Parking method and system for unmanned vehicle in mining area

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...

AI Technical Summary

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

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