摘要
本文通过分析重型履带式无人车自主行驶过程中出现的紧急情况,提出处置策略。通过建立重型履带式无人车构建整车动力学模型,运用控制理论,对提出的处置策略进行仿真实验,验证策略可行性,为重型履带式无人车安全控制系统研究提供思路,从而提高重型履带式无人车的行驶安全性。
In this paper, the emergency situation occurred during the autonomous driving of the heavy tracked unmanned vehicle is analyzed, and the disposal strategy is proposed. Through the establishment of the heavy tracked unmanned vehicle to build the vehicle dynamics model, the control theory, the proposed disposal strategy simulation experiment, verify the feasibility of the strategy, provide ideas for the heavy tracked unmanned vehicle safety control system research, so as to improve the driving safety of the heavy tracked unmanned vehicle.
作者
侯武凯
张浩
HOU Wu-kai;ZHANG Hao(Department of Vehicle Engineering,Army Armored Force Academy,Beijing 100072,China)
出处
《山东工业技术》
2021年第2期69-75,共7页
Journal of Shandong Industrial Technology
关键词
无人车
自主驾驶
安全控制策略
unmanned vehicle
autonomous driving
safety control strategy
