The invention discloses a large-flow circular shuttle vehicle
dynamic control method based on a closed three-
branch grid framework, which comprises the following steps: establishing a road three-
branch grid model of a circular shuttle vehicle, the model comprises a
shunting turnout and a converging turnout which are respectively provided with three line segments, and the
shunting turnout and the converging turnout are used for representing a fork; the
line segment represents a channel of the circular shuttle vehicle; based on a three-
branch grid model, the method for dynamically managing the shuttle vehicle through a
control system comprises the steps that a main
control unit distributes a
control unit of an area to which the shuttle vehicle belongs and a current
line segment to the shuttle vehicle in real time according to the destination of the shuttle vehicle and the current real-time traffic condition; the area
control unit calculates the maximum limiting speed of the vehicle according to a nearest distance dynamic
algorithm based on the vehicle task target position, the
line segment end point and the front vehicle distance; and when the distance between the front vehicle and the vehicle is suddenly changed, the
vehicle control unit performs amplitude limiting and compensation on the suddenly changed original control speed of the vehicle in the line segment according to a natural constant exponentiation speed curve control method, so that the running efficiency and the stability of the shuttle vehicle are improved.