The invention provides a transverse control system and method for an underground coal mine articulated unmanned vehicle, and the system is characterized in that a steering parameter sensing device is used for obtaining the steering parameters of the vehicle, and the steering parameters comprise the actual articulated angle of the vehicle; the driving parameter sensing device is used for obtaining driving parameters of the vehicle, and the driving parameters comprise a front vehicle body course angle, a front vehicle body speed and a rear vehicle body speed; the load parameter sensing device is used for obtaining load parameters of the vehicle, and the load parameters comprise load capacity; the tracking parameter sensing device is used for obtaining the tracking parameters of the vehicle, and the tracking parameters comprise the driving track of the vehicle and the course error and the lateral error of the vehicle from the driving distance to the preview point; the vehicle decision controller is used for calculating an expected hinge angle based on a steering parameter, a driving parameter, a load parameter and a tracking parameter; the steering control device is used for adjusting the hinging angle of the vehicle based on the expected hinging angle so as to achieve vehicle transverse control.
本发明提出一种煤矿井下铰接式无人驾驶车辆横向控制系统与方法,该系统中转向参数感知装置用于获得车辆的转向参数,转向参数包括车辆实际铰接角;行驶参数感知装置用于获得车辆的行驶参数,行驶参数包括前车体航向角、前车体速度和后车体速度;载重参数感知装置用于获得车辆的载重参数,载重参数包括载重量;循迹参数感知装置用于获得车辆的循迹参数,循迹参数包括车辆的行驶轨迹、以及车辆行驶距预瞄点的航向误差与横向误差;车辆决策控制器用于基于转向参数、行驶参数、载重参数、循迹参数计算得到期望铰接角;转向控制装置用于基于期望铰接角来调整车辆的铰接角,以实现车辆横向控制。
Underground coal mine articulated unmanned vehicle transverse control system and method
一种煤矿井下铰接式无人驾驶车辆横向控制系统与方法
2025-05-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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