Modeling and Prediction of Driver’s Steering Control Behavior for Stepless Steering Tracked Vehicle

被引：0
作者：
Du, Yunsheng [1 ]
Wang, Wenshuo [1 ]
Wei, Yuan [1 ]
Chen, Huiyan [1 ]
机构：
[1] School of Mechanical Engineering, Beijing Institute of Technology, Beijing
来源：
Binggong Xuebao/Acta Armamentarii | 2024年 / 45卷
关键词：
behavior prediction; Gaussian mixture model; random forest; steering behavior; tracked vehicle;
D O I：
10.12382/bgxb.2024.0877
中图分类号：
学科分类号：
摘要：
Reforming the current manned tracked vehicles into the unmanned tracked vehicles is one effective way to develop the unmanned tracked vehicle. To this end,a data acquisition system is designed to collect the vehicle state and driver’s operation data. Based on the collected data,the driver’s steering behaviors during the tracked vehicle’s operation are clustered and analyzed based on the Gaussian mixture model(GMM),and a steering control behavior model is established. Based on different steering categories from GMM,a prediction model for the driver’s steering operation is trained by taking the running speed and steering angle deviation of vehicle as model inputs and the turning angle of hydraulic motor swinging arm as the predictive truth value of steering control. The proposed predsiction model is used for the statistical modeling and prediction of driver steering behavior in the in real cross-country environment. Experimental results show that the proposed steering control model can predict the driver’s steering behavior accurately. © 2024 China Ordnance Industry Corporation. All rights reserved.
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页码：162 / 169
页数：7
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