近年来，随着科学技术的迅速发展，无人驾驶车辆已成为当今汽车领域研究的新热 点，是未来汽车工业发展的主流方向。无人驾驶系统是集导航定位、环境感知、路径规 划、行为决策控制等多种技术于一体的综合系统。早在二十世纪五十年代，国外就开始 无人驾驶车辆的研制，而现今世界无人驾驶车辆主要的研究方向是在高速公路环境和城 市道路环境下的无人驾驶车辆的研制，而针对于特殊环境下的无人驾驶车辆至今少有人 提及。 矿用无轨胶轮车作为煤矿井下辅助运输的重要组成部分，是制约煤炭开采量及生产 效率的瓶颈。矿井辅助运输的工作环境较为恶劣，属于高危环境，如何实现其无人驾驶， 对于减少财产损失及人员伤亡率，降低运输成本，提高采矿工作效率，具有重大的应用 前景和战略价值。本文所研究的矿用无轨胶轮车无人驾驶系统是针对地下巷道这一特殊 环境进行的研究分析。 对现有无轨胶轮车进行机械结构的改造设计，涉及到转向机构、踏板机构和换挡机 构三部分，使用电机来取代人为操作，实现无人驾驶的行为操作。由于井下工作环境恶 劣，难以使用 GPS 对车辆位置进行定位，视觉传感器避障方案也难以实现，因此本文采 用超声波传感器和激光雷达传感器实现对道路环境信息的检测，采用霍尔传感器测量车 辆行驶速度，位置传感器检测换挡手柄位置信息，以 51 单片机作为控制系统的主控单元， 实现对无轨胶轮车无人驾驶系统行驶操作的控制。 最后根据模糊控制和模糊自适应 PID 控制理论，使用 MATLAB 软件建立模糊控制 和模糊自适应 PID 控制仿真模型，实现对转向电机的控制，结果表明本次设计能够实现 车辆的快速平稳转向，满足无人驾驶车辆的行驶要求。

In recent years, with the rapid development of science and technology, unmanned vehicles have become a new research hot spot in automotive field , and it is the mainstream direction of future development of automobile industry. Unmanned drive system is an integrated system of a series of technologies, such as: navigation and localization, situational awareness, path planning, behavioral decision control technology, etc. Foreign experts have began researching unmanned vehicles since 1950 ’ s. Current researches about unmanned vehicles focus more on highway and city road environment. The particular environment, however, has few mentioned. Mine trackless rubber wheel vehicle is an important part of the coal mine auxiliary transportation。It is the bottleneck of restricting coal mines and the production efficiency. The mine auxiliary transportation work environment is relatively bad, belongs to high risk environment, how to implement its unmanned, reduce property loss and personnel casualty rate, reduce the transportation cost, improve the efficiency of mining operation, has important application prospect and strategic value. Research on unmanned system for mine trackless rubber wheel car in this dissertation is specially applied to underground tunnel. The design of mechanical structure is based on current trackless rubber wheel car, which includes steering mechanism, pedal mechanism and shift mechanism. Using motor to replace artificial operation realize the unmanned driving operation. As we all know, the underground environment is very poor, it can’t use GPS to locate vehicle position and visual sensor obstacle avoidance method is difficult to achieve. The system use ultrasonic sensors and laser radar sensor to perceive road environment information, hall sensor to measure car speed, position sensor to detect the shifting handle location information. The system uses 51 single chip microcomputer as the main control unit of the control system, realize the control of unmanned rubber wheel car driving operation. At last, on the basis of fuzzy control and fuzzy adaptive PID control theory, using MATLAB software to establish the fuzzy control and fuzzy adaptive PID control simulation model of the control system for the steering motor. The results show that this design can realize vehicle’s steering rapidly and smoothly, satisfy the requirement of the unmanned vehicle driving.