Open-pit mine driverless vehicle temporary speed limit control system

Abstract

The present invention discloses a temporary speed limit control system for driverless vehicles in open-pit mines, which includes a dispatching subsystem, an on-vehicle driverless control subsystem, and a temporary speed limit subsystem. The temporary speed limit subsystem runs on a safety computer, and communicates with the dispatching subsystem and the on-vehicle driverless control subsystem based on a safety communication protocol. The temporary speed limit subsystem stores map data, which contains speed limit parameters for each line, and the temporary speed limit subsystem synchronizes the map data from the dispatching subsystem. The dispatching subsystem is provided with a temporary speed limit setting module, a temporary speed limit cancellation module, and a temporary speed limit query module. The present invention can improve the safety of driverless operation and enhance the production safety ability of mines in the event of minor natural disasters.

Description

Technical Field

[0001] The present invention belongs to the technical field of driverless technology, and particularly relates to the control technology of driverless vehicles in open-pit mines. Background Art

[0002] In the field of driverless transportation in open-pit mines, when encountering minor natural disasters such as light rain, light snow, and mist, it is usually necessary to suspend the driverless transportation of vehicles or adopt 5G-based remote control driving. This is because when encountering minor natural disasters such as light rain, light snow, and mist in open-pit mines, the sensing distance of sensors such as radar and cameras will be reduced or the recognition accuracy of obstacles will be reduced due to the influence of natural disasters on the sensors. If the vehicle continues to drive under normal conditions, it will cause hazards such as vehicle rear-end collisions, vehicle collisions with obstacles, and the vehicle driving out of the road boundary. If the vehicle is remotely controlled based on 5G, on the one hand, it is necessary to deploy an expensive 5G network, and on the other hand, it is necessary to equip each vehicle with a driver, thus increasing the operating cost of the mine, and the vehicle speed also needs to be reduced during 5G-based remote control driving. If the driverless transportation of the vehicle is directly suspended, it will seriously affect the transportation plan of the mining area. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a temporary speed limit control system for driverless vehicles in open-pit mines, which improves the safety of driverless operation of driverless vehicles in open-pit mines and enhances the production safety ability of mines in minor natural disasters.

[0004] To solve the above technical problem, the present invention adopts the following technical solutions:

[0005] Open-pit mine driverless vehicle temporary speed limit control system, including a dispatching subsystem, an on-vehicle driverless control subsystem, and a temporary speed limit subsystem. The temporary speed limit subsystem runs on a safety computer. The temporary speed limit subsystem communicates with the dispatching subsystem and the on-vehicle driverless control subsystem based on a safety communication protocol. The temporary speed limit subsystem stores map data, and the map data contains speed limit parameters for each route. And the temporary speed limit subsystem synchronizes the map data from the dispatching subsystem. The dispatching subsystem is provided with a temporary speed limit setting module, a temporary speed limit cancellation module, and a temporary speed limit query module. The temporary speed limit setting module is used to set the path of the temporary speed limit, the temporary speed limit parameters, and send the command to set the temporary speed limit to the temporary speed limit subsystem. After receiving the command to set the temporary speed limit from the dispatching subsystem, the temporary speed limit subsystem updates the temporary speed limit information of the corresponding route. The temporary speed limit parameters include the limit values of the newly set or updated vehicle speed, acceleration, following distance when driving on this path, and the limit value of the size of the obstacle that cannot be passed. The temporary speed limit cancellation module is used to cancel the path of the set temporary speed limit and send the command to cancel the temporary speed limit to the temporary speed limit subsystem. After receiving the command to cancel the set temporary speed limit from the dispatching subsystem, the temporary speed limit subsystem deletes the temporary speed limit information of the corresponding route. The temporary speed limit query module is used to send a command to the temporary speed limit subsystem to query the latest speed limit information.

[0006] The on-vehicle driverless control subsystem applies for the right of way to the dispatching subsystem. After receiving the right of way application from the on-vehicle driverless control subsystem, the dispatching subsystem sends a command to the temporary speed limit subsystem to query the latest speed limit information. When the dispatching subsystem successfully queries the temporary speed limit information, it combines the queried temporary speed limit information with the calculated right of way information and sends it to the on-vehicle driverless control subsystem.

[0007] Preferably, after the communication link between the temporary speed limit subsystem and the dispatching subsystem is disconnected and reconnected, the temporary speed limit subsystem sets its own map data synchronization status to unsynchronized.

[0008] When the map data synchronization status of the temporary speed limit subsystem is unsynchronized, the temporary speed limit subsystem periodically requests to synchronize the map data from the dispatching subsystem. The map data contains the speed limit information for each route.

[0009] Preferably, the temporary speed limit subsystem periodically checks the map data version number with the dispatching subsystem, and automatically initiates map data synchronization when the map data version numbers are inconsistent.

[0010] Preferably, if the temporary speed limit subsystem successfully updates the temporary speed limit information, the temporary speed limit subsystem feeds back a successful setting to the dispatching subsystem. If the temporary speed limit subsystem fails to update the temporary speed limit information, the temporary speed limit subsystem feeds back a failed setting and the reason for the failure to the dispatching subsystem.

[0011] Preferably, after the dispatching subsystem receives the successful setting information fed back by the temporary speed limit subsystem, it updates the temporary speed limit status information of the line on the dispatching subsystem; after the dispatching subsystem receives the failed setting information fed back by the temporary speed limit subsystem, it prompts the failure of setting on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log; after the dispatching subsystem times out without receiving any information fed back by the temporary speed limit subsystem, it prompts that the temporary speed limit subsystem is unresponsive on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

[0012] Preferably, if the temporary speed limit subsystem successfully deletes the temporary speed limit information, the temporary speed limit subsystem feeds back the successful cancellation of the setting to the dispatching subsystem; if the temporary speed limit subsystem fails to delete the temporary speed limit information, the temporary speed limit subsystem feeds back the failure of the cancellation of the setting and the reason for the failure to the dispatching subsystem.

[0013] Preferably, after the dispatching subsystem receives the successful cancellation of the setting information fed back by the temporary speed limit subsystem, it prompts the successful cancellation of the setting on the man-machine interface of the dispatching subsystem and deletes the temporary speed limit status information of the line on the dispatching subsystem; after the dispatching subsystem receives the failed cancellation of the setting information fed back by the temporary speed limit subsystem, it prompts the failure of the cancellation of the setting on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log; after the dispatching subsystem times out without receiving any information fed back by the temporary speed limit subsystem, it prompts that the temporary speed limit subsystem is unresponsive on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

[0014] Preferably, if the map data of the temporary speed limit subsystem is unsynchronized, the temporary speed limit subsystem returns a query failure and the reason for the failure to the dispatching subsystem;

[0015] If the map data of the temporary speed limit subsystem is synchronized, but the query of the temporary speed limit information for the path fails, the temporary speed limit subsystem returns a query failure and the reason for the failure to the dispatching subsystem;

[0016] If the map data of the temporary speed limit subsystem is synchronized and the query of the temporary speed limit information for the path is successful, the temporary speed limit subsystem returns the queried speed limit information to the dispatching subsystem;

[0017] When the dispatching subsystem does not receive the query response message fed back by the temporary speed limit subsystem for a long time, the dispatching subsystem fails to query the temporary speed limit.

[0018] Preferably, the dispatching subsystem records the communication messages in the interaction process with the on-vehicle driverless control subsystem and the temporary speed limit subsystem in the log; and / or, when the dispatching subsystem fails to query the temporary speed limit information, it records the reason for the failure in the log.

[0019] Preferably, the dispatching subsystem communicates with the temporary speed limit subsystem via a wired network, and / or the dispatching subsystem communicates with the on-vehicle driverless control subsystem via a vehicle-ground wireless network.

[0020] With the technical solution adopted by the present invention, when encountering minor natural disasters such as light rain, light snow, and mist in open-pit mines, the safety of driverless driving is improved by restricting the speed, acceleration, following distance limit values of driverless vehicles, and the size limit values of impassable obstacles, and the safe production capacity of the mine in these minor natural disasters is enhanced.

[0021] Specifically, it has the following beneficial effects:

[0022] 1. Add a temporary speed limit subsystem, and correspondingly set a temporary speed limit setting module, a temporary speed limit cancellation module, and a temporary speed limit query module in the dispatching subsystem to flexibly set the limit parameters of the driverless vehicle control system, improving the flexibility of production management and the safety of the transportation process;

[0023] 2. The temporary speed limit subsystem runs on a safety computer to improve the safety of the temporary speed limit service;

[0024] 3. A secure communication protocol is adopted between the temporary speed limit subsystem and the dispatching subsystem to improve the safety of the temporary speed limit service;

[0025] 4. During the data synchronization process of the temporary speed limit subsystem to the dispatching subsystem, the consistency of the map data on the two subsystems is ensured;

[0026] 5. Secondary confirmation is required for setting and canceling the temporary speed limit to improve the safety of operations;

[0027] 6. During the process of the on-vehicle driverless control subsystem applying for road rights to the dispatching subsystem, the interaction messages and the reasons for interaction failures of the dispatching subsystem, the temporary speed limit subsystem, and the on-vehicle driverless control subsystem are recorded in the log to improve the maintainability of the system.

[0028] The specific technical solution and its beneficial effects of the present invention will be described in detail in the following specific embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0030] Figure 1 It is a schematic diagram of the temporary speed limit control system for driverless vehicles in open-pit mines of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] In order to avoid suspending the driverless transportation of vehicles during minor natural disasters and affecting the transportation plan of the mining area. As Figure 1 shown, this embodiment provides a temporary speed limit control system for driverless vehicles in open-pit mines, including a dispatching subsystem, an on-vehicle driverless control subsystem, and a temporary speed limit subsystem. A temporary speed limit subsystem is added outside the dispatching subsystem of the existing driverless transportation system in open-pit mines. The temporary speed limit subsystem is independent of the dispatching subsystem or is an independently operable sub-module of the dispatching subsystem. The dispatching subsystem is provided with a temporary speed limit setting module, a temporary speed limit cancellation module, and a temporary speed limit query module.

[0033] Among them, the dispatching subsystem communicates with the temporary speed limit subsystem through a wired network. The dispatching subsystem communicates with the on-vehicle driverless control subsystem through a vehicle-ground wireless network.

[0034] The temporary speed limit service is related to the safety of vehicle operation. Therefore, the temporary speed limit subsystem runs on a safety computer based on technologies such as dynamic redundancy, heterogeneous operating systems, and central processing units to ensure the security of data reception, transmission, and operation processing.

[0035] The communication between the temporary speed limit subsystem and the dispatching subsystem and the on-vehicle driverless control subsystem is based on a secure communication protocol, including authentication during the link establishment process, encryption of communication data, content verification, and automatic disconnection of the communication message response timeout, ensuring the security of communication content.

[0036] Work scenario description:

[0037] 1. Map data synchronization: The temporary speed limit subsystem stores map data and synchronizes the map data with the dispatching subsystem to ensure the consistency of the map data on the two subsystems.

[0038] After the temporary speed limit subsystem is started and after the communication link between the temporary speed limit subsystem and the dispatching subsystem is disconnected and reconnected, the temporary speed limit subsystem sets its own map data synchronization status to unsynchronized.

[0039] When the map data synchronization status of the temporary speed limit subsystem is unsynchronized, the temporary speed limit subsystem periodically (configurable) requests the dispatching subsystem to synchronize the map data. The map data contains the speed limit information for each line (including the map data version number and the limit values of speed, acceleration, following distance when driving on this path, as well as the limit value of the size of obstacles that cannot be passed).

[0040] After the temporary speed limit subsystem successfully synchronizes the map data from the dispatching subsystem, the temporary speed limit subsystem sets its own map data synchronization status to synchronized, and the temporary speed limit subsystem periodically (configurable) checks the map data version number with the dispatching subsystem, and automatically initiates map data synchronization when the map data version numbers are inconsistent.

[0041] 2. Set temporary speed limit: The dispatcher sets the path of the temporary speed limit and the temporary speed limit parameters (including the newly set or updated limit values of speed, acceleration, following distance when the vehicle drives on this path, as well as the limit value of the size of obstacles that cannot be passed) on the map of the man-machine interface of the dispatching subsystem.

[0042] After the dispatching subsystem receives the operation of setting the temporary speed limit by the dispatcher on the interface, a dialog box pops up on the man-machine interface to guide the dispatcher to confirm the setting of the temporary speed limit for the second time.

[0043] After the dispatcher confirms the setting of the temporary speed limit for the second time on the man-machine interface of the dispatching subsystem, the dispatching subsystem sends the command to set the temporary speed limit to the temporary speed limit subsystem. After receiving the command to set the temporary speed limit from the dispatching subsystem, the temporary speed limit subsystem updates the temporary speed limit information of the corresponding line. If the temporary speed limit subsystem successfully updates the temporary speed limit information, the temporary speed limit subsystem feeds back the successful setting to the dispatching subsystem; if the temporary speed limit subsystem fails to update the temporary speed limit information, the temporary speed limit subsystem feeds back the failure of the setting and the reason for the failure to the dispatching subsystem.

[0044] After the dispatching subsystem receives the successful setting information fed back by the temporary speed limit subsystem, it prompts the successful setting on the man-machine interface of the dispatching subsystem and updates the temporary speed limit status information of the line on the dispatching subsystem.

[0045] After the dispatching subsystem receives the failure information of the setting fed back by the temporary speed limit subsystem, it prompts the failure of the setting on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

[0046] After the dispatching subsystem times out (configurable) and does not receive any information fed back by the temporary speed limit subsystem, it prompts that the temporary speed limit subsystem is unresponsive on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

[0047] 3. Cancel the setting of the temporary speed limit: The dispatcher cancels the path of the temporary speed limit set on the map of the man-machine interface of the dispatching subsystem.

[0048] After the dispatching subsystem receives the operation of canceling the temporary speed limit setting by the dispatcher on the interface, a dialog box pops up on the man-machine interface to guide the dispatcher to confirm the cancellation of the temporary speed limit setting twice.

[0049] After the dispatcher confirms the cancellation of the temporary speed limit setting twice on the man-machine interface of the dispatching subsystem, the dispatching subsystem sends the command to cancel the temporary speed limit setting to the temporary speed limit subsystem. After receiving the command to cancel the temporary speed limit setting from the dispatching subsystem, the temporary speed limit subsystem deletes the temporary speed limit information of the corresponding line. If the temporary speed limit subsystem successfully deletes the temporary speed limit information, the temporary speed limit subsystem feeds back the successful cancellation of the setting to the dispatching subsystem; if the temporary speed limit subsystem fails to delete the temporary speed limit information, the temporary speed limit subsystem feeds back the failure to cancel the setting and the reason for the failure to the dispatching subsystem.

[0050] After the dispatching subsystem receives the successful cancellation of the setting information fed back by the temporary speed limit subsystem, it prompts the successful cancellation of the setting on the man-machine interface of the dispatching subsystem and deletes the temporary speed limit status information of the line on the dispatching subsystem.

[0051] After the dispatching subsystem receives the information of the failed cancellation of the setting fed back by the temporary speed limit subsystem, it prompts the failure to cancel the setting on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

[0052] After the dispatching subsystem times out without receiving any information fed back by the temporary speed limit subsystem, it prompts that the temporary speed limit subsystem is unresponsive on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

[0053] 4. Query temporary speed limit: The on-vehicle driverless control subsystem applies for the road right to the dispatching subsystem. After receiving the road right application from the on-vehicle driverless control subsystem, the dispatching subsystem sends a command to the temporary speed limit subsystem to query the latest speed limit information.

[0054] If the map data of the temporary speed limit subsystem is not synchronized, the temporary speed limit subsystem returns the query failure and the reason for the failure to the dispatching subsystem.

[0055] If the map data of the temporary speed limit subsystem is synchronized, but the query of the temporary speed limit information for the path fails, the temporary speed limit subsystem returns the query failure and the reason for the failure to the dispatching subsystem.

[0056] If the map data of the temporary speed limit subsystem is synchronized and the query of the temporary speed limit information for the path is successful, the temporary speed limit subsystem returns the queried speed limit information to the dispatching subsystem.

[0057] When the dispatching subsystem does not receive the query response message fed back by the temporary speed limit subsystem for a long time (can be set), the dispatching query of the temporary speed limit fails.

[0058] The dispatching subsystem records the communication messages during the interaction with the vehicle-mounted driverless control subsystem and the temporary speed limit subsystem in the log.

[0059] When the dispatching subsystem fails to query the temporary speed limit information, it records the reason for the failure in the log.

[0060] When the dispatching subsystem successfully queries the temporary speed limit information, it combines the queried temporary speed limit information with the road right information calculated by itself and sends it to the vehicle-mounted driverless control subsystem.

[0061] The technical solution adopted in this embodiment, when encountering minor natural disasters such as light rain, light snow, and mist in open-pit mines, flexibly sets the limit parameters of the driverless vehicle control system by restricting the speed, acceleration, following distance limit values of the driverless vehicle, and the size limit values of obstacles that cannot be passed, improving the flexibility of production management, the safety of the transportation process, the safety of driverless operation, and the safe production capacity of the mine in these minor natural disasters.

[0062] Since both setting and canceling the temporary speed limit require secondary confirmation, the operation safety is improved; during the process of the vehicle-mounted driverless control subsystem applying for road rights from the dispatching subsystem, the interaction messages and the reasons for interaction failures between the dispatching subsystem, the temporary speed limit subsystem, and the vehicle-mounted driverless control subsystem are recorded in the log, improving the maintainability of the system.

[0063] As described above, the above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. Temporary speed limit control system for driverless vehicles in open-pit mines, characterized in that: It includes a dispatching subsystem, an on-vehicle driverless control subsystem, and a temporary speed limit subsystem. The temporary speed limit subsystem runs on a safety computer. The temporary speed limit subsystem communicates with the dispatching subsystem and the on-vehicle driverless control subsystem based on a safety communication protocol. The temporary speed limit subsystem stores map data, which contains speed limit parameters for each line, and the temporary speed limit subsystem synchronizes the map data from the dispatching subsystem; The dispatching subsystem is provided with a temporary speed limit setting module, a temporary speed limit cancellation module, and a temporary speed limit query module. The temporary speed limit setting module is used to set the path of the temporary speed limit, the temporary speed limit parameters, and send the command for setting the temporary speed limit to the temporary speed limit subsystem. After receiving the command for setting the temporary speed limit from the dispatching subsystem, the temporary speed limit subsystem updates the temporary speed limit information of the corresponding line. The temporary speed limit parameters include the limit values of the speed, acceleration, following distance when the vehicle travels on this path, which are newly set or updated, and the limit value of the size of the obstacle that cannot be passed; The temporary speed limit cancellation module is used to cancel the path of the set temporary speed limit and send the command for canceling the temporary speed limit to the temporary speed limit subsystem. After receiving the command for canceling the set temporary speed limit from the dispatching subsystem, the temporary speed limit subsystem deletes the temporary speed limit information of the corresponding line; The temporary speed limit query module is used to send a command to the temporary speed limit subsystem to query the latest speed limit information; The on-vehicle driverless control subsystem applies for the right of way to the dispatching subsystem. After receiving the right-of-way application from the on-vehicle driverless control subsystem, the dispatching subsystem sends a command to the temporary speed limit subsystem to query the latest speed limit information. When the dispatching subsystem successfully queries the temporary speed limit information, it combines the queried temporary speed limit information with the calculated right-of-way information and sends it to the on-vehicle driverless control subsystem.

2. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 1, wherein: After the communication link between the temporary speed limit subsystem and the dispatching subsystem is disconnected and reconnected, the temporary speed limit subsystem sets its own map data synchronization status to unsynchronized; When the map data synchronization status of the temporary speed limit subsystem is unsynchronized, the temporary speed limit subsystem periodically requests to synchronize the map data from the dispatching subsystem. The map data contains the speed limit information for each line.

3. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 2, wherein: The temporary speed limit subsystem periodically checks the map data version number with the dispatching subsystem, and automatically initiates map data synchronization when the map data version numbers are inconsistent.

4. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 1, wherein: If the temporary speed limit subsystem successfully updates the temporary speed limit information, the temporary speed limit subsystem feeds back the successful setting to the dispatching subsystem; If the temporary speed limit subsystem fails to update the temporary speed limit information, the temporary speed limit subsystem feeds back the failed setting and the reason for the failure to the dispatching subsystem.

5. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 4, characterized in that: After receiving the successful setting information fed back by the temporary speed limit subsystem, the dispatching subsystem updates the temporary speed limit status information of the line on the dispatching subsystem; After receiving the failed setting information fed back by the temporary speed limit subsystem, the dispatching subsystem prompts the failed setting on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log; After the dispatching subsystem times out without receiving any information fed back by the temporary speed limit subsystem, the dispatching subsystem prompts that the temporary speed limit subsystem is unresponsive on the man-machine interface of the dispatching subsystem and records the reason for the failure in the log.

6. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 1, wherein: If the temporary speed limit subsystem successfully deletes the temporary speed limit information, it feeds back to the dispatching subsystem that the cancellation setting is successful; if the temporary speed limit subsystem fails to delete the temporary speed limit information, it feeds back to the dispatching subsystem that the cancellation setting fails and the reason for the failure.

7. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 6, characterized in that: After receiving the feedback from the temporary speed limit subsystem that the cancellation setting is successful, the dispatching subsystem prompts on the man-machine interface of the dispatching subsystem that the cancellation setting is successful, and deletes the temporary speed limit status information of the line on the dispatching subsystem; After receiving the feedback from the temporary speed limit subsystem that the cancellation setting fails, the dispatching subsystem prompts on the man-machine interface of the dispatching subsystem that the cancellation setting fails, and records the reason for the failure in the log; after the dispatching subsystem times out without receiving any feedback from the temporary speed limit subsystem, it prompts on the man-machine interface of the dispatching subsystem that the temporary speed limit subsystem has no response, and records the reason for the failure in the log.

8. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 1, characterized in that: If the map data of the temporary speed limit subsystem is unsynchronized, the temporary speed limit subsystem returns to the dispatching subsystem a query failure and the reason for the failure; If the map data of the temporary speed limit subsystem is synchronized, but the query of the temporary speed limit information for the path fails, the temporary speed limit subsystem returns to the dispatching subsystem a query failure and the reason for the failure; If the map data of the temporary speed limit subsystem is synchronized, and the query of the temporary speed limit information for the path is successful, the temporary speed limit subsystem returns to the dispatching subsystem the queried speed limit information; When the dispatching subsystem does not receive the query response message fed back by the temporary speed limit subsystem for a long time, the dispatching subsystem fails to query the temporary speed limit.

9. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 1, wherein: The dispatching subsystem records the communication messages during the interaction with the on-vehicle driverless control subsystem and the temporary speed limit subsystem in the log; and / or, when the dispatching subsystem fails to query the temporary speed limit information, it records the reason for the failure in the log.

10. The temporary speed limit control system for driverless vehicles in open-pit mines according to claim 1, characterized in that: The dispatching subsystem communicates with the temporary speed limit subsystem through a wired network, and / or, the dispatching subsystem communicates with the on-vehicle driverless control subsystem through a vehicle-ground wireless network.

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