Unmanned longitudinal motion control mode switching method and device, equipment and medium

Abstract

An unmanned longitudinal motion control mode switching method based on a gradient is applied to an unmanned mine car. A longitudinal motion control mode of the unmanned mine car comprises three driving modes including a driving mode, a braking mode and a sliding mode, wherein the sliding driving mode is a motion mode when the unmanned mine car is switched between the braking mode and the driving mode. The unmanned longitudinal motion control mode switching method comprises the steps of obtaining the gradient of a road section where the unmanned mine car is located at present; when the unmannedmine car currently switches the driving modes, calculating a pedal opening interval of the sliding driving mode of the unmanned mine car at present based on the gradient; and controlling the unmannedmine car to perform dynamic switching of the driving modes according to the pedal opening degree interval of the sliding driving mode calculated in real time at present. According to the method, theintroduced sliding driving mode simulates real operation of a driver, a good buffering effect is achieved on torque impact generated in the driving mode switching process of the unmanned mine car, theunmanned mine car can run more stably, and vehicle abrasion is reduced.

Description

technical field [0001] The present disclosure relates to the field of unmanned mining vehicles, and in particular to a slope-based unmanned longitudinal motion control mode switching method, device, electronic equipment, and computer-readable storage medium. Background technique [0002] In recent years, unmanned mining vehicle technology has become a research hotspot in the field of industrial electrification and informatization in mining areas. At present, the vast majority of unmanned longitudinal control is through the central controller to control the brake-by-wire subsystem and the accelerator-by-wire subsystem, to control the coordinated work of the accelerator and brake, to realize the follow-up of the longitudinal speed, and to ensure that the vehicle can travel at the desired speed. Smooth ride. [0003] However, the longitudinal control mode of the current unmanned mining vehicle technology only distinguishes two modes of braking and driving, so that the unmanned...

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Problems solved by technology

[0003] However, the longitudinal control mode of the current unmanned mining vehicle technology only distinguishes two modes of braking and driving, so that the unmanned mining vehicle can only seamlessly switch between these two modes, resulting in unmanned mining vehicles. In terms of vehicle control, it is easier to produce overshoot or undershoot of the accelerator and brake, resulting in poor ride comfort of the vehicle; at the same time, due to frequent braking during the working process of the unmanned mining vehicle, the vehicle wears out and the fuel consumption increases; in addition , the central controller does not consider the influence of the slope on the vehicle speed when controlling the longitudinal motion of the unmanned mining vehicle, and the adaptability of the control algorithm is poor

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