推导了横坡直驶动力学模型、预测及控制模型。在对驾驶意图及车辆运动状态识别分析的基础上,对比传统履带横坡直驶控制,提出了一套全新的电传动履带车辆横坡平稳直驶控制思路和方法。针对不同路面变化、不同行驶速度变化的横坡工况,利用Matlab/Simulink软件对电传动履带车辆横坡平稳直驶控制系统进行了建模与仿真。验证了所建立的模型和所采用的横坡平稳直驶控制策略,并得出了不同工况下的仿真结果。 The dynamic model, prediction and control model of straight slope driving are derived. Based on the analysis of the driving intention and vehicle movement status, a new set of control ideas and methods for smooth cross-ramp driving of electric driven tracked vehicles are proposed. According to the condition of different slope changing and different traveling speed, the Matlab simulation software was used to simulate and control the horizontal straight-steerable control system of tracked vehicle. The established model and the control strategy of smoothing and straight driving are validated and the simulation results under different conditions are obtained.