The invention belongs to the technical field of unmanned driving, and discloses an underground roadway-oriented trackless rubber-tyred vehicle unmanned driving method, which comprises the steps of early-stage accuracy, task determination and roadway perception; receiving sensed and detected information through a state decision-making layer, and judging a driving state according to the detected information; the control decision-making layer selects a corresponding control decision according to the judged driving state; and the tracking control layer selects a corresponding tracking control mode according to the selected control decision. The method can adapt to special underground environment conditions, different state decision judgment and control execution switching are performed according to sensing results, various dynamic scenes such as vehicle meeting, obstacle avoiding and obstacle stopping are flexibly processed while the control precision is guaranteed, the number of manual intervention times is reduced, the unmanned driving operation efficiency is improved, and the system cost is reduced.
本发明属于无人驾驶技术领域,公开了一种面向井下巷道的无轨胶轮车无人驾驶方法,方法包括:前期准确,确定任务,巷道感知;通过状态决策层接收所感知检测到的信息,根据所检测到的信息,判定行驶状态;控制决策层根据所判定的行驶状态,选择对应的控制决策;跟踪控制层根据所选择的控制决策选择对应的跟踪控制方式。该方法能够适应井下特殊环境状况,感知结果进行不同状态决策判断与控制执行切换,保证控制精度的同时,灵活处理会车、绕障、停障等多种动态场景,减小人工干预次数,提高无人驾驶运行效率,降低系统成本。
Underground roadway-oriented trackless rubber-tyred vehicle unmanned driving method
一种面向井下巷道的无轨胶轮车无人驾驶方法
2023-05-09
Patent
Elektronische Ressource
Chinesisch
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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