Self-adaptive obstacle-navigation control method for vehicle walking system based on rocker suspension

The invention discloses a self-adaptive obstacle-navigation control method for a vehicle walking system based on a rocker suspension. According to the method, whether the whole vehicle can execute passive obstacle navigation or not is judged according to changes in a vehicle body inclination angle and the oil cylinder pressure on the two sides of a front axle, but the passive obstacle navigation is self-adaptive obstacle-navigation control, the changes in the front obstacle can be judged without excessive participation of whole vehicle perception, planning, decision control and other modules,and a passive obstacle navigation process or an active obstacle navigation process can be selectively executed according to the changes in an obstacle, so that the passing capability of a rocker suspension platform under a severe road condition can be more economically and rapidly improved. 本发明公开了一种基于摇臂悬架的车辆行走系统的自适应越障控制方法，根据对车身倾角和前轴两侧油缸压力变化判断整车是否可执行被动越障，而被动越障为自适应越障控制，无需整车感知、规划、决策控制等模块过多地参与便可以对前方障碍变化做出判断，并根据障碍变化选择执行被动越障或者主