The invention relates to an unmanned mining vehicle control method and device, electronic equipment and a storage medium. The method comprises the steps that the real-time speed and the target expected speed of a target unmanned mining vehicle are acquired; determining a speed deviation value between the real-time speed and the target expected speed; acquiring a numerical interval to which the speed deviation value belongs, and taking a PID parameter corresponding to the numerical interval as a target PID parameter; a control mode of the target unmanned mining vehicle is determined at least based on a control quantity obtained based on the target PID parameter and based on the control quantity; the target unmanned mining vehicle is controlled through the control mode; the control mode comprises a driving control mode, a sliding control mode or a braking control mode. Therefore, according to the embodiment of the invention, the corresponding PID parameter is obtained by judging the numerical value interval to which the speed deviation belongs, and more effective control on the vehicle can be realized through the control quantity obtained by the PID parameter.

    本公开涉及无人驾驶矿用车辆控制方法、装置、电子设备及存储介质,其方法包括:获取目标无人驾驶矿用车辆的实时速度和目标期望速度;确定所述实时速度与所述目标期望速度之间的速度偏差值;获取所述速度偏差值所属的数值区间,并将所述数值区间对应的PID参数作为目标PID参数;至少基于目标PID参数获得的控制量,并基于控制量确定对目标无人驾驶矿用车辆的控制模式;通过控制模式对目标无人驾驶矿用车辆进行控制;控制模式包括:驱动控制模式、滑行控制模式或制动控制模式。这样本公开实施例通过判断速度偏差所属的数值区间来获得对应的PID参数,通过PID参数获得的控制量可以实现对车辆更有效的控制。


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    Title :

    Unmanned mining vehicle control method and device, electronic equipment and storage medium


    Additional title:

    无人驾驶矿用车辆控制方法、装置、电子设备及存储介质


    Contributors:
    CHENG YUNYING (author) / ZHOU LIYAN (author) / HUANG JIAYONG (author)

    Publication date :

    2023-04-07


    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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