The invention relates to an unmanned driving control method and system for an ore transporting truck. The control method comprises the following steps: S1, acquiring vehicle information and roadway information of an ore transporting truck; s2, generating a driving route according to the roadway information; s3, whether the current roadway can pass or not is judged, and if yes, the maximum driving speed and the shortest braking distance are set; otherwise, the ore transporting operation is suspended; s4, a prediction model is established, the vehicle information and the roadway information are input into the prediction model, and the next ideal state quantity of the ore transporting truck is obtained; and S5, constructing a control model based on Actor-Critic, and inputting the next ideal state quantity and the roadway information into the control model to obtain the next ideal control quantity. The roadway contour is simulated through direct distance measurement, the detection method is simple, the control model is trained and updated according to the state quantity, fed back in real time, of the ore transporting truck, and the control precision of unmanned driving is improved.
本发明涉及一种运矿卡车无人驾驶控制方法及系统。控制方法包括如下步骤:S1:获取运矿卡车的车辆信息以及巷道信息。S2:根据巷道信息生成行驶路线;S3:判断当前巷道是否能够通行,是则设置最大行驶速度、最短刹车距离;否则暂停运矿作业;S4:建立预测模型,将车辆信息和巷道信息输入预测模型中,得到运矿卡车的下一理想状态量;S5:构建基于Actor‑Critic的控制模型,将下一理想状态量、巷道信息输入控制模型中,得到下一理想控制量。本发明通过直接测距对巷道轮廓进行模拟,探测方法简单,根据实时反馈的运矿卡车状态量对控制模型进行训练更新,提高了无人驾驶的控制精度。
Ore transporting truck unmanned driving control method and system
一种运矿卡车无人驾驶控制方法及系统
2023-09-26
Patent
Electronic Resource
Chinese
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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