The invention discloses an unmanned mine truck transverse and longitudinal adaptive cooperative control method based on dynamic obstacle avoidance. The method specifically comprises path planning considering dynamic obstacle avoidance in a mining area, longitudinal driving control, transverse steering control and transverse and longitudinal cooperative control. Wherein in consideration of path planning of avoidance of dynamic obstacles in a mining area, the driving speed of the unmanned mine truck and the optimal obstacle avoidance path are planned based on a collision cone theory in combination with a dynamic window algorithm; longitudinal driving control: obtaining a longitudinal expected acceleration based on the longitudinal expected control quantity, and performing driving control and braking control according to the longitudinal expected acceleration to realize stable tracking of a speed trajectory; transverse steering control: adopting discrete sliding mode control to realize trajectory tracking; and transverse and longitudinal cooperative control is carried out, and a self-adaptive front wheel steering angle constraint strategy is designed to control the front wheel steering angle. According to the invention, the transverse and longitudinal stability of the unmanned mine truck under the complex mining area working condition can be effectively improved, so that the operation efficiency and the driving safety of the unmanned mine truck are improved.

    本发明公开了一种基于动态避障的无人矿卡横纵向自适应协同控制方法,具体包括考虑矿区动态障碍物躲避的路径规划、纵向行驶控制、横向转向控制和横纵向协同控制。其中,考虑矿区动态障碍物躲避的路径规划,基于碰撞锥理论结合动态窗口算法,对无人矿卡行驶速度以及最优避障路径进行规划;纵向行驶控制,基于纵向期望控制量,得到纵向期望加速度,根据纵向期望加速度,进行驱动控制和制动控制,实现速度轨迹的平稳跟踪;横向转向控制,采用离散滑模控制实现轨迹跟踪;横纵向协同控制,设计一种自适应前轮转角约束策略对前轮转角进行控制。本发明能有效提高无人矿卡在复杂矿区工况下的横纵向稳定性,从而提高无人矿卡的运行效率及行驶安全性。


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    Title :

    Unmanned mine truck transverse and longitudinal adaptive cooperative control method based on dynamic obstacle avoidance


    Additional title:

    一种基于动态避障的无人矿卡横纵向自适应协同控制方法


    Contributors:
    GAO CHAOJUN (author) / YE QING (author) / ZHANG YAO (author) / WANG RUOCHEN (author) / HUANG RANG (author) / WAN JIANAN (author)

    Publication date :

    2024-04-12


    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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