The embodiment of the invention discloses an underground unmanned vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the distance information between a pedestrian followed by the vehicle and the vehicle and the curvature information of a to-be-driven road point in a target following path when the vehicle starts an automatic driving function followed by the pedestrian; the corresponding target driving modes, such as a pivot steering mode, a parking waiting mode and a double-shaft steering mode, are determined according to the distance information and the curvature information, the vehicle is controlled to drive in the corresponding target driving modes, vehicle steering control under the pedestrian following function is achieved, and the vehicle steering control can be achieved in combination with related information of roads and pedestrians. Special actions such as oblique driving and in-situ turning around are achieved, human intervention is not needed, and when it is guaranteed that the vehicle dynamically follows the pedestrians in the underground narrow and complex driving environment, the flexibility of the vehicle following the pedestrians, the trafficability of the vehicle and the turning capacity of the vehicle can be improved, and the underground unmanned vehicle is helped to improve the operation efficiency.
本公开实施例公开了一种井下无人车控制方法、装置、电子设备和存储介质,该方法在车辆启动行人跟随的自动驾驶功能时,获取车辆跟随的行人与该车辆之间的距离信息以及目标跟随路径中待行驶路点的曲率信息,进而根据距离信息与曲率信息确定对应的目标行驶模式,如原地转向模式、停车等待模式、双轴转向模式等,控制车辆以对应的目标行驶模式行驶,实现了行人跟随功能下的车辆转向控制,可以结合道路和行人的相关信息,实现斜向行驶、原地掉头等特殊动作,无需人为干预,面对井下狭窄、复杂的行驶环境,可以在保证车辆动态跟随行人的同时,提高车辆跟随行人的灵活性、车辆的通过性与车辆转弯能力,帮助井下无人车提高运营效率。
Underground unmanned vehicle control method and device, electronic equipment and storage medium
井下无人车控制方法、装置、电子设备和存储介质
2024-01-09
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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