An unmanned control system for mining trucks based on redundancy design

Abstract

The invention belongs to the field of automatic driving, in particular to a mining truck unmanned driving control system based on redundant design, including a first controller, a second controller, a third controller, and a fourth controller; the first controller realizes The unmanned mining card communicates with the outside world, processes the communication and positioning signal data from the outside of the mining card and transmits it to the third controller, and at the same time receives and processes the data from the third controller, and then processes The final data is sent out; the second controller senses and processes the environment outside the mining truck and the road environment, fuses and analyzes the sensed data, and performs data interaction with the third controller; the third controller is the decision-making and planning unit of the control system and The control unit of each subsystem; the fourth controller realizes the control of the mining truck actuator and the power management of the control system. The invention improves the communication stability of the unmanned mining truck, the safety of vehicle driving and the perception effect of the mining truck on the road in the mining area.

Description

technical field [0001] The invention belongs to the field of automatic driving, and in particular relates to an unmanned driving control system for mining trucks based on redundant design, in particular to a hardware system for unmanned mining trucks and a redundant design method for the hardware of the unmanned driving system. Background technique [0002] Mining trucks, also known as dump trucks, are often used for loading, unloading and transportation in mining areas. They have the advantages of heavy load and tiltable loading compartments. Compared with passenger vehicles, they also have the disadvantages of being bulky and the driver's viewing area is small, resulting in safety factors. lower. [0003] At present, the hardware system redundancy design for unmanned vehicles is less. Traditional passenger vehicle related research mainly focuses on the redundancy design of the existing vehicle's less electrical hardware architecture, and generally only includes the redunda...

AI Technical Summary

Problems solved by technology

Chinese patent CN201620289610.2 discloses a distributed architecture controller and electrical system for electric smart vehicles with redundant power supply. This technology mainly considers hardware redundancy in bicycle control, and does not have communication components for unmanned driving systems. Redundant design, so not fully applicable to unmanned multi-controller situations

Although the Chinese patent CN201610578625.5 mentions the design method of unmanned vehicles and devices, it is mainly for the design method of passenger cars and road vehicles, and is not completely applicable to slow-moving and bulky mining trucks

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