Parking method and system for unmanned vehicle in mining area

A technology for unmanned vehicles and parking methods, applied in the field of vehicle driving in mining areas, can solve problems such as collision risk and unmanned vehicle loading.

Active Publication Date: 2021-06-25
安徽海博智能科技有限责任公司
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  • Claims
  • Application Information

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Problems solved by technology

Due to the complexity of the mining area, there are certain requirements for the driving path, final position, and orientation of the mining vehicles, otherwise the unmanned vehicles in the mining area may not be able to carry out normal loading, and during the parking process, there will be traffic jams in the driving area. Larger volumes of scattered obstacles (maybe ores) appear. At this time, if the obstacles cannot be avoided, there will be a risk of collision

Method used

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  • Parking method and system for unmanned vehicle in mining area
  • Parking method and system for unmanned vehicle in mining area
  • Parking method and system for unmanned vehicle in mining area

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Embodiment Construction

[0021] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention. figure 1 It is a flow chart of a parking method for an unmanned vehicle in a mining area of ​​the present invention, such as figure 1 As shown, the parking method of the unmanned vehicle in the mining area includes:

[0022] S101, according to the current attitude and current position of the vehicle, determine the following related cost weights and predicted travel time: distance cost, orientation cost, direction cost and obstacle avoidance cost.

[0023] Wherein, the current attitude includes data such as each front wheel angle of the vehicle, the steering angle of the vehicle, and the length of the vehicle body, and the current position is the address of the ve...

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Abstract

The invention discloses a mining area unmanned vehicle parking method and system, and the method comprises the steps: determining the following related cost weights and predicted driving time according to the current posture and current position of a vehicle: distance cost, orientation cost, direction cost and obstacle avoidance cost; traversing each front wheel turning angle of the vehicle according to the current speed of the vehicle, and predicting each driving track of the vehicle within the prediction time by using an Ackerman model; determining the following costs in each predicted driving track: distance cost, orientation cost, direction cost and obstacle avoidance cost; and for each predicted driving track, calculating to obtain the sum of the products of the costs and the cost weights, comparing to obtain the minimum value in the sum of the products and the driving track corresponding to the minimum value as the optimal track, and controlling the vehicle to park based on the front wheel turning angle corresponding to the optimal track. According to the parking method, collision with obstacles is avoided, and obstacle avoidance is realized.

Description

technical field [0001] The invention relates to the field of vehicle driving in mining areas, in particular to a parking method and system for unmanned vehicles in mining areas. Background technique [0002] In the mining area, the mine car is generally parked evenly at a low speed (below 6km / h) to the side of the excavator for loading. Due to the complexity of the mining area, there are certain requirements for the driving path, final position, and orientation of the mining vehicles, otherwise the unmanned vehicles in the mining area may not be able to carry out normal loading, and during the parking process, there will be traffic jams in the driving area. A large volume of scattered obstacles (possibly ore) appears. At this time, if the obstacle cannot be avoided, there will be a risk of collision. Contents of the invention [0003] The purpose of the present invention is to provide a parking method and system for unmanned vehicles in mining areas. The parking method an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/06B60W60/00
CPCB60W30/06B60W60/0011
Inventor 柯秋璧王亚飞古雪峰雷雨标秦晓驹梅贵周姜广宇
Owner 安徽海博智能科技有限责任公司
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