Unmanned emergency stop control method and system
A technology for unmanned vehicles and emergency parking, which is applied in the field of unmanned emergency parking control methods and systems, can solve problems such as consideration and neglect of significant impacts, and achieve the effect of improving safety
Inactive Publication Date: 2021-09-24
安徽海博智能科技有限责任公司
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Problems solved by technology
[0002] At present, the emergency parking of unmanned mining vehicles mainly considers the vertical fast parking, but does not consider the horizontal and vertical as a whole, ignoring the significant impact of the horizontal and vertical coupling characteristics of unmanned mining vehicles on the final control effect
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[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0038] Please refer to figure 1 with figure 2 , in an embodiment of the present invention, an unmanned emergency stop control method, the specific steps include:
[0039] S1. Use the unmanned vehicle module to collect road conditions and environmental information during driving, and determine the scene of emergency parking; the specific steps include:
[0040] Specifically, the relative speed and relative position of the main obstacles in three directions i...
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The invention discloses an unmanned emergency stop control method and system, and the method specifically comprises the steps: collecting the road condition and environment information in a driving process through an unmanned vehicle-mounted module, and determining an emergency stop scene; according to the road condition, the environment information and the emergency stop scene, calculating vehicle collision time, and determining the danger degree of an obstacle; and establishing a whole vehicle dynamic model, and determining a task execution strategy of vehicle emergency stop according to the obtained danger degree of the obstacle. According to the method, the road condition and environment information is obtained by fully utilizing the sensor, scene information processing is carried out according to the road condition and environment information, meanwhile, the whole vehicle dynamic model is established, tasks needing emergency stop are processed, and which execution strategy is adopted is determined. Therefore, the safety of the vehicle in the emergency stop process is improved. The braking force and the braking mode of the wheels are reasonably distributed, and rapid and safe parking is achieved. Meanwhile, in different scenes, which task is adopted to process is determined according to the principle of causing the minimum loss cost, so that the safety of the vehicle is improved.
Description
technical field [0001] The invention relates to the technical field of unmanned driving, in particular to an emergency stop control method and system for unmanned driving. Background technique [0002] At present, the emergency parking of unmanned mining vehicles mainly considers the vertical fast parking, but does not consider the horizontal and vertical as a whole, and ignores the significant impact of the horizontal and vertical coupling characteristics of unmanned mining vehicles on the final control effect. The operating environment of unmanned mining vehicles is complex, and different algorithm processing should be carried out for specific road environments to improve the safety of vehicles in emergency parking. The braking method of unmanned mining vehicles is different from passenger vehicles and commercial vehicles, and does not have an ABS (anti-lock braking) system. In addition, the weight of the mine vehicle is heavy. In case of emergency, the braking method sho...
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Login to View More IPC IPC(8): B60W30/09B60W30/095
CPCB60W30/09B60W30/0956
Inventor 潘伟刘孟熊焱飞杨浩吴杰荣汪基伟
Owner 安徽海博智能科技有限责任公司