Unmanned driving technology perception fusion method based on mining area environment

Abstract

The invention discloses an unmanned driving technology perception fusion method based on a mining area environment, and the method employs a plurality of sensors as data sources, and guarantees the stability and reliability of perception information through employing a multi-sensor fusion technology for a special driving environment of a mining area. Various sensors are used for collecting vehiclesurrounding environment information, complementation is conducted according to different sensor characteristics based on the multi-sensor fusion principle, more accurate sensing information can be obtained, the sensing accuracy is improved, and therefore the unmanned mine card vehicle can adapt to the complex mining area environment in the using process, and work is completed safely and efficiently. Obstacle information is obtained by using different sensors; the feature information weight is obtained by calculating the information entropy, the matching matrix is optimized, and the matching precision is improved, so obstacle information and tracking target information extracted in a severe mining area environment are more accurately matched, more accurate driving environment information is obtained, and the safety and fluency in the whole driving process are guaranteed.

Description

technical field [0001] The invention relates to the technical fields of automatic driving, multi-sensor processing, and multi-information fusion, and in particular to an unmanned driving technology perception fusion method based on mining environment. Background technique [0002] Autonomous driving is the product of the deep integration of the automotive industry with new-generation information technologies such as artificial intelligence, the Internet of Things, and high-performance computing. With the gradual maturity of unmanned driving technology, unmanned driving technology for civil, passenger and even industrial purposes has been promoted and applied. Especially in the mining industry, the main mode of transportation is mining trucks, and transportation costs are the most important part of the production and mining costs of the entire mining area. In the total cost of ore and the total labor in the production process, transportation cost and transportation labor cos...

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Problems solved by technology

[0004] In view of this, the present invention provides an unmanned driving technology perception fusion method based on the mining area environment to solve the problem of the low universality of the existing unmanned vehicle perception fusion technology for the mining area environment, especially for mining dust and road conditions. The problem of low reliability in a bumpy and unstable environment, and for unmanned mining trucks, the stability and reliability of the existing technical information is insufficient to meet the driving perception needs of unmanned mining trucks and the problem of safe and smooth operation

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