摘要：AbstractAutonomous off-road vehicles such as tractors, military vehicles, construction and agricultural machinery require an important power traction to face off mobility issues on soft soils and rough terrains. This paper presents a powertrain controller developed using an adapted Burckhardt tire model based on a Bekker-Wong wheel-soil interaction model according to the plasticity theory and soil mechanics. A Gain Scheduling approach allows the vehicle to maintain the desired reference speed while avoiding the impact of ground conditions. Simulation results show vehicle mobility control through different types of soils.
关键词：KeywordsOff-road tire modelOff-road vehicle applicationsLongitudinal controlPowertrain control
