Cooperative control method and system for chassis movement and target strike of ground unmanned vehicle

Abstract

The invention relates to a cooperative control method and system for chassis movement and target strike of a ground unmanned vehicle. According to the method, a built reinforcement learning parameter model is trained and tested through a built simulation scene, the trained reinforcement learning parameter model is obtained, a special vehicle type and the reinforcement learning parameter model can be organically combined, and in addition, in the actual environment, various information collected by a vehicle sensor in real time is input to serve as input of deep reinforcement learning, cooperative control over ground unmanned vehicle chassis movement and target strike is finally achieved, cooperation of an autonomous maneuvering module and an autonomous task module can be achieved, the task completion time is shortened, and the task execution effect is improved. Furthermore, the reinforcement learning method based on simulation data can enable the data acquisition cost to be low, and compared with a mathematical model method based on rules, the method can be applied to a new scene only by properly modifying input data, output actions and reward functions, and is better in universality.

Description

technical field [0001] The invention relates to the technical field of vehicle coordinated control, in particular to a method and system for coordinated control of ground unmanned vehicle chassis movement and target strike. Background technique [0002] With the continuous development of computer technology, network technology, sensing and testing technology, artificial intelligence technology, etc., unmanned driving has emerged as the times require, and various types of ground unmanned vehicles have entered the public eye, liberating and developing labor productivity in many aspects , Vehicle unmanned has become a trend. Special vehicles refer to specially-made or modified vehicles that are different from ordinary vehicles in terms of structure, shape, size, weight, etc., and are suitable for specific occasions and perform specific tasks. The whole vehicle can be divided into two parts: motor module and task module. Part, the former is responsible for the movement of the v...

AI Technical Summary

Problems solved by technology

In order to reduce the difficulty of design and control, most of the unmanned special vehicles at home and abroad currently adopt the static operation mode, that is, the chassis of the vehicle is static while the vehicle is performing a specific task, and the maneuvering module and the task module have not achieved good coordination. Complete homework tasks while moving, which brings some disadvantages, and there is a lot of room for improvement

For example, this static operation method weakens the production efficiency of unmanned mining vehicles, weakens the fire rescue capabilities of unmanned fire trucks, and reduces the possibility of survival and strike efficiency of unmanned military vehicles on the battlefield

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