The invention relates to a control method and device for insufficient steering of an unmanned mining vehicle, electronic equipment and a storage medium, and the method comprises the steps: obtaining the current speed and the target turning radius of a target unmanned mining vehicle in the steering process of the target unmanned mining vehicle; based on the current speed and the target turning radius, the expected yaw velocity of the target unmanned mining vehicle is determined; the difference value between the expected yaw velocity and the current actual yaw velocity of the target unmanned mining vehicle is obtained; and under the condition that the difference value is larger than the target threshold value, vehicle control is conducted on the target unmanned mining vehicle, and vehicle control comprises brake control or accelerator control. The expected yaw velocity of the target unmanned mining vehicle is determined by acquiring the current velocity and the target turning radius of the target unmanned mining vehicle, so that the data processing efficiency of the vehicle can be greatly improved, and the vehicle can be effectively controlled under the condition of insufficient steering.

    本公开涉及无人驾驶矿用车辆转向不足的控制方法、装置、电子设备及存储介质,其方法包括:在目标无人驾驶矿用车辆转向过程中,获取目标无人驾驶矿用车辆的当前速度和目标转弯半径;基于当前速度和目标转弯半径,确定目标无人驾驶矿用车辆的期望横摆角速度;获取期望横摆角速度与目标无人驾驶矿用车辆当前的实际横摆角速度之间的差值;在差值大于目标阈值的情况下,对目标无人驾驶矿用车辆进行车辆控制,车辆控制包括制动控制或者油门控制。由于本公开通过获取目标无人驾驶矿用车辆的当前速度和目标转弯半径来确定目标无人驾驶矿用车辆的期望横摆角速度,能够大大提高车辆的数据处理效率,并且还可以对车辆存在转向不足的情况下进行有效的控制。


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    Title :

    Control method and device for understeering of unmanned mining vehicle, electronic equipment and storage medium


    Additional title:

    无人驾驶矿用车辆转向不足的控制方法、装置、电子设备及存储介质


    Contributors:
    LYU SONG (author) / HUANG JIAYONG (author)

    Publication date :

    2023-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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