Research Of Skid Steering Vehicle Path Tracking Control Based On Lateral And Longitudinal Coupling Of Driver's Behavior

Skid-steering vehicles have very significant advantages in the complex cross-country environment and special military purposes because of their superior maneuverability,strong traction and simple mechanism.With the continuous development of driverless technology,the intelligence control of unmanned ground platform based on skid-steering vehicle will also be pressing required in military.For skid-steering vehicles,there is a strong coupling of lateral motion and longitudinal motion,and their trajectory control is uncertain,therefore,path tracking control as the key technology of driverless control is also important and difficult in research field of skid-steering vehicles.According to the above problems,it has important practical significance to research the coupling of lateral and longitudinal behavior of drivers and its impact on motion control and the accurate path tracking of skid-steering vehicle.This paper studies the path tracking problem considering the lateral and longitudinal coupling behaviors of skid-steering vehicles.On the basis of further study of mechanical structure and the dynamics characteristics of skid-steering vehicle,this paper analyzes the influence factors for the uncertainty of the trajectory control.Modeling driving behavior based on gaussian mixture hidden markov model(GMM-HMM),training the driving behavior identification model using a lot of experience from the driver's real data,analyzing and verifying the accuracy of the model prediction results.Then,this paper puts forward to a layered path tracking control system for skid-steering vehicle,taking an adaptive vehicle aim control method on the basis of driving behavior prediction and vehicle real driving condition,and using hierarchical state machine for vehicle driving mode control,designing a vehicle lateral longitudinal cooperative control strategy by the pilot experience data,in addition,this paper adopts the fuzzy control method to realize the vehicle moving steering control.Finally,this paper builts the unmanned path tracking control experiment platform based on the intelligent vehicle laboratory of Beijing institute of technology,designs the obstacle avoidance experiment scenarios in the real cross-country environment,verifys the path tracking control method of skid-steering vehicle in this paper is feasible.