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<p>After the unmanned transformation of the transmission system of a heavy tracked vehicle, there are problems of low shift smoothness and long shift time during remote driving. Aiming to realize the smooth shift of tracked vehicles by remote driving, this study mines the manned driving data of the vehicle and develops an auxiliary decision-making model for the shift timing of remote driving. In addition, an integrated shift control strategy of tracked vehicle power transmission based on a hierarchical finite state machine is designed. The effectiveness of the proposed remote control shift strategy for tracked vehicles is verified by bench test and real vehicle test. During the entire shifting process, the average shift impact of the tracked vehicle is 9.02<InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\:\text{m/}{\text{s}}^{3}\)</EquationSource> </InlineEquation>, the average shift time is 4.6<InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(\:s\)</EquationSource> </InlineEquation>, and the vehicle has good ride comfort。The research results can provide useful guidance and lay a foundation for the research of driving control and trajectory tracking control of this type of heavy tracked vehicle after unmanned transformation.</p>

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An efficient remote driving shift control method of unmanned heavy tracked vehicles based on manned data mining

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年12月29日

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  • Weijian Jia,
  • Yao Zhao,
  • Haiwen Zheng,
  • Penglei Hu,
  • Yufei Gao

摘要

After the unmanned transformation of the transmission system of a heavy tracked vehicle, there are problems of low shift smoothness and long shift time during remote driving. Aiming to realize the smooth shift of tracked vehicles by remote driving, this study mines the manned driving data of the vehicle and develops an auxiliary decision-making model for the shift timing of remote driving. In addition, an integrated shift control strategy of tracked vehicle power transmission based on a hierarchical finite state machine is designed. The effectiveness of the proposed remote control shift strategy for tracked vehicles is verified by bench test and real vehicle test. During the entire shifting process, the average shift impact of the tracked vehicle is 9.02 \(\:\text{m/}{\text{s}}^{3}\) , the average shift time is 4.6 \(\:s\) , and the vehicle has good ride comfort。The research results can provide useful guidance and lay a foundation for the research of driving control and trajectory tracking control of this type of heavy tracked vehicle after unmanned transformation.