Abstract: With the development of driverless technology, the combination of driverless technology and electric vehicles with extensive advantages is the development trend in the future. However, due to the imperfect development of battery and charging technology of electric vehicles, the rated driving range of driverless electric logistics vehicles is generally not high, and the actual driving range is less than the rated driving range. Therefore, it is necessary to study the path optimization problem. In this study, a mathematical model of the route optimization problem of driverless electric logistics vehicle is proposed, and the rationality of the model is verified by using LINGO software to test a small scale example. Then, the traditional C-W algorithm is improved, and it is used to solve the mathematical model in this paper. MATLAB software is used to solve the small-scale example to verify the feasibility of the algorithm. Finally, a large scale example is solved by the improved algorithm. The experimental results show that the mathematical model of vehicle routing optimization problem with electricity constraints is reasonable, and the feasibility and rationality of the improved C-W algorithm with electricity constraints are proved.

Key words: Driverless; Electric logistics vehicle; Vehicle routing problem; C-W algorithm

摘要： 无人驾驶技术日渐成熟，将无人驾驶技术和具有广泛优势的电动汽车结合运用于物流 配送中是未来的发展趋势。然而由于电动汽车电池和充电技术发展尚不完善，使得无人驾驶 电动物流车的标定续驶里程普遍不高，实际续驶里程小于标定续驶里程。因此，研究其路径 优化问题是十分有必要的。论文首先提出了无人驾驶电动物流车路径优化问题的数学模型， 运用 LINGO 软件进行小规模算例测试，验证了模型的合理性。然后，对传统的节约里程法算 法进行了改进，并将其用于求解本文的数学模型，运用 MATLAB 软件求解验证模型的小规模 算例，验证了算法的可行性。最后用改进的算法求解了一个大规模算例。实验结果表明，提 出的带有电量约束的车辆路径优化问题的数学模型是合理的，证明了具有电量约束的改进的 节约里程法的可行性和合理性。

关键词: 无人驾驶；电动物流车；路径优化；节约里程法