The invention relates to a trajectory tracking control method for an unmanned vehicle in a mining area, relates to the technical field of unmanned driving, and solves the problem that the tramcar cannot be accurately controlled to run in a mining area scene in the prior art, and the method comprises the following steps: obtaining running path data when the tramcar is manually driven; determining first vehicle driving data according to the driving path data; second vehicle driving data during unmanned driving of the mine car are collected, wherein the second vehicle driving data are real-time data generated in the transportation process of the mine car; determining deviation data according to the first vehicle driving data and the second vehicle driving data; according to the deviation data, the running speed and steering of the mine car are controlled so that the mine car can run along a running path corresponding to the running path data; wherein the deviation data is a difference value between the first vehicle driving data and the second vehicle driving data. According to the technical scheme, the operation efficiency can be improved, and safety accidents are reduced.

    本发明涉及一种矿区无人车轨迹跟踪控制方法,涉及无人驾驶技术领域,解决现有技术无法在矿区的场景下精确地控制矿车行驶,所述方法包括:获取矿车人工驾驶时的行驶路径数据;根据行驶路径数据,确定第一车辆行驶数据;采集矿车无人驾驶时的第二车辆行驶数据,第二车辆行驶数据为矿车在运输过程中产生的实时数据;根据第一车辆行驶数据和第二车辆行驶数据,确定偏差数据;根据偏差数据,控制矿车的行驶速度和转向以使矿车沿着行驶路径数据对应的行驶路径行驶;其中,偏差数据为第一车辆行驶数据和第二车辆行驶数据的差值。本发明提供的技术方案能提高作业效率,减少安全事故。


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    Titel :

    Trajectory tracking control method for unmanned vehicle in mining area


    Weitere Titelangaben:

    一种矿区无人车轨迹跟踪控制方法


    Beteiligte:
    LIU ZHENGYU (Autor:in) / LI DAWEI (Autor:in) / BA TENGYUE (Autor:in) / JIANG DAWEI (Autor:in) / QIU XUYANG (Autor:in)

    Erscheinungsdatum :

    2023-03-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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