A heavy-duty tracked vehicle model with a reduced feasible domain for motion tracking control considering dynamic characters of hybrid powertrain

Motion tracking control is an essential part of heavy-duty unmanned tracked vehicles to realize autonomous mobility, which adjusts the vehicle motion in real-time by controlling the driving torques. Achieving accurate motion tracking strongly depends on the use of a precise vehicle dynamic model. To support the motion tracking ability, a vehicle dynamic model with a reduced feasible domain is proposed for heavy-duty unmanned tracked vehicles. Firstly, a vehicle dynamic model is established based on the vehicle kinematics and dynamics. Building upon the established vehicle dynamic model, a graph neural network (GNN) is employed to reduce the feasible domain of the vehicle dynamic model, specifically focusing on the limitation of the powertrain. The powertrain components and their interconnections are abstracted into a graph, which is analyzed to study the interactions between the components using the GNN. Finally, the proposed vehicle dynamic model with a reduced feasible domain is verified through actual heavy-duty tracked vehicle experiments in various cases. Compared with the back propagation neural network, the evaluation error of the driving torque decreased by 25.86%. Results show that the proposed vehicle dynamic model with a reduced feasible domain is closer to the performance of the actual heavy-duty tracked vehicle and their powertrain. And the vehicle dynamic model accurately reduces the solution time of the motion tracking control, resulting in improved accuracy and efficiency of the motion tracking control.