The invention discloses an intelligent driving control method, system and device for an unmanned mud-head vehicle and a medium. The method comprises the steps that the real-time speed difference of the unmanned mud-head vehicle is obtained; the real-time speed difference is analyzed based on a PID longitudinal control algorithm, and the target total torque of the unmanned mud head vehicle is obtained; the target total torque is analyzed based on an energy optimization distribution strategy, and the target torque of each driving motor of the unmanned mud head vehicle is obtained; a target control rotation angle of the unmanned mud head vehicle is obtained based on a PID transverse control algorithm; and performing intelligent driving control on the unmanned mud head vehicle based on the target torque and the target control rotating angle of each driving motor. By adopting the PID control algorithm, the target total torque and the target control rotation angle of the unmanned mud-head vehicle are obtained, the unmanned mud-head vehicle is controlled based on the target total torque and the target control rotation angle, the target of stable running of the vehicle is met, the method has the advantages of being high in precision and energy utilization efficiency, and the endurance mileage of the unmanned mud-head vehicle is effectively increased.

    本发明公开了一种无人泥头车智能行驶控制方法、系统、设备及介质,所述方法包括:获取无人泥头车的实时速度差;基于PID纵向控制算法分析所述实时速度差,获取无人泥头车的目标总力矩;基于能量最优化分配策略分析所述目标总力矩,获取无人泥头车各驱动电机的目标力矩;基于PID横向控制算法获取无人泥头车的目标控制转角;基于所述各驱动电机的目标力矩和目标控制转角对无人泥头车进行智能行驶控制。本发明通过采取PID控制算法,分别获取无人泥头车的目标总力矩和目标控制转角,并基于目标总力矩和目标控制转角对无人泥头车进行控制,满足车辆平稳行驶的目标,具备精度高、能量利用效率高的优点,有效提高无人泥头车的续航里程。


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    Title :

    Unmanned mud head vehicle intelligent driving control method, system, equipment and medium


    Additional title:

    一种无人泥头车智能行驶控制方法、系统、设备及介质


    Contributors:
    YI CHENYU (author) / CHENG WEIHUA (author) / PENG XIAO (author) / CAO PENG (author) / ZHANG XUEJIE (author) / CHEN DONGYI (author) / TAN ZHIRONG (author)

    Publication date :

    2025-02-14


    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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