Beijing Institute of Technology

Baotou Sansi Technology Development Co., Ltd.

Lijin Han

Hui Liu

Weida Wang

Changle Xiang

Yang Liu

Chao Yang

Yue Ma

Shaoping Lv

Lili Xu

Donghao Zhang

Huibin Xin

Zhihao Liao

Yujia Xie

Shida Nie

Congshuai Guo

Provided are a method, system and device for global path planning for an unmanned vehicle in an off-road environment. The method includes: obtaining satellite elevation data and a satellite remote sensing image of a current off-road environment; constructing a digital elevation model (DEM); determining slope and land surface relief of each grid in the current off-road environment; performing gray processing on the satellite remote sensing image to obtain grayscale values of the grids; determining traversal costs of the grids corresponding to different ground types; constructing a global grid map based on the slope and the land surface relief of each grid, as well as the traversal costs corresponding to the different ground types; determining a rugged terrain potential field and path costs; and searching for paths using a Bresenham's line algorithm and Theta* algorithm based on the rugged terrain potential field and the path costs, to generate a global path.

Method, system, and device for global path planning for unmanned vehicle in off-road environment

An ECMS-based PHEV four-drive torque distribution method is disclosed. The method comprises: step 1, calculating an equivalent fuel consumption factor; step 2, calculating instantaneous total equivalent fuel consumption rate; step 3, converting all operating torque combinations of an engine, a BSG motor and a rear axle motor into the operating torque of a driving wheel, and determining the operating torque range of each power source; step 4, solving the minimum value of the instantaneous total equivalent fuel consumption rate within the actual operating torque range of each power source; and step 5, taking the operating torque of each power source corresponding to the minimum instantaneous total equivalent fuel consumption rate as the PHEV optimal operating torque for distribution.

ECMS-based PHEV four-drive torque distribution method

The present invention discloses a real-time optimization control method for an electro-mechanical transmission system, and relates to the field of electro-mechanical transmission technologies. The method includes the following steps: (S) starting; (S) state observation: a current operating state of each element of the electro-mechanical transmission system is obtained through state observation; (S) dynamic prediction: a feasible operating range of each element of the electro-mechanical transmission system is obtained through dynamic prediction; (S) optimal decision: an optimal control command of each element in the optimal decision is formulated and executed; (S) feedback correction: feedback correction is performed on control amounts of a motor and an engine of the electro-mechanical transmission system by using state deviations; and (S) determining whether feedback correction meets a requirement, and if feedback correction meets the requirement, ending the process, or if feedback correction does not meet the requirement, repeating (S).

Real-time optimization control method for electro-mechanical transmission system

The present invention discloses an electromechanical compound transmission device for a tracked vehicle. The electromechanical compound transmission device includes a front transmission mechanism, a power coupling mechanism, an independent drive mechanism, and convergent planetary gearsets arranged on both sides of the power coupling mechanism. The present invention can not only implement driving, steering, and other functions of a vehicle, but also provide sufficient electric energy for a vehicle-mounted device. In other words, a series mode can be adopted to satisfy a torque output requirement, and is mainly used for low and medium-low speed driving, as well as reverse driving and climbing steep slopes; and a series-parallel mode can also be adopted to satisfy requirements of high and medium-high speed driving, and can achieve relatively high transmission efficiency and fuel economy.

Series-hybrid electromechanical compound transmission device for tracked vehicle

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Beijing, China

Lijin Han