Trackless rubber-wheel vehicle auxiliary driving method based on millimeter wave radar and UWB tag

Abstract

The invention belongs to the technical field of trackless rubber-wheel vehicles, and particularly relates to a trackless rubber-wheel vehicle auxiliary driving method based on a millimeter wave radar and a UWB tag. The method comprises the following steps: S1, installing a millimeter wave radar and an auxiliary driving device to a trackless rubber-wheel vehicle; S2, establishing a millimeter wave radar coordinate system by taking millimeter waves as poles, and establishing a trackless rubber-wheel vehicle coordinate system by taking the position of the trackless rubber-wheel vehicle as an original point; S3, enabling the auxiliary driving device to communicate with a dispatching center server through a network to obtain related data; S4, enabling the auxiliary driving device to obtain scanning data of the vehicle-mounted millimeter wave radar; S5, enabling the auxiliary driving device to fuse the analysis data and construct a surrounding environment map of the trackless rubber-wheel vehicle; and S6, enabling the auxiliary driving device to calculate the distance between the trackless rubber-wheel vehicle and the obstacle in real time. The trackless rubber-wheel vehicle auxiliary driving method based on the millimeter wave radar and the UWB tag overcomes the defect that accurate positioning cannot be achieved due to the fact that GPS signals are difficult to receive in a coal mine tunnel environment.

Description

technical field [0001] The invention belongs to the technical field of trackless rubber-tyred vehicles, and in particular relates to an auxiliary driving method for trackless rubber-tyred vehicles based on millimeter-wave radar and UWB tags. Background technique [0002] Millimeter wave radar is a radar that works in the millimeter wave band (millimeter wave) detection. Usually millimeter wave refers to the 30-300GHz frequency domain (wavelength 1-10mm). The wavelength of millimeter wave is between microwave and centimeter wave, so millimeter wave radar has some advantages of microwave radar and photoelectric radar. [0003] Ultra Wide Band (UWB) technology is a wireless carrier communication technology. It does not use sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range. [0004] UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insens...

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Problems solved by technology

[0009] The purpose of the present invention is to provide a trackless rubber-tyred vehicle assisted driving method based on millimeter-wave radar and UWB tags, so as to solve the problem that radar products, laser products and infrared products in the prior art are prone to false alarms or be affected or not used. Conducive to the technical issues of safety design, achieve the purpose of using the fusion of UWB positioning and millimeter wave radar data to sense the surrounding environment of the vehicle, and overcome the defects of single UWB positioning location granularity and single millimeter wave radar being subject to electromagnetic interference

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