The invention relates to the technical field of track chassis steering control, and provides a single-HST track chassis steering control method and steering control system, and the method comprises the steps: obtaining a turning angle delta based on the current operation information of a vehicle and a target path; and based on the turning angle delta, the range of the turning angle delta is judged, a corresponding steering control period formed by a plurality of steering states is output according to the judgment result, and the vehicle is controlled to sequentially complete all the steering states in the steering period. The steering control period is output through the steering angle delta range judgment structure, the vehicle is controlled to complete a plurality of steering states in the steering control period, and therefore overall steering of the vehicle is achieved, the smoothness of steering control and the steering control precision are improved by adjusting the working time proportion of different steering states, and the steering control efficiency is improved. Therefore, the path tracking control effect of the autonomous navigation tracked vehicle can be improved.

    本发明涉及履带底盘转向控制技术领域,提供一种单HST履带底盘转向控制方法及转向控制系统,基于车辆当前的运行信息以及目标路径获取转角δ;基于转角δ,判断转角δ的范围,根据判断结果输出对应由若干转向状态形成的转向控制周期,并控制车辆在转向周期内依次完成所有的所述转向状态。通过转角δ的范围的判断结构输出转向控制周期,并控制车辆完成转向控制周期内的若干转向状态,从而实现了车辆的整体转向,且通过调节不同转向状态的工作时间占比,提高了转向控制的平顺性和转向控制精度,从而可以提高自主导航履带车辆路径跟踪控制效果。


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    Title :

    Steering control method and steering control system for single-HST crawler chassis


    Additional title:

    单HST履带底盘转向控制方法及转向控制系统


    Contributors:
    WANG HAO (author) / ZHANG GUANGQIANG (author) / HU SHUPENG (author) / QIN WEIXIAN (author) / SHAN YONGCHAO (author) / LU HAO (author) / FU WEIQIANG (author) / MENG ZHIJUN (author) / YIN YANXIN (author)

    Publication date :

    2024-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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