The invention relates to a tracked vehicle slip rate estimation method based on pavement classification and machine learning, and belongs to the technical field of slip rate estimation. Based on pavement classification and segmented support vector regression, a crawler-type platform is used for collecting a large amount of data, a pavement classification model is established, a slip rate discrete estimation model is established, a slip rate regression model is established, driving wheel torque and rotating speed collected by the crawler-type platform, vehicle transverse and longitudinal acceleration and vehicle yaw velocity and pitch angular velocity are used as input characteristics of the slip rate discrete estimation model and the slip rate regression model, and finally an estimated value of the slip rate of the crawler-type vehicle is obtained. The method is suitable for tracked vehicles, the pavement types are accurately distinguished through the pavement classification model, the influence of the pavement types on slip rate estimation is eliminated, and the slip rate estimation value is further quickly and accurately obtained through the slip rate discrete estimation model and the slip rate regression model; and the method can be applied to tracked vehicle model correction and traction force control.

    本发明涉及一种基于路面分类与机器学习的履带车辆滑移率估计方法,属于滑移率估计技术领域。本发明基于路面分类与分段支持向量回归,使用履带式平台采集大量数据,建立路面分类模型,建立滑移率离散估计模型,建立滑移率回归模型,将履带式平台采集的驱动轮转矩和转速、车辆横向和纵向加速度、车辆横摆角速度和俯仰角速度作为滑移率离散估计模型和滑移率回归模型的输入特征,最终得出履带车辆滑移率的估计值。本发明适用于履带车辆,通过路面分类模型对路面类型准确分辨,消除路面类型对滑移率估计的影响,进一步通过滑移率离散估计模型以及滑移率回归模型快速、准确地得出滑移率估计值;本发明的方法能够应用于履带车辆模型修正、牵引力控制。


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    Title :

    Tracked vehicle slip rate estimation method based on pavement classification and machine learning


    Additional title:

    一种基于路面分类与机器学习的履带车辆滑移率估计方法


    Contributors:
    LIU HAI'OU (author) / LIU JIA (author) / TANG ZEYUE (author) / MAO FEIHONG (author)

    Publication date :

    2021-07-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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