Its top layer, middle layer and bottom layer are the locomotion controller, the control allocator and the independent wheel drive-brake-steering servo controller, respectively.

• 首先建立一种适于无人驾驶AWID-AWIS车辆的分层式运动控制体系结构，其上层为运动控制器，中层为控制分配器，底层为独立车轮伺服控制器；