An automatic driving parking control method for a mine dump truck

Abstract

This invention belongs to the field of autonomous driving technology, specifically disclosing an autonomous driving docking control method for a mining dump truck, including the following steps: During vehicle operation, real-time data on vehicle speed, load, acceleration, and road slope are acquired; the total braking distance required for the vehicle to reach the docking point is calculated based on the data; the remaining distance between the vehicle and the docking point is acquired in real-time; when the remaining distance equals the total braking distance, the vehicle is controlled to begin docking; the distance between the docking point and the retaining wall behind the dock is detected and the working conditions are divided; the vehicle docking is controlled according to the working conditions until the vehicle stops; This method has the following advantages: comprehensively considering the acceleration / deceleration state, speed information, slope information, load information, docking point location information, and the vehicle's own braking characteristics during vehicle operation, it can meet the stable, accurate, and highly adaptable requirements of autonomous driving docking in mining areas.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a mine dump truck automatic driving parking control method. BACKGROUND

[0002] The multi-wind, cold, dangerous and harsh mine environment has a very high requirement on the technology and experience of the driver, and even the experienced driver is also a certain challenge. With the development of automatic driving technology, the mine transportation has reached a turning point-the driving subject of the vehicle will change from human to machine. The use of unmanned driving technology not only can avoid or reduce the harm or threat to the health and safety of the driver, but also can greatly improve the efficiency and reduce the cost, and is more economical, energy-saving and environmentally friendly.

[0003] The typical operation process of mine transportation can be briefly summarized as "start-up-loading-transportation-unloading-parking". At present, the research on the loading and unloading process mainly focuses on improving the loading and unloading efficiency through coordinated loading. However, the parking position at the loading and unloading point is in a dynamic change, and the road conditions and scenes are almost different every time, so it is difficult to achieve accurate parking of the vehicle at the loading and unloading point through positioning information.

[0004] The deficiencies of the current automatic driving parking technology mainly exist in the following aspects: most of them are open road flat road or mine fixed road / parking position, and there is no above-mentioned scene with variable road conditions; the existing technology only uses GPS coordinates and heading information for parking, and does not consider the influence of the acceleration / deceleration characteristics of the mine truck, the potholes of the road, the pitch of the slope and the amount of the load on the accurate parking.

[0005] Therefore, a mine dump truck automatic driving parking control method is proposed to solve the above problems. SUMMARY

[0006] The present application aims to provide a mine dump truck automatic driving parking control method to solve or improve at least one of the above technical problems.

[0007] Therefore, the first aspect of the present application provides a mine dump truck automatic driving parking control method.

[0008] The first aspect of the present application provides a mine dump truck automatic driving parking control method, which comprises the following steps: S1, in the driving of the vehicle, the data of the vehicle speed, the load, the acceleration and the slope of the road where the vehicle is located are acquired in real time, and the total braking distance required for the vehicle to reach the parking point is calculated according to the data; S2, the remaining distance between the vehicle and the parking point is acquired in real time, and the vehicle starts to decelerate when the remaining distance is equal to or less than the total braking distance; S3, in the process of deceleration, the distance between the parking point and the rear retaining wall after parking is detected and the working condition is divided, and the vehicle parking control is carried out according to the working condition division until the vehicle is parked.

[0009] The application provides a mine dump truck automatic driving parking control method, which calculates an actual braking distance according to a working scene to support stable operation of a daily vehicle, comprehensively considers acceleration and deceleration states, speed information, slope information, load information, parking point position information and braking characteristics of the vehicle itself during vehicle driving, and meets the stable, accurate and strong adaptability requirements of mine automatic driving parking.

[0010] The reverse parking condition anti-collision method prevents the vehicle from colliding with a retaining wall or a device such as an electric shovel, and enhances the safety of driving.

[0011] Real-time acquisition and comparison of the remaining distance and the total braking distance can adaptively judge the information changes of the vehicle and the road, reduce the deviation between the historical data and the actual situation, improve the accuracy of the mine unmanned vehicle parking control, and thus guarantee the reliability and safety of the open-pit mine unmanned driving, improve the operation efficiency and accuracy of the mine, and create economic benefits for the intelligent mine.

[0012] In addition, the technical scheme provided by the embodiment of the application can also have the following additional technical features:

[0013] In any of the above technical schemes, the step S1 specifically includes: S11, calibrating the parking distance required by the vehicle under different speeds and loads to obtain a data table; S12, obtaining the initial braking distance according to the data table by real-time acquisition of the vehicle speed and load; and S13, converting the acceleration and road slope data into a compensation distance and adding the initial braking distance to obtain the total braking distance.

[0014] In the technical scheme, the vehicle has different inertia under different loads and vehicle weights, and different parking distances are required under different speeds, so the vehicle is pre-recorded and calibrated under different loads and speeds to obtain a comparison data table of the initial braking distance, so that in actual work, only the comparison between the obtained load and speed data and the pre-calibrated data table is needed to obtain the initial braking distance under the current condition, and the calculation amount of the equipment in actual work is reduced.

[0015] The initial braking distance is taken as the basis, the acceleration and road slope information are added to the initial braking distance as compensation distances to form the total braking distance, and the influence of the vehicle under different accelerations and different road slopes is considered in the overall calculation, so that the calculation result is closer to the actual situation.

[0016] In any of the technical solutions above, the step of converting the road slope in S13 into a compensation distance is: the vehicle driving main controller obtains real-time pitch angle data through an inertial navigation system; the pitch angle data is calculated as slope information to obtain a compensation distance of the slope.

[0017] In this technical solution, the pitch angle of the vehicle is obtained through the driving main controller of the vehicle, and the pitch angle is calculated as the slope of the road. Since the slope of the mine road is stable and continuous within a certain distance, the current pitch angle of the vehicle can be used as a reference condition for the total braking distance of the subsequent parking.

[0018] In any of the technical solutions above, the step of calculating the pitch angle data as slope information to obtain a compensation distance of the slope uses the following formula: Wherein, θ is the pitch angle data representing the slope information, v is the real-time vehicle speed, ΔS θ is the compensation distance based on slope calculation, a s l ope is the deceleration.

[0019] In this technical solution, the pitch angle data is calculated and converted into a distance that can be used to determine the distance of parking, so that the final data is unified, and the accuracy is improved.

[0020] In any of the technical solutions above, the step of converting the acceleration in S13 into a compensation distance is: continuously recording the vehicle speed data of the vehicle between a historical time and a current time, and updating the vehicle speed data in real time during vehicle driving; calculating the acceleration of the vehicle through the vehicle speed data; and calculating the compensation distance of the acceleration through the acceleration.

[0021] In this technical solution, the vehicle speed data of the vehicle is continuously recorded within a fixed time from the historical time to the current time, and the acceleration of the vehicle in this time period is calculated and converted into a compensation distance. Since the vehicle itself has the property of heavy weight, the acceleration will not fluctuate rapidly in a short time, so the acceleration of the vehicle in the current time period can be used as a reference condition for the total braking distance of the subsequent parking.

[0022] In any of the technical solutions above, the step of calculating the compensation distance of the acceleration through the acceleration uses the following formula: ΔS a,i = Table(a i ), a i ∈ [-a max , -0.1, 0, 0.1, …, a max ] Wherein, ΔS a,iTable() is a set of numbers corresponding to the acceleration and the compensation distance of the acceleration, a i a is the data of all set vehicle accelerations, max a is the maximum acceleration that the vehicle can provide, and i is the number of data of all set vehicle accelerations.

[0023] In the technical solution, the data of the acceleration is converted into a distance that can reflect the distance from the parking point by using a formula, so that the final data is unified, and the accuracy is improved.

[0024] Further, when the acceleration of the vehicle at the current time is between two adjacent values of the data of all set vehicle accelerations, the two adjacent values are processed by linear interpolation, the two adjacent values are taken as the independent variable endpoints of a linear function, and the compensation distances corresponding to the two adjacent values are taken as the dependent variable endpoints of the linear function, and the compensation distance corresponding to the acceleration at the current time is obtained on the linear function.

[0025] In any of the above technical solutions, the step S2 specifically comprises: S21, acquiring the data of the latitude, the longitude and the heading of the vehicle and the parking point in real time; S22, calculating the longitudinal error of the current latitude and longitude of the vehicle and the latitude and longitude of the parking point in the heading direction of the parking point; S23, taking the longitudinal error as the remaining distance and updating it in real time; and S24, when the remaining distance is equal to or greater than the total braking distance, controlling the vehicle to start parking.

[0026] In the technical solution, the longitudinal error is the length of the path between the vehicle and the parking point in the longitudinal direction, that is, the distance required for the vehicle to reach the parking point, so that the longitudinal error is taken as the remaining distance and updated in real time, so as to reflect the length required for the vehicle to reach the parking point, so as to be compared.

[0027] When the total braking distance and the remaining distance are both in a state of real-time updating, if the total braking distance is not greater than the remaining distance, it means that the vehicle is at a point where it needs to start parking, and at this time, the parking control can be started.

[0028] In any of the above technical solutions, the longitudinal error is calculated by using the following formula: wherein, ΔS lon is the longitudinal error, S is the straight-line distance between the parking point and the current point of the vehicle, lat1 is the latitude of the current point of the vehicle, lon1 is the longitude of the current point of the vehicle, lat2 is the latitude of the parking point, lon2 is the longitude of the parking point, and θ head is the heading angle of the parking point.

[0029] In the technical scheme, the longitudinal error is calculated by using a formula, and the current point latitude of the vehicle, the current point longitude of the vehicle, the parking point latitude, the parking point longitude and the parking point heading angle are comprehensively considered, so that the calculation result is more accurate and more practical.

[0030] In any of the above technical solutions, when the distance between the parking point and the rear side barrier after parking is greater than 2L, the working condition is divided into a safe parking working condition, and the parking control is executed when the longitudinal error is equal to L; when the distance between the parking point and the rear side barrier after parking is between 2L and L, the working condition is divided into a mild dangerous parking working condition, and the parking control is executed when the longitudinal error is equal to 2L; when the distance between the parking point and the rear side barrier after parking is less than L, the working condition is divided into a serious dangerous parking working condition, and the parking control is executed when the longitudinal error is equal to 3L, and the brake command is increased to the maximum at the longitudinal error equal to L; [-L, L] is an error interval allowed between the vehicle after parking and the parking point.

[0031] In the technical scheme, the segmented working condition evaluation can process the actual parking situation, and the robustness of the parking method in different environments is improved.

[0032] When the distance is greater than 2L, it indicates that the space around the parking point is very spacious, and can provide a higher error space for the vehicle, so the normal parking method can be used;

[0033] When the distance is between 2L and L, it indicates that the space around the parking point has a threatening barrier, and the parking control needs to be started in advance at the vehicle position where the longitudinal error is equal to 2L, to avoid the collision between the vehicle and the object around the parking point;

[0034] When the distance is less than L, it indicates that the space around the parking point is relatively crowded, so the parking control needs to be executed at the vehicle position where the longitudinal error is equal to 3L, and the brake command is increased to the maximum at the longitudinal error equal to L, to control the vehicle to stop to the maximum extent.

[0035] In any of the above technical solutions, when the longitudinal error is less than L, the vehicle completes parking.

[0036] In the technical scheme, when the longitudinal error is less than L, it can be determined that the vehicle has completed parking, so an error interval of [-L, L] is provided for the parking of the vehicle, to improve the accuracy of the vehicle parking in the allowed case.

[0037] Compared with the prior art, the present application has the following beneficial effects:

[0038] According to the actual braking distance calculated according to the working scene, the stable operation of the daily vehicle is supported, the acceleration and deceleration state, speed information, slope information, load information, stop point position information and braking characteristics of the vehicle in the vehicle running process are comprehensively considered, and the stable, accurate and strong adaptability requirement of the automatic driving stop in the mining area can be met.

[0039] By the anti-collision method of the reverse parking working condition, the vehicle is prevented from colliding with the retaining wall or the electric shovel and the like, and the safety of the vehicle is enhanced.

[0040] The remaining distance and the total braking distance are acquired in real time and compared, the information change of the vehicle and the road can be adaptively judged, the deviation between the historical data and the actual situation is reduced, the accuracy of the stop control of the unmanned vehicle in the mining area is improved, and the reliability and safety of the unmanned driving in the open-pit mining area are ensured, the operation efficiency and the accuracy of the mining area are improved, and economic benefits are created for the intelligent mining area.

[0041] Additional aspects and advantages of embodiments according to the present application will become apparent from the following description with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0043] Figure 1 The method flowchart of the present application is shown in the figure;

[0044] Figure 2 The distance compensation conversion flowchart of the slope of the present application is shown in the figure;

[0045] Figure 3 The distance compensation conversion flowchart of the acceleration of the present application is shown in the figure;

[0046] Figure 4 The stop control judgment and comparison flowchart of the present application is shown in the figure. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0048] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0049] Please refer to Figures 1-4A mine dump truck automatic driving parking control method of some embodiments of the present application is described below.

[0050] Embodiments of the first aspect of the present application propose a mine dump truck automatic driving parking control method. In some embodiments of the present application, as shown in Figure 1 A mine dump truck automatic driving parking control method is provided, which comprises:

[0051] The total braking distance is determined, the corresponding initial braking distance is obtained by table lookup in the calibrated data list according to the real-time vehicle speed, the initial braking distance only represents the corresponding relationship between speed and distance, the load state also needs to be considered, the initial braking distance is calculated by comprehensively considering the speed and the load state, and the slope compensation distance and the acceleration and deceleration state compensation are added to finally obtain the total braking distance.

[0052] The remaining distance and the parking condition in the automatic driving process are determined, and when the remaining distance of the vehicle in reverse is equal to the total braking distance, parking is started according to the existing braking method until the target vehicle is parked in place.

[0053] The reverse parking working condition anti-collision method: the distance from the reverse parking rear side wall is detected in real time.

[0054] Working condition recognition: safe parking working condition, greater than 2L, mild dangerous parking working condition, 2L-1L, serious dangerous parking working condition, 0L-1L.

[0055] Different working condition anti-collision safety methods: normally execute the parking control method in the safe parking working condition; start to execute the parking control method in advance by L meters in the mild dangerous parking working condition; start to execute the parking control method in advance by 2L meters in the serious dangerous parking working condition, and the braking command is increased to the maximum at the distance of L meters.

[0056] Specifically, the initial braking distance is obtained by table lookup according to the real-time vehicle speed, and the total braking distance needs to consider the factors of the load state, the slope and the acceleration and deceleration state on the basis of the initial braking distance.

[0057] The mine dump truck automatic driving parking control method provided by the present application meets the requirements of stability, accuracy and strong adaptability of mine automatic driving parking, needs to calculate the actual braking distance according to the operation scene to support the stable operation of the vehicle in daily operation, and comprehensively considers the acceleration and deceleration state, speed information, slope information, parking point position information and braking characteristics of the vehicle in the vehicle driving process. The parking control method; can effectively control the automatic driving vehicle to accurately park at the loading and unloading point, and further improve the efficiency and safety of the automatic driving vehicle loading and unloading.

[0058] Further, in the step S1, the total braking distance S is calculated, and the formula is:

[0059] S = S v +ΔS θ +ΔS a

[0060] Among them, S v Let ΔS be the initial braking distance. θ For braking distance gradient compensation, ΔS a This is the acceleration / deceleration compensation term for braking distance. The initial braking distance formula is as follows:

[0061]

[0062] Where μ is the coefficient of friction, and gravitational acceleration g = 9.8 m / s² 2 Where v is the real-time vehicle speed, f is the vehicle braking force, and m is the current total mass of the vehicle. Discretizing the above formula yields:

[0063]

[0064] in, For the discretized initial braking distance, v max For the maximum stopping speed, v i Table1() contains data on all parking speeds and their corresponding braking distances.

[0065] During the engineering implementation, specific values ​​are adjusted for engineering calibration based on the actual vehicle characteristics, as follows:

[0066] ΔS v,i =Table2(v i ),v i ∈[0,1,…,v max ]

[0067] Where, ΔS v,i Table 2() contains the initial braking distance after engineering calibration correction, and is a set of all stopping speeds and their corresponding braking distances.

[0068] When applying the method, the braking distance corresponding to the actual speed is obtained by looking up a table.

[0069] In some embodiments of the present invention, an automatic driving and parking control method for a mining dump truck is provided. In this method, such as... Figure 2 As shown, the calculation of the slope compensation distance specifically includes the following steps:

[0070] To determine the real-time slope information during autonomous driving, when reversing, the vehicle's main controller obtains real-time pitch angle data through inertial navigation and calculates the real-time slope information. It should be noted that the slope used when reversing has the opposite sign to that used when driving forward. The slope information is then converted into a slope compensation distance and added to the braking distance.

[0071] In this embodiment, the vehicle's pitch angle is obtained through the vehicle's main controller and used to calculate the road gradient. Since the gradient of the mining area road is stable and continuous over a certain distance, the vehicle's current pitch angle can be used as a reference condition for the total braking distance for subsequent stops.

[0072] Furthermore, the slope obtained from the inertial navigation system is converted into slope compensation. Slope compensation actually counteracts the gravitational component of the force exerted on the vehicle along the slope. The formula for the acceleration caused by the gravitational component along the slope is as follows:

[0073] a slope =g sinθ

[0074] Where θ is the slope angle and the gravitational acceleration g = 9.8 m / s² 2 a slope The acceleration is the component of gravity along the slope. Based on the acceleration and actual velocity, the braking distance corresponding to the slope and the slope compensation term can be obtained.

[0075]

[0076] Where, ΔS θ This is the braking distance and slope compensation item corresponding to the slope.

[0077] Discretizing the above formula yields:

[0078]

[0079] in, θ represents the braking distance corresponding to the discretized slope. i For all slope angle data, θ max,down θ is the maximum slope angle downhill. max,up This is the steepest uphill angle.

[0080] During the engineering implementation, specific values ​​are adjusted for engineering calibration based on the actual vehicle characteristics, as follows:

[0081] ΔS θ,i =Table2(θ) i ),θ i ∈[-θ max,down ,…,-1,0,1,…,θ max,up ]

[0082] Where, ΔS θ,i The braking distance corresponding to the corrected slope for engineering calibration.

[0083] When applying the technology, the braking distance and slope compensation item corresponding to the actual slope can be obtained by looking up a table.

[0084] In some embodiments of the present invention, an automatic driving and parking control method for a mining dump truck is provided. In this method, such as... Figure 3 As shown, the calculation of acceleration / deceleration state compensation specifically includes the following steps:

[0085] To determine the acceleration / deceleration compensation for braking distance, record a segment of vehicle speed data before braking to a stop during the reversing phase, and obtain the acceleration / deceleration trend of the target vehicle before braking, thereby determining the acceleration / deceleration compensation for braking distance.

[0086] In this embodiment, the vehicle speed data is continuously recorded within a fixed time period from one end of the historical time to the current time, and the acceleration during that time period is calculated. The acceleration information is then converted into a compensation distance. Due to the weight of the mining truck itself, the acceleration will not fluctuate rapidly in a short period of time. Therefore, the acceleration of the vehicle in the current time period can be used as a reference condition for the total braking distance of subsequent stops.

[0087] Furthermore, acceleration / deceleration state compensation is determined based on the acceleration / deceleration trend. The vehicle's acceleration / deceleration state at the moment before the braking method is executed has a significant impact on the braking distance. The change in acceleration from the acceleration state to the braking state also requires a certain amount of time. The differential equation between the vehicle's acceleration a and its current speed v with respect to time t is as follows:

[0088]

[0089] Where 'a' represents the vehicle's acceleration.

[0090] In engineering implementation, specific values ​​are calibrated based on actual vehicle characteristics to obtain the correspondence between acceleration / deceleration states and braking distance compensation:

[0091] ΔS a,i =Table(a i ),a i ∈[-a max ,…,-0.1,0,0.1,…,a max ]

[0092] Where, ΔS a,i To obtain braking distance compensation under acceleration and deceleration conditions for engineering calibration, Table() is a set of numbers showing the correspondence between all acceleration / deceleration states and braking distance compensation. iFor data of all acceleration states, a max This is the vehicle's maximum acceleration.

[0093] When applying the technology, the braking distance and acceleration / deceleration compensation items corresponding to the actual acceleration / deceleration state are obtained by looking up a table.

[0094] In some embodiments of the present invention, an automatic driving and parking control method for a mining dump truck is provided. In this method, such as... Figure 4 As shown, the calculation of the remaining distance and parking conditions specifically includes the following steps:

[0095] Determine the remaining distance and parking conditions during the autonomous driving process. When reversing, acquire the final parking point and the latitude, longitude, and heading data of the current vehicle. Then calculate the longitudinal error between the current latitude and longitude of the vehicle and the latitude and longitude of the parking point in the heading direction of the parking point. Use the longitudinal error of the parking point as the remaining distance. When the remaining reversing distance of the vehicle is equal to the total braking distance, start parking according to the existing braking method until the target vehicle is parked in place, and the parking longitudinal error is within L meters.

[0096] In this embodiment, the longitudinal error is the longitudinal projection of the path length between the vehicle and the stop point on the driving path, which is the distance required for the vehicle to reach the stop point. Therefore, using the longitudinal error as the remaining distance and updating it in real time can reflect the required length for the vehicle to reach the stop point, so as to make comparisons.

[0097] With both the total braking distance and the remaining distance being updated in real time, when the total braking distance is not greater than the remaining distance, it means that the vehicle is at the point where it needs to stop, and at this time, stopping control can be started.

[0098] Specifically, L is 0.5 meters.

[0099] Furthermore, the remaining distance, i.e., the longitudinal error of docking, is calculated as ΔS. lon And the formula is:

[0100]

[0101] Where S is the straight-line distance between the stop point and the vehicle's current point, lat1 is the latitude of the vehicle's current point, lon1 is the longitude of the vehicle's current point, lat2 is the latitude of the stop point, lon2 is the longitude of the stop point, and θ head The heading angle S at the docking point is calculated using the following formula:

[0102] S=R×(arccos(cos(lat1)×cos(lat2)×cos(lon1-lon2))+sin(lat1)×sin(lat2))

[0103] Where R is the Earth's radius.

[0104] Specifically, when the remaining distance is equal to or less than the total braking distance, the current ground position of the vehicle's center of gravity is named the deceleration point, the point where the vehicle needs to stop is named the stopping point, and the current ground position of the vehicle's center of gravity when the vehicle performs stopping control is named the braking point. When the vehicle is between the deceleration point and the braking point, the vehicle decelerates using 30% to 50% of its maximum braking force. When the vehicle is between the braking point and the stopping point, the stopping control performed by the vehicle is 50% to 70% of its maximum braking force, and the specific braking force needs to be set according to the actual driving requirements.

[0105] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0106] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A method for controlling the automatic parking of a mining dump truck, characterized in that, Includes the following steps: S1, while the vehicle is in motion, real-time data on vehicle speed, load, acceleration and road slope are acquired, and the total braking distance required for the vehicle to reach the stopping point is calculated based on the data. S2, real-time acquisition of the remaining distance between the vehicle and the stop point, and control the vehicle to start decelerating when the remaining distance is equal to or less than the total braking distance; S3, during deceleration, detects the distance between the stopping point and the rear retaining wall and divides the working conditions, and controls the vehicle to stop according to the working conditions until the vehicle stops; Step S2 specifically includes: S21, real-time acquisition of the latitude, longitude, and heading data of the stopping point and the vehicle; S22, calculate the longitudinal error between the vehicle's current latitude and longitude and the latitude and longitude of the stop point in the heading direction of the stop point; S23, the longitudinal error is used as the remaining distance and updated in real time; S24, when the remaining distance is equal to or greater than the total braking distance, control the vehicle to start stopping; The longitudinal error is calculated using the following formula: in, For longitudinal error, The straight-line distance between the stop and the vehicle's current location. The latitude of the vehicle's current location. The longitude of the vehicle's current location. The latitude of the stop point. The longitude of the stop point This is the heading angle of the docking point.

2. The automatic driving and docking control method for a mining dump truck according to claim 1, characterized in that, Step S1 specifically includes: S11, calibrate the required stopping distance of the vehicle under different speeds and loads, and obtain a data table; S12: Real-time acquisition of vehicle speed and load, and calculation of initial braking distance based on data table; S13, convert the acceleration and road slope data into a compensation distance, and add it to the initial braking distance to obtain the total braking distance.

3. The automatic driving and docking control method for a mining dump truck according to claim 2, characterized in that, The step in S13 to convert road slope into compensation distance is as follows: The vehicle's main control unit acquires real-time pitch angle data through an inertial navigation system; The pitch angle data is used as slope information to calculate the slope compensation distance.

4. The automatic driving and docking control method for a mining dump truck according to claim 3, characterized in that, The pitch angle data is used as slope information to calculate the slope compensation distance using the following formula: in, The pitch angle data represents the slope information. For real-time vehicle speed, The compensation distance is calculated based on the slope. This is for braking deceleration.

5. The automatic driving and docking control method for a mining dump truck according to claim 2, characterized in that, The step of converting acceleration into compensated distance in S13 is as follows: Obtain the vehicle's acceleration; The acceleration compensation distance is obtained through the acceleration calculation.

6. The automatic driving and docking control method for a mining dump truck according to claim 5, characterized in that, The compensation distance for acceleration calculated using the acceleration is obtained using the following formula: in, The compensation distance for acceleration, This is a set of numbers representing the correspondence between acceleration and the compensation distance of acceleration. For all the set vehicle acceleration data, The maximum acceleration that the vehicle can provide, where i is the number of data points for all set vehicle acceleration values.

7. The automatic driving and docking control method for a mining dump truck according to claim 6, characterized in that, S3 includes: When the distance between the stopping point and the rear retaining wall is greater than 2 L When the operating condition is classified as a safe stopping condition, and when the longitudinal error is equal to L Dock control is executed at the appropriate time; When the distance between the stopping point and the rear retaining wall is in the range of [2L, L], the working condition is classified as a slightly dangerous stopping condition, and stopping control is executed when the longitudinal error is equal to 2L. When the distance between the stopping point and the rear retaining wall is less than L, the working condition is classified as a severely dangerous stopping condition. When the longitudinal error is equal to 3L, stopping control is executed, and the braking command is increased to the maximum when the longitudinal error is equal to 2L. [-L, L] represents the allowable error range between the vehicle and the stopping point after parking.

8. The automatic driving and docking control method for a mining dump truck according to claim 7, characterized in that, When the longitudinal error is less than L At that time, the vehicle came to a stop.

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