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An Efficient Path Planning Methodology Based on the Starting Region Selection

Hunan University-Xin Chen, Zhaobo Qin, Liang Chen
North China University of Technology-Jingjing Fan
  • Technical Paper
  • 2020-01-0118
To be published on 2020-04-14 by SAE International in United States
Automated parking is an efficient way to solve parking difficulties and path planning is of great concern for parking maneuvers [1]. Meanwhile, the starting region of path planning greatly affects the parking process and efficiency. The present research of the starting region are mostly determined based on a single algorithm, which limits the flexibility and efficiency of planning feasible paths. This paper, taking parallel parking and vertical parking for example, proposes a method to calculate the starting region and select the most suitable path planning algorithm for parking, which can improve the parking efficiency and reduce the complexity. The collision situations of each path planning algorithm are analyzed under collision-free conditions based on parallel and vertical parking. The starting region for each algorithm can then be calculated under collision-free conditions. After that, applicable starting regions for parking can be obtained, and each of those regions corresponds to a parking path planning algorithm. However, there always exists overlapped starting regions, which can be applied to multiple parking path planning algorithms. In order to select the most…
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A Novel Three-Planetary-Gear Power-Split Hybrid Powertrain for Tracked Vehicles

Tsinghua University-Zhaobo Qin, Yugong Luo, Zhong Cao, Keqiang Li
Published 2018-04-03 by SAE International in United States
Tracked vehicles are widely used for agriculture, construction and many other areas. Due to high emissions, hybrid electric driveline has been applied to tracked vehicles. The hybrid powertrain design for the tracked vehicle has been researched for years. Different from wheeled vehicles, the tracked vehicle not only requires high mobility while straight driving, but also pursues strong steering performance. The paper takes the hybrid track-type dozers (TTDs) as an example and proposes an optimal design of a novel power-split powertrain for TTDs. The commercial hybrid TTD usually adopts the series hybrid powertrain, and sometimes with an extra steering mechanism, which has led to low efficiency and made the structure more complicated. The proposed three-planetary-gear power-split hybrid powertrain can overcome the problems above by utilizing the characteristics of planetary gear sets. The proposed powertrain has two outputs connected to the left and right track respectively, which can provide the accurate torque to both sides of tracks when straight driving, skid steering, or driving backwards. The paper gives the dynamic characteristic matrices to search the big pool…
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