A New Skid Suppression Method for Avoiding Stuck State in Work Vehicle's Control

摘要

Such work vehicles as maintenance vehicles, bulldozers, grass cutters, and snow blowers conventionally using internal combustion engines are gradually being motorized and carrying autonomous driving function. These vehicles often fall into skid state on the wasteland, etc. and the skid state may proceed to stuck or lock states from which they cannot escape by itself. This becomes a serious problem for autonomous driving. This paper suggests a new skid suppression method and the performances of this method are evaluated by simulations in Model Based Design method. The feasibility of suggested skid suppression method is verified by Model In the Loop Simulation and its detailed control algorithm using a cost-effective acceleration sensor is modified by applying Rapid Control Prototyping before actually implementing the controller. Setting a snow blower as an example, the application of Model Based Design method and the evaluation results are described.