基于无人驾驶单流传动的中型履带车辆大坡道起步控制

In order to solve the hill-start control problem of a medium unmanned tracked vehicle with second-order planetary steering, the starting process of this type of tracked vehicle is analyzed, and an automatic starting control strategy is proposed to solve the problem above, and the real car verification is performed. The control strategy includes the acquisition and calculation of vehicle starting load, and the engine and joystick control strategy and vehicle starting control flow during starting. Under the condition of a large slope(greater than or equal to 15°), the second-order planetary steering system is used to reduce the abrasion of friction components and vehicle slip in the process of hill starting, and avoid the engine flameout. The control strategy is used to estimate the current state of vehicle through vehicle-mounted environmental sensing device and electronic map information, and generate the starting control parameters. The interface between the sensitive area and non-sensitive area at the first position of joystick is determined by the cluster analysis, and then the targeted control of the two areas is conducted. The initial engine speed and control rules are determined based on the experimental data. Experimental results show that the control algorithm can effectively make sure the hill-start success rate of the test platform.