The invention belongs to the technical field of vehicle collaborative optimization driving, and discloses a hybrid power tracked vehicle speed and energy collaborative optimization method, medium and equipment, and the method comprises the steps: designing a coordinate transformation method to convert the GPS coordinates of an original set track into the coordinates of a vehicle local coordinate system, so as to facilitate the subsequent algorithm application; constructing a hybrid tracked vehicle speed and energy collaborative optimization model; a reinforcement learning method is utilized, tracking errors and energy consumption are fully considered, so that possible behaviors such as slip, lateral movement and over-steering in the path following process of the vehicle are reduced, and collaborative optimization of speed and energy in the path following process of the hybrid tracked vehicle is achieved. According to the method, the running speed sequence of the tracks on the two sides of the tracked vehicle is optimized, so that the behaviors of sliding, sliding, over-steering and the like of the vehicle in the path following process are improved, and collaborative optimization of the speed and energy of the tracked vehicle is achieved.
本发明属于车辆协同优化驾驶技术领域,公开了一种混合动力履带车辆速度与能量协同优化方法、介质、设备,包括:设计一种坐标变换方法将原有既定轨迹的GPS坐标转换为车辆局部坐标系坐标,以方便之后的算法应用;构建混动履带车辆速度与能量协同优化模型;利用强化学习方法,充分考虑跟踪误差与能耗,以减少车辆对路径跟随过程中可能出现的滑转、侧移、过度转向等行为,实现混动履带车辆路径跟随过程中速度与能量的协同优化。本发明通过优化履带车两侧履带运行速度序列进而改善车辆在路径跟随过程中的滑转、滑移、过度转向等行为,从而实现履带车辆速度与能量的协同优化。
Hybrid power tracked vehicle speed and energy collaborative optimization method, medium and equipment
混合动力履带车辆速度与能量协同优化方法、介质、设备
2022-03-01
Patent
Electronic Resource
Chinese
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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