Abstract: A vehicle control technical solution is provided. The solution relates to the field of computer technologies, and particularly to the field of artificial intelligence technologies, such as autonomous driving technologies, intelligent transportation technologies. A vehicle control method includes: acquiring a state quantity error between a desired state quantity at a current moment and a real state quantity at a previous moment of a vehicle; determining a control quantity of the vehicle at the current moment based on the state quantity error and a mapping relationship between the control quantity of the vehicle and the state quantity error; and controlling a driving behavior of the vehicle based on the control quantity at the current moment to obtain a real state quantity at the current moment.

Abstract: A tunnel boring machine includes: a shield body; a cutterhead assembly, a first drive mechanism; a second drive mechanism; and a third dive mechanism. The cutterhead assembly includes a main cutterhead and a plurality of auxiliary cutterheads. The main cutterhead is rotatably arranged at a front side of the shield body and defines a soil chamber between the main cutterhead and the shield body, and is movable along an up-down direction. The plurality of auxiliary cutterheads are rotatably arranged in the soil chamber, and adjacent to a bottom of the shield body and arranged at left and right sides of a vertical central line of the main cutterhead. A rotation diameter of the main cutterhead is greater than a rotation diameter of the auxiliary cutterhead, and the rotation diameter of the main cutterhead is the same as a maximum width of the shield body.

Abstract: A tunnel boring machine includes: a shield body; a cutterhead assembly, a first drive mechanism; a second drive mechanism; and a third dive mechanism The cutterhead assembly includes a main cutterhead and a plurality of auxiliary cutterheads. The main cutterhead is rotatably arranged at a front side of the shield body and defines a soil chamber between the main cutterhead and the shield body, and is movable along an up-down direction. The plurality of auxiliary cutterheads are rotatably arranged in the soil chamber, and adjacent to a bottom of the shield body and arranged at left and right sides of a vertical central line of the main cutterhead. A rotation diameter of the main cutterhead is greater than a rotation diameter of the auxiliary cutterhead, and the rotation diameter of the main cutterhead is the same as a maximum width of the shield body.