehicle can automatically drive along the reference path.

[0056] It should be noted that this method can be applied to a navigation control system configured in a vehicle controller of a tracked vehicle. The embodiment of the present application provides a specific implementation method of a navigation control method for a tracked vehicle. Figure 1 The specific implementation flow chart of the navigation control method of the crawler vehicle provided in the embodiment of the present application is as follows: Figure 1 As shown, this method specifically includes:

[0057] S101. Construct an original kinematic model of the tracked vehicle.

[0058] In this embodiment, the original kinematic model of the crawler vehicle uses the posture vector as the state vector and the track speed vector as the control variable, wherein the posture vector is the X-axis coordinate value of the crawler vehicle in the global coordinate system. , Y-axis coordinate value and heading angle Composition, recorded as The track speed vector is composed of the left track speed and the right track speed of the tracked vehicle, which is recorded as .

[0059] Figure 2 A schematic diagram of steering of a tracked vehicle provided in an embodiment of the present application, Figure 2 The top view of the track in the geodetic coordinate system (X-axis-Y-axis) is shown as follows: Figure 2 As shown in the figure, the crawler vehicle's running system consists of two crawlers, which are the left crawler and the right crawler. The structural parameters of the crawler vehicle include the axis , track width , track length , wheelbase The motion parameters of the crawler vehicle include the speed of the left crawler track , right track speed , heading angle , the vehicle is traveling in the direction Driving speed .

[0060] In this embodiment, the original kinematic model is used to describe the posture vector and the track velocity vector Specifically, the state equation of the original kinematic model of the tracked vehicle is shown in formula (1):

[0061] (1).

[0062] in, It represents the linear velocity of the tracked vehicle in the X-axis direction in the global coordinate system. The linear velocity of the tracked vehicle in the Y-axis direction in the global coordinate system, represents the heading angular velocity of the tracked vehicle, Indicates the left track speed, Indicates the right track speed. , , Driving speed The rate of change of the X-axis coordinate value, the rate of change of the Y-axis coordinate value, and the rate of change of the heading angle.

[0063] S102. Linearize the original kinematic model to construct an error tracking model of the tracked vehicle.

[0064] In this embodiment, the state equation of the original kinematic model is Taylor expanded at the reference point, and the high-order terms are ignored to obtain the error tracking model of the tracked vehicle.

[0065] In this embodiment, in the trajectory tracking study, for a given reference path, each reference point on the reference path satisfies the state equation of the original kinematic model, and the reference point is denoted as The posture information includes X-axis coordinate value in the global coordinate system , Y-axis coordinate value in the global coordinate system ,as well as Heading angle on the reference path , The speed information includes the left track speed at the reference point and right track speed .

[0066] In this embodiment, the state vector in the error tracking model is the posture tracking error vector, and the control variable is the track speed error vector. The posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error. The X-axis tracking error is the X-axis coordinate value of the actual position of the tracked vehicle in the global coordinate system. The X-axis coordinate value of the target reference point The Y-axis tracking error is the Y-axis coordinate value of the tracked vehicle in the global coordinate system. The Y-axis coordinate value of the target reference point The heading angle tracking error is the heading angle of the tracked vehicle in the global coordinate system. Heading angle to the target reference point Specifically, the pose tracking error vector is recorded as

[0067] The track speed error vector is composed of the left track speed error and the right track speed error, where the left track speed error is the left track speed of the tracked vehicle. and the left track speed at the target reference point The right track speed error is the right track speed of the tracked vehicle. and the right track speed at the target reference point Specifically, the track speed error vector is recorded as .

[0068] In this embodiment, the error tracking model is used to describe the state vector and control variables The mathematical relationship between them, the error tracking model state equation is shown in formula (2):

[0069] (2)

[0070] It should be noted that this step linearizes the original kinematic model by constructing an error tracking model, and constructs a new state transfer equation about the tracking error, thereby converting it from a nonlinear problem to a linear problem.

[0071] S103 . Based on a preset sampling time, discretize the error tracking model to obtain a discretized error tracking model.

[0072] In this embodiment, the error tracking model is discretized using equation (3), and the state equation expression of the discretized error tracking model is shown in equation (3):

[0073] (3)

[0074] in: represents the moment in discrete form, for The state vector at time , that is, The pose tracking error vector at time , for The state vector at time The pose tracking error vector at time , for The state transfer matrix of the error tracking model at time instant, that is, the discrete form of the state transfer matrix, for The control variable at time The track speed error vector at time , for The discrete form of the control matrix of the discretization error tracking model at time, T is the discrete time step, that is, the sampling time interval.

[0075] Specifically, the discrete forms of the state transfer matrix and the control matrix are shown in equations (4) and (5):

[0076] (4);

[0077] (5).

[0078] It should be noted that, after constructing the original kinematic model of the tracked vehicle through S101~S103, the original kinematic model is linearized to obtain the error tracking model, and further, the error tracking model is discretized to obtain a discretized error tracking model, and the discretized error tracking model is deployed in the vehicle controller.

[0079] S104, obtaining the driving status information of the crawler vehicle in real time.

[0080] In this embodiment, the driving state information includes real-time posture information and real-time speed information, wherein the real-time posture information includes the real-time value of the X-axis coordinate value in the global coordinate system. And the real-time value of the Y-axis coordinate value and real-time value of heading angle , real-time speed information real-time value of driving speed.

[0081] In this embodiment, the high-precision navigation and positioning system installed on the crawler vehicle has a built-in high-precision positioning and orientation board, which can quickly and accurately calculate the relative position information and azimuth of the two antennas. At the same time, by receiving the differential data of the base station, real-time carrier phase differential positioning can be achieved, thereby obtaining centimeter-level driving status information.

[0082] S105. Based on the real-time position and posture information of the tracked vehicle, determine the target reference point from the reference path, and obtain the position and posture information of the target reference point.

[0083] In this embodiment, the reference path is a curved path composed of multiple reference points, and the target reference point is a reference point on the reference path that is closest to the current position of the tracked vehicle.

[0084] In this embodiment, the target reference point is recorded as ( , , ),in, Indicates the X-axis coordinate value of the target reference point. Indicates the Y-axis coordinate value of the target reference point. Indicates the heading angle of the target reference point.

[0085] S106, calculating the distance between the reference point located after the target reference point on the reference path and the target reference point in order from near to far, until the distance is greater than a preset preview distance threshold, to obtain a preview reference point and a preview distance.

[0086] In this embodiment, the distance between the preview reference point and the target reference point is greater than the preset preview distance threshold, and the distance between the previous reference point of the preview reference point and the target reference point is less than the preview distance threshold. , and the distance between the preview reference point and the target reference point is taken as the preview distance.

[0087] In this embodiment, formula (6) is used to calculate the i-th reference point after the target reference point: ( , , ) and the distance to the target reference point :

[0088] (6)

[0089] The preview reference point is recorded as the nth reference point after the target reference point. , that is, the preview distance > .

[0090] S107. Calculate the turning curvature of the target reference point on the reference path based on the position and posture information of the preview reference point and the target reference point, as a reference value of the turning curvature.

[0091] In this embodiment, formula (7) is used to calculate the turning curvature of the target reference point on the reference path, that is, the reference value of the turning curvature: .

[0092] (7).

[0093] S108. Calculate a reference value of the left track speed and a reference value of the right track speed based on the structural parameters of the tracked vehicle, the real-time value of the driving speed, and the reference value of the turning curvature.

[0094] In this embodiment, the reference value of the left track speed and the reference value of the right track speed are calculated according to the steering motion model of the tracked vehicle. The steering motion model is used to describe the structural parameters of the tracked vehicle (including the wheelbase and track width ), the relationship between the speed of the tracks on both sides, the driving speed and the curvature.

[0095] Figure 3 The diagram of left and right steering of a crawler vehicle is shown as an example. Figure 3 As shown, when the left track speed is greater than the right track speed, the tracked vehicle turns right, and when the right track speed is greater than the left track speed, the tracked vehicle turns left.

[0096] In this embodiment, the relationship between the tracked vehicle structural parameters, the left track speed, the driving speed and the turning curvature can be expressed as formula (8):

[0097] (8).

[0098] In this embodiment, the relationship between the tracked vehicle structural parameters, the right track speed, the driving speed and the turning curvature can be expressed as formula (9):

[0099] (9).

[0100] Specifically, the reference value of the steering curvature , real-time value of driving speed Substitute the structural parameters of the tracked vehicle into formulas (8) and (9) to calculate the reference value of the left track speed: and the reference value of the right track speed , as follows: Formulas (10) and (11):

[0101] (10);

[0102] (11).

[0103] S109. Construct an LQR performance function based on a discretized error tracking model.

[0104] In this embodiment, the performance function of the LQR (Linear Quadratic Regulator) is as shown in formula (12):

[0105] (12).

[0106] in, is a semi-positive symmetric weighted matrix, is a semi-positive symmetric weighted matrix, and are the start and end time respectively. Formula (12) is a quadratic function, which represents a comprehensive performance index of the control deviation vector (track speed error vector) and control smoothness. The performance is best when the solution is the smallest. The LQR control parameter is the track speed error vector .

[0107] S110, based on the driving state information of the tracked vehicle, calculate the LQR control parameters by using the Riccati equation to obtain the left track speed error and the right track speed error.

[0108] In this embodiment, the LQR control parameter is a track speed error vector. The parameter value of the LQR control parameter calculated based on the driving state information of the tracked vehicle includes the left track speed error and the right track speed error in the track speed error vector. The Ricatti equation is as shown in formula (13):

[0109] (13).

[0110] Calculate the LQR control parameters using formula (14): :

[0111] (14).

[0112] S111. Calculate an expected value of the left track speed based on the left track speed error and a reference value of the left track speed.

[0113] In this embodiment, the expected value of the left track speed is Equal to the reference value of the left track speed With LQR control parameters Center left track speed error The sum of is as follows:

[0114] (15).

[0115] S112. Calculate an expected value of the right track speed based on the right track speed error and a reference value of the right track speed.

[0116] In this embodiment, the expected value of the right crawler speed is Equal to the reference value of the right track speed With LQR control parameters Middle right track speed error The sum of is as follows:

[0117] (16).

[0118] S113, generating a crawler track driving instruction to control the left crawler track speed to change to the expected value of the left crawler track speed and the right crawler track speed to change to the expected value of the right crawler track speed.

[0119] In this embodiment, PWM (Pulse Width Modulation) technology is used to control the solenoid valve or the motor to drive the left and right wheels of the tracked vehicle to rotate differentially, thereby realizing the automatic driving control of the tracked vehicle following the curved path.

[0120] It can be seen from the above technical scheme that the navigation control method of a tracked vehicle provided in the embodiment of the present application constructs a discretized error tracking model, introduces the track speed error vector to construct a linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, so that the control variable and the state variable of the discrete system represented by the model are in a linear relationship, and the driving state information obtained in real time is substituted into the discretized error tracking model. Solving the linear problem can obtain the real-time value of the control variable, that is, the left track speed error and the right track speed error. This scheme can simplify the automatic driving control method of the tracked vehicle curve path tracking, improve the navigation control of the tracked vehicle, reduce the amount of calculation and hardware requirements, for example, the method is deployed on NXPLPC4337 for execution, and it takes only 6ms to improve the navigation control efficiency of the tracked vehicle. By deploying the navigation control method of the tracked vehicle provided by the present application on the agricultural navigation product to realize the automatic driving control of the tracked vehicle curve path tracking, the root mean square error of the tracking error is statistically analyzed in the operation at a speed below 10km / h, and the target tracking accuracy is ±5cm, and the error is small.

[0121] Furthermore, the reference value of the double-sided track speed is calculated based on the real-time value of the driving speed and the turning curvature of the target reference point on the preset reference path. Therefore, the expected value of the double-sided track speed can make the actual driving path of the tracked vehicle approach the reference path.

[0122] Furthermore, compared with the traditional three-point curvature calculation method, which causes large fluctuations in the calculated curvature due to the incomplete smoothness of the planned path, thus causing uneven vehicle control, the present method provides a specific method for calculating the steering curvature of the target reference point based on the preview reference point and the preview distance, thereby improving the smoothness of the steering curvature and ensuring smooth vehicle control.

[0123] In summary, this scheme aims at the needs of tracked vehicle curve path tracking in practical applications, linearizes the traditional tracked vehicle kinematic model, optimizes the solution problem of the nonlinear model, and integrates the LQR algorithm and the pure tracking algorithm to design an automatic control algorithm. This control method controls the target tracking accuracy within cm, the error is small.

[0124] In summary, this solution can be applied to all types of tracked vehicles, improve the adaptability of the navigation control method to tracked vehicles, and improve the navigation control accuracy of tracked vehicles.

[0125] It should be noted that the above embodiment is only a specific implementation process of a navigation control method for a tracked vehicle provided in an embodiment of the present application, and the present application can also be implemented through other optional specific implementation processes.

[0126] For example, S101 to S103 are a specific method for constructing a discretized error tracking model provided in an embodiment of the present application. In other optional embodiments, the original kinematic model of the crawler vehicle can also be linearized and discretized by other methods to construct a discretized error tracking model. The specific linear relationship between the control variable and the state variable represented by the discretized error tracking model can also have other forms of expression based on different degrees of simplification, which is not limited in the present application.

[0127] For example, S105~S108 is a specific method provided in an embodiment of the present application for calculating a reference value of the left track speed and a reference value of the right track speed based on the real-time value of the driving speed and the reference value of the turning curvature. In other optional embodiments, the turning curvature at the target reference point can also be calculated by a segmented calculation method, and the present application does not limit this.

[0128] For another example, S109~S112 is a specific method provided in an embodiment of the present application for obtaining the left track speed error and the right track speed error based on a discretized error tracking model and driving state information. In an optional embodiment, other algorithms can be used instead of the LQR algorithm to calculate the left track speed error and the right track speed error.

[0129] For another example, the real-time speed information also includes the real-time value of the left track speed and the real-time value of the right track speed. After calculating the expected value of the left track speed and the expected value of the right track speed, the expected value of the track speed can be corrected and adjusted according to the real-time value of the track speed to improve the smoothness of the speed change.

[0130] In summary, the navigation control method of a tracked vehicle provided in the embodiment of the present application is summarized as follows: Figure 4 , Figure 4 A flowchart of a navigation control method for a tracked vehicle provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the method may include S401 to S405, and these steps are described in detail below.

[0131] S401. Acquire the driving status information of the tracked vehicle in real time.

[0132] In this embodiment, the driving status information includes real-time posture information and real-time speed information. The real-time posture information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system. The real-time speed information includes the real-time value of the driving speed.

[0133] In this embodiment, the high-precision navigation and positioning system installed on the crawler vehicle has a built-in high-precision positioning and orientation board, which can quickly and accurately calculate the relative position information and azimuth of the two antennas. At the same time, by receiving the differential data of the base station, real-time carrier phase differential positioning can be achieved, thereby obtaining centimeter-level driving status information.

[0134] S402: Calculate a reference value of the left track speed and a reference value of the right track speed based on the real-time value of the driving speed and the reference value of the turning curvature.

[0135] In this embodiment, the reference value of the turning curvature is the turning curvature of the target reference point on the preset reference path. The target reference point is a reference point on the reference path corresponding to the current position of the tracked vehicle. Optionally, the target reference point is a reference point on the reference path that is closest to the current position of the tracked vehicle. There are multiple methods for calculating the turning curvature of the target reference point on the reference path. One optional method can be referred to in the above embodiments S105 to S107.

[0136] S403: Obtain a left track speed error and a right track speed error based on a discretized error tracking model and driving state information.

[0137] In this embodiment, the discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector. The posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error. The track speed error vector is composed of the left track speed error and the right track speed error. The X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point. The Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point. The heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point. The left track speed error is the difference between the left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the right track speed of the tracked vehicle and the right track speed of the target reference point.

[0138] In an optional embodiment, the original kinematic model of the crawler vehicle is linearized and discretized by introducing the steering curvature to obtain a discretized error tracking model. It can be understood that the state variables and control variables in the discretized error tracking model are linearly related. The driving state information of the crawler vehicle is substituted into the discretized error tracking model to calculate the control variables under the driving state information, that is, the left crawler speed error and the right crawler speed error.

[0139] S404: Calculate an expected value of the left track speed based on the left track speed error and a reference value of the left track speed, and calculate an expected value of the right track speed based on the right track speed error and a reference value of the right track speed.

[0140] In this embodiment, the sum of the reference value of the left track speed and the left track speed error is calculated as the expected value of the left track speed, and the sum of the reference value of the right track speed and the right track speed error is calculated as the expected value of the right track speed.

[0141] S405: Generate a crawler track driving instruction, where the crawler track driving instruction includes an expected value of a left crawler track speed and an expected value of a right crawler track speed.

[0142] In this embodiment, the track drive instruction is used to instruct the left track speed to be updated to the expected value of the left track speed, and the right track speed to be updated to the expected value of the right track speed. By controlling the speed of the tracks on both sides, the tracked vehicle is controlled to automatically drive along the reference path.

[0143] It can be seen from the above technical scheme that the embodiment of the present application provides a navigation control method for a tracked vehicle, wherein the driving state information includes real-time posture information and real-time speed information, the real-time posture information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed. The discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, wherein the posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error, the track speed error vector is composed of the left track speed error and the right track speed error, the X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point, the Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point, and the heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point. The left track speed error is the difference between the left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the right track speed of the tracked vehicle and the right track speed of the target reference point. It can be seen that the discretized error tracking model introduces the track speed error vector by constructing a linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, so that the control variables and state variables of the discrete system represented by the model are linearized. Therefore, the real-time driving state information is substituted into the discretized error tracking model, and the real-time value of the control variable, that is, the left track speed error and the right track speed error, can be obtained by solving the linear problem. Furthermore, the reference value of the double-sided track speed is calculated based on the real-time value of the driving speed and the turning curvature of the target reference point on the preset reference path. Therefore, the expected value of the double-sided track speed can achieve the actual driving path of the tracked vehicle approaching the reference path.

[0144] In summary, this solution can be applied to all types of tracked vehicles, improve the adaptability of the navigation control method to tracked vehicles, and improve the navigation control accuracy of tracked vehicles.

[0145] A navigation control method for a tracked vehicle provided in an embodiment of the present application is introduced above, and a device for executing the navigation control method for a tracked vehicle will be introduced below.

[0146] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of a navigation control device for a tracked vehicle provided in an embodiment of the present application. Figure 5 As shown, the navigation control device 500 of the crawler vehicle comprises:

[0147] A driving state monitoring unit 501 is used to obtain driving state information of the crawler vehicle in real time, wherein the driving state information includes real-time position information and real-time speed information, wherein the real-time position information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed;

[0148] A reference curvature calculation unit 502, configured to calculate a reference value of a left track speed and a reference value of a right track speed based on the real-time value of the driving speed and a reference value of a turning curvature, wherein the reference value of the turning curvature is a turning curvature of a target reference point on a preset reference path;

[0149] A speed error monitoring unit 503, configured to obtain a left track speed error and a right track speed error based on a discretized error tracking model and the driving state information;

[0150] Wherein, the discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, the posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error, the track speed error vector is composed of the left track speed error and the right track speed error, the X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point, the Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point, the heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point; the left track speed error is the difference between the left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the right track speed of the tracked vehicle and the right track speed of the target reference point;

[0151] an expected speed prediction unit 504, configured to calculate an expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and to calculate an expected value of the right track speed based on the right track speed error and the reference value of the right track speed;

[0152] The speed driving unit 505 is used to generate a track driving instruction, wherein the track driving instruction includes an expected value of the left track speed and an expected value of the right track speed.

[0153] In a possible implementation, the navigation control device of the crawler vehicle further includes a model building unit for

[0154] Constructing an original kinematic model of the tracked vehicle, wherein the original kinematic model is used to describe the relationship between a posture vector and a track speed vector, wherein the posture vector is composed of an X-axis coordinate value, a Y-axis coordinate value, and a heading angle of the tracked vehicle in a global coordinate system, and the track speed vector is composed of a left track speed and a right track speed of the tracked vehicle;

[0155] The original kinematic model is linearized to construct an error tracking model of the tracked vehicle, wherein the error tracking model is used to describe the linear relationship between the posture tracking error vector and the track speed error vector in a continuous form.

[0156] In a possible implementation, the reference curvature calculation unit is used to calculate the reference value of the left track speed and the reference value of the right track speed based on the real-time value of the driving speed and the reference value of the turning curvature, specifically for:

[0157] Based on the real-time posture information, determine a target reference point from the reference path, and obtain the posture information of the target reference point;

[0158] Calculating the distance between the reference point located after the target reference point on the reference path and the target reference point in order from near to far until the distance is greater than a preset preview distance threshold, thereby obtaining a preview reference point and a preview distance;

[0159] Calculating a reference value of the steering curvature based on the pose information of the preview reference point and the target reference point;

[0160] The reference value of the left track speed and the reference value of the right track speed are calculated based on the structural parameters of the tracked vehicle, the real-time value of the travel speed, and the reference value of the turning curvature.

[0161] In a possible implementation, the speed error monitoring unit is used to obtain the left track speed error and the right track speed error based on the discretized error tracking model and the driving state information, specifically to:

[0162] Based on the discretized error tracking model, an LQR performance function is constructed, and the track speed error vector is calculated by the Riccati equation;

[0163] Based on the driving state information, the left track speed error and the right track speed error are obtained.

[0164] In a possible implementation, the expected speed prediction unit is used to calculate the expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and calculate the expected value of the right track speed based on the right track speed error and the reference value of the right track speed, specifically for:

[0165] Calculating the sum of the reference value of the left crawler track speed and the left crawler track speed error as the expected value of the left crawler track speed;

[0166] The sum of the reference value of the right track speed and the right track speed error is calculated as the expected value of the right track speed.

[0167] The present application also provides an electronic device in an embodiment. Figure 6 As shown, it shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present application. The electronic device in the embodiment of the present application may include but is not limited to fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0168] like Figure 6 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 to a random access memory (RAM) 603. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 603. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0169] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0170] Also provided in an embodiment of the present application is a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the navigation control methods for a tracked vehicle provided in an embodiment of the present application.

[0171] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any one of the navigation control methods for a tracked vehicle provided in an embodiment of the present application.

[0172] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0173] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0174] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0175] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A navigation control method for a tracked vehicle, characterized in that: include: Acquire the driving state information of the crawler vehicle in real time, wherein the driving state information includes real-time posture information and real-time speed information, wherein the real-time posture information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed; Calculating a reference value of the left track speed and a reference value of the right track speed based on the real-time value of the driving speed and a reference value of the turning curvature, wherein the reference value of the turning curvature is a turning curvature of a target reference point on a preset reference path; Based on the discretized error tracking model and the driving state information, obtaining a left track speed error and a right track speed error; Wherein, the discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, the posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error, the track speed error vector is composed of the left track speed error and the right track speed error, the X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point, the Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point, the heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point; the left track speed error is the difference between the expected left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the expected right track speed of the tracked vehicle and the right track speed of the target reference point; Calculating an expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and calculating an expected value of the right track speed based on the right track speed error and the reference value of the right track speed; A track drive command is generated, the track drive command including a desired value of the left track speed and a desired value of the right track speed.

2. The navigation control method of a crawler vehicle according to claim 1, characterized in that: The navigation control method of the crawler vehicle also includes: Constructing an original kinematic model of the tracked vehicle, wherein the original kinematic model is used to describe the relationship between a posture vector and a track speed vector, wherein the posture vector is composed of an X-axis coordinate value, a Y-axis coordinate value, and a heading angle of the tracked vehicle in a global coordinate system, and the track speed vector is composed of a left track speed and a right track speed of the tracked vehicle; Linearizing the original kinematic model to construct an error tracking model of the tracked vehicle, wherein the error tracking model is used to describe the linear relationship between the posture tracking error vector and the track speed error vector in a continuous form; Based on a preset sampling time, the error tracking model is discretized to obtain the discretized error tracking model.

3. The navigation control method of a crawler vehicle according to claim 1, characterized in that: The step of calculating a reference value of a left track speed and a reference value of a right track speed based on the real-time value of the driving speed and the reference value of the turning curvature comprises: Based on the real-time posture information, determine a target reference point from the reference path, and obtain the posture information of the target reference point; Calculating the distance between the reference point located after the target reference point on the reference path and the target reference point in order from near to far until the distance is greater than a preset preview distance threshold, thereby obtaining a preview reference point and a preview distance; Calculating a reference value of the steering curvature based on the pose information of the preview reference point and the target reference point; The reference value of the left track speed and the reference value of the right track speed are calculated based on the structural parameters of the tracked vehicle, the real-time value of the travel speed, and the reference value of the turning curvature.

4. The navigation control method of a crawler vehicle according to claim 1, characterized in that: The obtaining of the left track speed error and the right track speed error based on the discretized error tracking model and the driving state information includes: Based on the discretized error tracking model, an LQR performance function is constructed, and the track speed error vector is calculated by the Riccati equation; Based on the driving state information, the left track speed error and the right track speed error are obtained.

5. The navigation control method of a crawler vehicle according to claim 1, characterized in that: The step of calculating the expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and calculating the expected value of the right track speed based on the right track speed error and the reference value of the right track speed, comprises: Calculating the sum of the reference value of the left crawler track speed and the left crawler track speed error as the expected value of the left crawler track speed; The sum of the reference value of the right track speed and the right track speed error is calculated as the expected value of the right track speed.

6. A navigation control device for a crawler vehicle, characterized in that: include: A driving state monitoring unit, used for obtaining driving state information of the crawler vehicle in real time, wherein the driving state information includes real-time position information and real-time speed information, wherein the real-time position information includes the real-time value of the X-axis coordinate value, the real-time value of the Y-axis coordinate value and the real-time value of the heading angle in the global coordinate system, and the real-time speed information includes the real-time value of the driving speed; a reference curvature calculation unit, used to calculate a reference value of a left track speed and a reference value of a right track speed based on the real-time value of the driving speed and a reference value of a turning curvature, wherein the reference value of the turning curvature is a turning curvature of a target reference point on a preset reference path; A speed error calculation unit, used for obtaining a left track speed error and a right track speed error based on a discretized error tracking model and the driving state information; Wherein, the discretized error tracking model is used to describe the linear relationship between the discrete form of the posture tracking error vector and the track speed error vector, the posture tracking error vector is composed of the X-axis tracking error, the Y-axis tracking error, and the heading angle tracking error, the track speed error vector is composed of the left track speed error and the right track speed error, the X-axis tracking error is the difference between the X-axis coordinate value of the tracked vehicle and the X-axis coordinate value of the target reference point, the Y-axis tracking error is the difference between the Y-axis coordinate value of the tracked vehicle and the Y-axis coordinate value of the target reference point, the heading angle tracking error is the difference between the heading angle of the tracked vehicle and the heading angle of the target reference point; the left track speed error is the difference between the left track speed of the tracked vehicle and the left track speed of the target reference point, and the right track speed error is the difference between the right track speed of the tracked vehicle and the right track speed of the target reference point; an expected speed prediction unit, configured to calculate an expected value of the left track speed based on the left track speed error and the reference value of the left track speed, and to calculate an expected value of the right track speed based on the right track speed error and the reference value of the right track speed; The speed driving unit is used to generate a track driving instruction, wherein the track driving instruction includes an expected value of the left track speed and an expected value of the right track speed.

7. The navigation control device for a crawler vehicle according to claim 6, characterized in that: The navigation control device of the crawler vehicle also includes a model building unit for Constructing an original kinematic model of the tracked vehicle, wherein the original kinematic model is used to describe the relationship between a posture vector and a track speed vector, wherein the posture vector is composed of an X-axis coordinate value, a Y-axis coordinate value, and a heading angle of the tracked vehicle in a global coordinate system, and the track speed vector is composed of a left track speed and a right track speed of the tracked vehicle; Linearizing the original kinematic model to construct an error tracking model of the tracked vehicle, wherein the error tracking model is used to describe the linear relationship between the posture tracking error vector and the track speed error vector in a continuous form; Based on a preset sampling time, the error tracking model is discretized to obtain the discretized error tracking model.

8. A computer program product, characterized in that It comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the navigation control method for a tracked vehicle as claimed in any one of claims 1 to 5.

9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the navigation control method of the tracked vehicle as described in any one of claims 1 to 5.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the navigation control method for a tracked vehicle as described in any one of claims 1 to 5.

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