A kind of unmanned mine car reversing control method

Abstract

The invention provides a reversing control method for an unmanned mining vehicle, including step 1, obtaining the path information of the vehicle through the planning module; obtaining the position information of the vehicle through the positioning module, and calculating the closest point; step 2, truncating the path information according to the closest point ; and carry out coordinate system conversion through the Euler angle of the positioning module and the position information of the positioning center, and output a path information based on the vehicle body coordinate system; Step 3, calculate the original pure tracking method according to the path information based on the vehicle body coordinate system Front wheel deflection; step 4, design a penalty function based on the lateral error of the nearest point and the front wheel deflection calculated by the original pure tracking, and finally output the control angle; step 5, the vehicle steers according to the control angle calculated in step 4. A kind of unmanned mining car reversing control method described in the present invention, has designed the longitudinal control module of anti-integral saturation PI controller based on time limit, can guarantee the vehicle speed stable control; The lateral control module can reduce the lateral control error and speed up the convergence.

Description

technical field [0001] The invention belongs to the field of unmanned driving control, and in particular relates to a reversing control method of an unmanned mining vehicle. Background technique [0002] At present, there are mainly two methods of coal mining: underground mining and open-pit mining. The difficulty and risk factor of open-pit mining are relatively low, while underground mining uses shafts (vertical shaft development, inclined shaft development, flat tunnel development or comprehensive development, etc.) and underground roadways. system, resulting in relatively higher technical difficulty and danger. Most coal resources are buried underground, and underground mining accounts for a higher proportion. Among them, underground mining transportation is divided into trackless transportation and rail transportation. Trackless transportation refers to the transport of people and materials by vehicles through underground tunnels. The road environment of the undergrou...

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Problems solved by technology

[0002] At present, there are mainly two methods of coal mining: underground mining and open-pit mining. The difficulty and risk factor of open-pit mining are relatively low, while underground mining uses shafts (vertical shaft development, inclined shaft development, flat tunnel development or comprehensive development, etc.) and underground roadways. system, leading to relatively higher technical difficulty and danger

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