Problem: To provide an autonomous travel control method for a tracked vehicle, which can accurately calculate a predicted glide amount of the tracked vehicle when the tracked vehicle travels on a slope, and can perform autonomous travel control on the basis of the predicted glide amount. According to the solution, the autonomous driving control method for the tracked vehicle comprises the following steps that a target track of the tracked vehicle is set; and when the tracked vehicle travels on a slope based on the target trajectory, calculating a predicted glide amount of the tracked vehicle using a center-of-gravity position of the tracked vehicle, an angle of the slope, and a traveling direction of the tracked vehicle in the slope.

    问题:提供一种用于履带式车辆的自主行驶控制方法,该方法能够精确地计算履带式车辆在斜坡上行驶时履带式车辆的预测的下滑量,并且能够基于该预测的下滑量进行自主行驶控制。解决方案:一种用于履带式车辆的自主行驶控制方法,该方法包括以下步骤:设定履带式车辆的目标轨迹;以及当该履带式车辆基于该目标轨迹在斜坡上行驶时,使用该履带式车辆的重心位置,该斜坡的角度和该履带式车辆在该斜坡中的行驶方向来计算该履带式车辆的预测的下滑量。


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    Title :

    Autonomous driving control method for tracked vehicle, controller for tracked vehicle, and tracked vehicle


    Additional title:

    履带式车辆的自主行驶控制方法、履带式车辆的控制器以及履带式车辆


    Contributors:

    Publication date :

    2023-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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