## 1 Introduction  
The drive and transmission mechanisms in vehicles are a part of any vehicle, serving as the interconnections between the engine's power and the wheels that drive the vehicle forward. This system is applied for control over the speed and direction of the vehicle, allowing it to operate in various road conditions and terrains. This technology has been the subject of numerous researchers, with the goal to enhance the fuel efficiency or overall performance of vehicles with manual or automatic transmissions. In many cases, the research is focused on the design and fabrication process of mechanical components of the drive or transmission mechanisms of vehicles [1]. Together with the research and development of drive and transmission mechanisms, it is necessary to analyze their structural and kinematic characteristics [2; 3] or perform failure analysis [4]. The optimization process can be focused on the selection of the most convenient commercially available components, such as a pump, and their influence on the fuel economy [5]. However, in military applications, especially considering already used vehicles, it is a very complicated and time-consuming process to modify the mechanical construction or to replace the components of the vehicles. Therefore, our research is focused on the creation of the simulation model of the drive and transmission mechanism of the vehicle. A significant number of research and development teams have been currently focused on electric vehicles, the estimation of their energy consumption [6], energy management strategies to extend the operational range of the electric vehicles [7] and the determination of factors influencing the economy of electric vehicles [8]. The analysis of stability under different conditions, such as in the case of failure of a single wheel in four-wheel vehicles [9], is also very important. In addition to the static characteristics, many research teams focus on the analysis of the dynamic characteristics of vehicles, including, currently, electric [10; 11] or hybrid vehicles [12]. The ecology is also very relevant; therefore, many research and development activities are also focused on the eco-driving strategies [13] for fuel cell vehicles and fuel cell power supply systems [14]. Attention is also paid to the development of protection systems [15]. Interesting is the research comparing the performance of series-parallel hybrid transmissions with multiple gears and modes based on efficiency models [16]. Tracked vehicles [17; 18; 19] have many singularities in comparison to other types of vehicles. Furthermore, they are often operated in complicated driving conditions [20]. However, uneven roads and climbing characteristics have been a subject of research also in the case of wheeled vehicles [21; 22; 23]. The optimization process is a very complex issue and can be analyzed and studied from various points of view. Research can be focused, for example, on the optimization of driving control strategies [24; 25]. The optimization of gearshift mechanisms and their control is usually focused on the selected parameter or components, such as optimal control for the shift mechanism of a planetary two-speed transmission [26], novel two-speed transmission mechanism for battery electric vehicles [27] or shifting strategy for electric heavy trucks with automated manual transmission based on extended Kalman filtering and reinforcement learning [28]. Optimization can also be carried out for the driving torque control strategies [29] or gear-shifting algorithms, which can be based, for example, on fuzzy regulators [30] or collision models [31]. Both adaptive [32] and steering-cooperative seamless gearshift control [33] also belong to perspective methods. For many applications,it is necessary to optimize the torque control [34; 35; 36]. However, in addition to torque control, it is often required to analyze the influence of vibrations [37; 38; 39]. To enhance efficiency, performance or other parameters and characteristics, many various approaches can be applied [39; 40].