Mine area operation vehicle control method, system, electronic device and storage medium

Abstract

The application discloses a control method of a mine operation vehicle, and the control method comprises the following steps: setting a target safety envelope of the mine operation vehicle; wherein the target safety envelope comprises a vehicle safety envelope and / or a trajectory safety envelope; judging whether the target safety envelope intersects with a safety envelope of other objects; if yes, determining an envelope intersection position, and controlling the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position. The application can eliminate the influence of a mine environment on vehicle driving, and avoid collision of the mine operation vehicle. The application also discloses a control system of a mine operation vehicle, an electronic device and a storage medium, which have the above beneficial effects.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a control method and system of a mine area operation vehicle, an electronic device and a storage medium. BACKGROUND

[0002] Due to the complex working environment of the mine area, the poor conditions of the mine area, the fixed, repeated and relatively closed scene of the mine area transportation and operation line, the mine area working environment is more suitable for using unmanned operation vehicles. At present, the mainstream way of collision avoidance of the mine area operation vehicle is to use multi-sensor fusion composed of laser radar, millimeter wave radar, ultrasonic radar and camera. However, due to the conditions such as spraying, precipitation, dust raising and sandstorm in the mine area, the fusion algorithm of the multi-sensor needs to be self-learned or the parameters need to be adapted for a long time.

[0003] Therefore, how to eliminate the influence of the mine area environment on the vehicle driving and avoid the collision of the mine area operation vehicle is a technical problem to be solved by the person skilled in the art at present. SUMMARY

[0004] The purpose of the present application is to provide a control method and system of a mine area operation vehicle, an electronic device and a storage medium, which can eliminate the influence of the mine area environment on the vehicle driving and avoid the collision of the mine area operation vehicle.

[0005] To solve the above technical problems, the present application provides a control method of a mine area operation vehicle, which comprises:

[0006] setting a target safety envelope of the mine area operation vehicle; wherein the target safety envelope comprises a vehicle safety envelope and / or a trajectory safety envelope;

[0007] judging whether the target safety envelope intersects with a safety envelope of other objects;

[0008] If yes, the envelope intersection position is determined, and the mine area operation vehicle is controlled to perform a collision avoidance operation according to the envelope intersection position.

[0009] Optionally, the setting of the target safety envelope of the mine area operation vehicle comprises:

[0010] determining a tail extension distance and a side extension distance according to the vehicle size parameters and the positioning error of the mine area operation vehicle;

[0011] determining a front extension distance according to the current speed, the maximum braking deceleration and the safety margin of the mine area operation vehicle; wherein the safety margin comprises a combination of any one or any several of the communication delay, the maximum slope of the line and the braking system response time;

[0012] The vehicle safety envelope of the mine operation vehicle is set according to the vehicle tail extension distance, the vehicle side extension distance and the vehicle front extension distance.

[0013] Optionally, the method for setting the target safety envelope of the mine operation vehicle comprises:

[0014] The trajectory safety envelope of the mine operation vehicle is determined according to the vehicle size parameter, the vehicle planned trajectory, the positioning error and the safety margin of the mine operation vehicle.

[0015] The safety margin comprises any one or a combination of the communication delay, the maximum slope of the line and the response time of the braking system.

[0016] Optionally, the method for setting the target safety envelope of the mine operation vehicle comprises:

[0017] It is judged whether the vehicle planned trajectory comprises a vehicle exclusive area; wherein the vehicle exclusive area comprises an intersection, a one-way street or a special operation area;

[0018] If yes, it is judged whether the vehicle exclusive area is within the safety envelope of the other object;

[0019] If the vehicle exclusive area is within the safety envelope of the other object, the step of judging whether the vehicle planned trajectory comprises the vehicle exclusive area is entered after a delay preset time;

[0020] If the vehicle exclusive area is not within the safety envelope of the other object, a target safety envelope comprising the vehicle exclusive area is generated for the mine operation vehicle.

[0021] Optionally, the mine operation vehicle is controlled to perform a collision avoidance operation according to the envelope intersection position, comprising:

[0022] The mine operation vehicle is controlled to perform a deceleration braking operation according to the envelope intersection position;

[0023] Or, a vehicle planned trajectory of the mine operation vehicle is regenerated according to the envelope intersection position, and the mine operation vehicle is controlled to travel according to the new vehicle planned trajectory;

[0024] The target safety envelope of the mine operation vehicle when traveling according to the new vehicle planned trajectory does not intersect with the safety envelope of the other object.

[0025] Optionally, if the target safety envelope comprises the trajectory safety envelope, the control method further comprises:

[0026] It is judged whether the mine operation vehicle has a communication abnormality;

[0027] If yes, a last generated trajectory safety envelope is determined, and the mine operation vehicle is controlled to travel along a vehicle planning trajectory within the last generated trajectory safety envelope, so that the mine operation vehicle is within the trajectory safety envelope;

[0028] The last generated trajectory safety envelope is set as a no-entry area for other vehicles, so that the other vehicles do not enter the no-entry area;

[0029] Optionally, before determining whether the target safety envelope intersects with a safety envelope of another object, the method further includes:

[0030] The vehicle safety envelope of the other vehicle, the trajectory safety envelope of the other vehicle, and the safety envelope of the fixed obstacle are set as the safety envelope of the other object.

[0031] The application also provides a control system of a mine operation vehicle, which includes:

[0032] An envelope setting module is configured to set a target safety envelope of the mine operation vehicle; wherein the target safety envelope includes a vehicle safety envelope and / or a trajectory safety envelope;

[0033] A determination module is configured to determine whether the target safety envelope intersects with a safety envelope of another object;

[0034] A control module is configured to, if the target safety envelope intersects with the safety envelope of another object, determine an envelope intersection position, and control the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position.

[0035] The application also provides a storage medium having a computer program stored thereon, wherein the computer program is configured to implement the steps of the control method of the mine operation vehicle.

[0036] The application also provides an electronic device including a memory and a processor, wherein the memory has a computer program stored therein, and the processor is configured to implement the steps of the control method of the mine operation vehicle when invoking the computer program in the memory.

[0037] The application provides a control method of a mine operation vehicle, which includes: setting a target safety envelope of the mine operation vehicle; wherein the target safety envelope includes a vehicle safety envelope and / or a trajectory safety envelope; determining whether the target safety envelope intersects with a safety envelope of another object; and if yes, determining an envelope intersection position, and controlling the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position.

[0038] The application sets a target safety envelope for a mine operating vehicle to enable the mine operating vehicle to travel within the target safety envelope. By comparing the target safety envelope of the mine operating vehicle with safety envelopes of other objects, if the target safety envelope intersects with the safety envelopes of the other objects, the mine operating vehicle will collide with other vehicles, obstacles and other objects. The intersection position of the envelopes is the position where the mine operating vehicle will collide, and the application controls the mine operating vehicle to perform a collision avoidance operation according to the intersection position of the envelopes. Since the application uses safety envelopes for vehicle collision avoidance control and does not rely on sensors such as laser radar, millimeter wave radar and ultrasonic radar, the application can eliminate the influence of the mine environment on vehicle travel and avoid collision of the mine operating vehicle. The application also provides a mine operating vehicle control system, an electronic device and a storage medium, which have the above beneficial effects, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 A flowchart of a mine operating vehicle control method provided by an embodiment of the application;

[0041] Figure 2 A vehicle safety envelope construction schematic diagram provided by an embodiment of the application;

[0042] Figure 3 A trajectory safety envelope construction schematic diagram provided by an embodiment of the application;

[0043] Figure 4 A mechanism schematic diagram of a mine operating vehicle control system provided by an embodiment of the application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme of the embodiments of the application will be described clearly and completely below in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0045] Please see Figure 1 , Figure 1A flowchart of a control method of a mine area operation vehicle provided by an embodiment of the present application.

[0046] The specific steps can include:

[0047] S101: setting a target safety envelope of the mine area operation vehicle;

[0048] The embodiment can be applied to a vehicle control device, and the mine area operation vehicle includes a mine truck (a mine dump truck), a watering truck, a road grader, and the like, which work in a mine area. The mine area operation vehicle can be an unmanned vehicle. The mine area operation vehicle is a vehicle with a positioning device and network access, and the target safety envelope of the mine area operation vehicle is set according to the positioning information of the mine area operation vehicle.

[0049] The mine area operation vehicle can have a fixed running track or can not have a fixed running track. For the mine area operation vehicle with a fixed running track, the corresponding target safety envelope includes a vehicle safety envelope and a track safety envelope. For the mine area operation vehicle without a fixed running track, the corresponding target safety envelope includes a vehicle safety envelope. The area in the target safety envelope is an area in which the mine area operation vehicle can safely travel, and the embodiment can set a corresponding safety envelope for each vehicle.

[0050] S102: determining whether the target safety envelope intersects with a safety envelope of another object; if yes, proceeding to S103;

[0051] Before this step, there can be an operation of obtaining the safety envelope of another object, which includes another vehicle and / or an obstacle. Specifically, the vehicle safety envelope of another vehicle, the track safety envelope of another vehicle, and the safety envelope of a fixed obstacle can be set as the safety envelope of the other object. In this step, it is determined whether the target safety envelope intersects with the safety envelope of another object. If the target safety envelope intersects with the safety envelope of another object, it means that the mine area operation vehicle can collide. If the target safety envelope does not intersect with the safety envelope of another object, it means that the mine area operation vehicle will not collide when traveling in the target safety envelope. Further, if the target safety envelope does not intersect with the safety envelope of another object, the mine area operation vehicle can be controlled to travel in the target safety envelope.

[0052] S103: determining an envelope intersection position and controlling the mine area operation vehicle to perform a collision avoidance operation according to the envelope intersection position.

[0053] The envelope intersection position is a position where the mine operation vehicle is likely to collide with other objects. Therefore, the mine operation vehicle can be controlled to perform a collision avoidance operation according to the envelope intersection position. The collision avoidance operation can include deceleration or re-planning a route. If the deceleration operation is performed, the mine operation vehicle can stop moving before reaching the envelope intersection position. If the route is re-planned, the newly planned route can not pass through the envelope intersection position.

[0054] Specifically, the process of performing the collision avoidance operation is as follows: the mine operation vehicle is controlled to perform a deceleration braking operation according to the envelope intersection position; or, a vehicle planning trajectory of the mine operation vehicle is regenerated according to the envelope intersection position, and the mine operation vehicle is controlled to travel according to the new vehicle planning trajectory; wherein the target safety envelope of the mine operation vehicle when traveling according to the new vehicle planning trajectory does not intersect with the safety envelope of the other object.

[0055] The embodiment sets a target safety envelope for the mine operation vehicle to travel in the target safety envelope. By comparing the target safety envelope of the mine operation vehicle with the safety envelope of the other object, if the target safety envelope intersects with the safety envelope of the other object, the mine operation vehicle will collide with other vehicles, obstacles and other objects. The envelope intersection position is a position where the mine operation vehicle will collide. The embodiment controls the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position. Since the embodiment uses a safety envelope for vehicle collision avoidance control and does not rely on sensors such as laser radar, millimeter wave radar and ultrasonic radar, the embodiment can eliminate the influence of the mine environment on vehicle travel and avoid collision of the mine operation vehicle.

[0056] As for Figure 1 Further, the vehicle safety envelope can be set as follows: a tail extension distance and a side extension distance are determined according to the vehicle size parameters and the positioning error of the mine operation vehicle; a front extension distance is determined according to the current speed of the mine operation vehicle, the maximum deceleration and the safety margin; wherein the safety margin includes any one or a combination of communication delay, maximum line slope and brake system response time; and the vehicle safety envelope of the mine operation vehicle is set according to the tail extension distance, the side extension distance and the front extension distance.

[0057] Please refer to Figure 2 , Figure 2 A vehicle safety envelope construction schematic diagram provided by the embodiment of the present application is as follows: Figure 2The vehicle safety envelope can be established for the mine operation vehicle according to the size parameters of the vehicle, positioning error, maximum acceleration, communication delay time, maximum slope of the line and other factors. The calculation method of the vehicle safety envelope is as follows:

[0058] The rear extension distance L is determined according to the size parameters of the vehicle and the positioning error r The side extension distance L is determined according to the size parameters of the vehicle and the positioning error s The front extension distance L is calculated by formula 1 h Formula 1 is as follows:

[0059] In formula 1, v is the current speed of the vehicle, a is the maximum braking deceleration of the vehicle, and L h The front extension distance in the vehicle safety envelope can be obtained by adding a certain safety margin, and the safety margin is determined according to the communication delay, the maximum slope of the line, the response time of the braking system and other factors.

[0060] As for Figure 1 For further introduction of the corresponding embodiment, the trajectory safety envelope can be set in the following manner: the trajectory safety envelope of the mine operation vehicle is determined according to the size parameters of the vehicle, the planned trajectory of the vehicle, the positioning error and the safety margin of the mine operation vehicle. The safety margin includes any one or a combination of the communication delay, the maximum slope of the line and the response time of the braking system. The above-mentioned planned trajectory of the vehicle can be the planned trajectory of the vehicle within a preset distance in front of the current position.

[0061] The path planning algorithm generally only considers the accessibility, smoothness and time efficiency of the path when planning the path, and does not pay attention to whether the planned path conflicts with other vehicles or the running trajectory of other vehicles. Please refer to Figure 3 , Figure 3 A trajectory safety envelope construction schematic diagram provided by an embodiment of the present application is shown in Figure 3 The present embodiment extends to the left and right sides based on the planned path of the mine operation vehicle, forming a closed safety envelope, and the extension distances on the two sides consider the size, positioning and control error and safety margin of the vehicle and other factors. In order to ensure the operation efficiency and reduce the data transmission amount, only the running trajectory data within the configured length (such as 100 meters) in front of the vehicle is issued to the vehicle-mounted system. In the driving process, if an obstacle intrudes into the running trajectory safety envelope of the mine operation vehicle, corresponding processing is performed. Figure 3 The dashed line in the figure represents the planned trajectory of the mine operation vehicle, and the solid line box represents the trajectory safety envelope.

[0062] As for Figure 1Further to the corresponding embodiment, the embodiment can pre-set a roadside obstacle safety envelope, and specifically, fixed obstacle information of the mining area can be constructed through a roadside obstacle perception device, 3D scanning results and the like, and the fixed obstacle information is formed into a polygon envelope as an object of envelope collision detection.

[0063] As for the Figure 1 Further to the corresponding embodiment, if the target safety envelope includes the trajectory safety envelope, it can be further judged whether the mining area operation vehicle appears communication abnormality; if yes, the last generated trajectory safety envelope is determined, and the mining area operation vehicle is controlled to travel along the vehicle planning trajectory within the last generated trajectory safety envelope, so that the mining area operation vehicle is within the trajectory safety envelope, for example, the mining area operation vehicle can be stopped at the end point of the trajectory safety envelope. Further, in order to avoid collision, the last generated trajectory safety envelope can be set as a no-entry area of other vehicles, so as to prohibit the other vehicles from entering the no-entry area. Further, after the mining area operation vehicle appears communication abnormality, it is judged whether the communication of the mining area operation vehicle is restored to normal; if yes, the no-entry area is deleted (i.e. the operation constraint of the no-entry area on other vehicles is removed), and the trajectory safety envelope is updated according to the current position of the mining area operation vehicle; if no, the no-entry area is deleted after the staff drives the mining area operation vehicle.

[0064] The embodiment can set the target safety envelope of the mining area operation vehicle in the following manner: it is judged whether the vehicle planning trajectory includes a vehicle exclusive area; the vehicle exclusive area includes an intersection, a one-way street or a special operation area; if yes, it is judged whether the vehicle exclusive area is within the safety envelope of other objects; if the vehicle exclusive area is within the safety envelope of other objects, the step of judging whether the vehicle planning trajectory includes a vehicle exclusive area is entered after a delay of a preset time length; if the vehicle exclusive area is not within the safety envelope of other objects, a target safety envelope including the vehicle exclusive area is generated for the mining area operation vehicle.

[0065] The above-described process is illustrated by the following embodiment in actual application.

[0066] In the related art, the unmanned mine truck relies on sensors to achieve driving anti-collision, but the above-mentioned method has the following defects: (1) the radar is easily affected by weather and environment, and has limited detection distance. (2) Currently, the radar is mainly installed in front of the vehicle to detect obstacles in the front range of the vehicle. At the bend and intersection, the radar detection has a blind area. Due to cost reasons, the vehicle side will not generally install a radar, so the vehicle side protection is relatively weak, which affects the safety of the meeting. (3) The perception fusion algorithm is complex, and there is a possibility of false alarm of obstacles, which may cause the unmanned vehicle to stop, affecting the operation efficiency and smoothness, and long-time on-site adaptation and parameter adjustment are required to obtain a relatively optimal effect. (4) There are many collaborative vehicles such as water spraying vehicles and road flattening machines in the mine area, and if all the working vehicles are equipped with radar equipment, the cost will be high.

[0067] To solve the defects in the above-mentioned related art, the present application provides a scheme for anti-collision of unmanned mine truck. According to the positioning and running track of the unmanned mine truck, the safety envelope is calculated in real time. If the obstacle invades the safety envelope, the authorized running track is withdrawn or the vehicle is commanded to brake and stop. In special areas (such as intersections, one-way roads, and working areas), a resource automatic allocation algorithm is implemented to ensure the safe operation of the unmanned mine truck.

[0068] The present embodiment can construct the vehicle safety envelope and track safety envelope of the unmanned mine truck. The obstacles in the running process of the unmanned mine truck include the safety envelope of other vehicles, the envelope of fixed obstacles, and the safety envelope of the running track of other unmanned mine trucks. The present embodiment judges in real time whether the vehicle safety envelope and the track safety envelope of the unmanned mine truck intersect with the envelope of the obstacle. If they intersect, it is considered that the unmanned mine truck may collide with the obstacle, and the planned track of the unmanned mine truck is withdrawn in front of the obstacle or an alarm is sent to the dispatch, thereby driving the unmanned mine truck to slow down or brake and stop.

[0069] The communication abnormality processing process of the unmanned mine truck is as follows: when the vehicle communication is abnormal, the last valid positioning and running track data is retained, and an alarm is sent to the dispatch. The present embodiment establishes a safety envelope based on the last valid positioning and running track of the vehicle. Before the dispatch does not command to delete or the vehicle recovers communication, the safety envelope is not updated. When the communication abnormality vehicle recovers communication, the present application calculates the safety envelope based on the updated vehicle positioning and running track data.

[0070] The embodiment can regard the intersection, the one-way street and the special operation area as a dynamically allocatable and exclusive resource. When the vehicle safety envelope or the track safety envelope of the unmanned mine truck has partially entered the path resource, the path resource is automatically allocated to the vehicle, and other vehicles are not allowed to enter the path resource area. When the vehicle safety envelope or the track safety envelope of the unmanned mine truck is completely out of the resource area, the path resource is released. Through the above-mentioned management of the path resource, the collision of the vehicle at the intersection or the blockage of the vehicle in the special area such as the one-way street can be avoided, so as to affect the operation efficiency.

[0071] The software module constructed by the above-mentioned safety protection scheme of the unmanned mine truck can be operated in the dispatch center for centralized operation, so as to uniformly manage the safety protection of the unmanned mine truck in the whole or the fragmented mine area. The dispatch mode of the centralized operation has a higher requirement for the computing resource. The software module constructed by the above-mentioned safety protection scheme of the unmanned mine truck can also be operated on the unmanned mine truck, and the safety envelope of the nearby vehicle and the obstacle is calculated. The information such as the positioning and the running track of various operation vehicles is interacted through the wireless communication and the like. The distributed demand has a smaller requirement for the computing resource, but has a higher requirement for the communication and the like. The embodiment is not affected by the mine environment and the weather, can make up for the limitation of the radar and the video sensing in the curved road, the intersection detection and the detection distance, and the track length of the unmanned mine truck can be flexibly configured according to the site condition. When the obstacle intrudes into the safety track envelope of the unmanned mine truck, the embodiment can timely drive the unmanned mine truck to avoid the obstacle, and can support the distributed or centralized operation. Since all the operation vehicles in the mine area are equipped with the positioning device and are connected to the network, the embodiment proposes a safety protection scheme of the unmanned mine truck based on the vehicle positioning and the wireless communication, and the anti-collision method based on the vehicle radar and the video sensing can be used as the supplement of the scheme.

[0072] Please refer to Figure 4 , Figure 4 The embodiment provides a mechanism schematic diagram of a control system of a mine operation vehicle.

[0073] The envelope setting module 401 is configured to set a target safety envelope of the mine operation vehicle. The target safety envelope includes a vehicle safety envelope and / or a track safety envelope.

[0074] The judgment module 402 is configured to judge whether the target safety envelope intersects with a safety envelope of another object.

[0075] The control module 403 is configured to determine an envelope intersection position if the target safety envelope intersects with the safety envelope of the other object, and control the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position.

[0076] The embodiment sets a target safety envelope for the mine operation vehicle to drive in the target safety envelope. By comparing the target safety envelope of the mine operation vehicle with the safety envelope of other objects, if the target safety envelope intersects with the safety envelope of other objects, the mine operation vehicle will collide with other vehicles, obstacles and other objects. The intersection position of the envelopes is the position where the mine operation vehicle will collide. The embodiment controls the mine operation vehicle to perform a collision avoidance operation according to the intersection position of the envelopes. Since the embodiment uses the safety envelope for vehicle collision avoidance control and does not rely on sensors such as laser radar, millimeter wave radar and ultrasonic radar, the embodiment can eliminate the influence of the mine environment on vehicle driving and avoid collision of the mine operation vehicle.

[0077] Further, the envelope setting module 401 comprises:

[0078] The vehicle safety envelope setting unit is configured to determine a tail extension distance and a side extension distance according to the vehicle size parameters and the positioning error of the mine operation vehicle; and determine a front extension distance according to the current speed, the maximum braking deceleration and the safety margin of the mine operation vehicle; wherein the safety margin comprises a combination of any one or more of the communication delay, the maximum line slope and the braking system response time; and set the vehicle safety envelope of the mine operation vehicle according to the tail extension distance, the side extension distance and the front extension distance.

[0079] Further, the envelope setting module 401 comprises:

[0080] The trajectory safety envelope setting unit is configured to determine the trajectory safety envelope of the mine operation vehicle according to the vehicle size parameters, the vehicle planning trajectory, the positioning error and the safety margin of the mine operation vehicle.

[0081] The safety margin comprises a combination of any one or more of the communication delay, the maximum line slope and the braking system response time.

[0082] Further, the envelope setting module 401 is configured to determine whether the vehicle planning trajectory includes a vehicle exclusive area; wherein the vehicle exclusive area includes an intersection, a one-way street or a special operation area; if yes, determine whether the vehicle exclusive area is within the safety envelope of other objects; if the vehicle exclusive area is within the safety envelope of other objects, enter the step of determining whether the vehicle planning trajectory includes a vehicle exclusive area after a delay preset time; and if the vehicle exclusive area is not within the safety envelope of other objects, generate a target safety envelope including the vehicle exclusive area for the mine operation vehicle.

[0083] Further, the control module 403 is configured to control the mining area working vehicle to perform a deceleration braking operation according to the envelope intersection position; or, regenerate a vehicle planning track of the mining area working vehicle according to the envelope intersection position, and control the mining area working vehicle to travel according to the new vehicle planning track; wherein a target safety envelope of the mining area working vehicle when traveling according to the new vehicle planning track does not intersect with the safety envelope of the other object.

[0084] Further, the system further comprises:

[0085] The communication exception processing module is configured to determine whether the mining area working vehicle has a communication exception; if yes, determine a last generated track safety envelope, and control the mining area working vehicle to travel along a vehicle planning track within the last generated track safety envelope, so that the mining area working vehicle is within the track safety envelope; and further configured to set the last generated track safety envelope as a no-entry area of other vehicles, so that the other vehicles do not enter the no-entry area.

[0086] The envelope adjustment module is configured to determine whether the communication of the mining area working vehicle is normal after the mining area working vehicle has a communication exception; if yes, delete the no-entry area, and update the track safety envelope according to a current position of the mining area working vehicle; if no, delete the no-entry area after a worker drives the mining area working vehicle.

[0087] Further, the system further comprises:

[0088] The safety envelope setting module of the other object is configured to set a vehicle safety envelope of other vehicles, a track safety envelope of other vehicles, and a safety envelope of a fixed obstacle as the safety envelope of the other object before determining whether the target safety envelope intersects with the safety envelope of the other object.

[0089] Since the embodiments of the system part correspond to the embodiments of the method part, the embodiments of the system part are described in the description of the embodiments of the method part, and will not be described here.

[0090] The application further provides a storage medium having a computer program stored thereon, and the computer program can implement the steps provided in the above embodiments when executed. The storage medium can include a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0091] The application also provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above embodiments when invoking the computer program in the memory. Of course, the electronic device can also include various network interfaces, power supplies and other components.

[0092] The various embodiments are described in the specification by way of progression, each building on the last to facilitate ease of understanding. It should be readily understood, however, that the disclosure as configured and instrumentalities to achieve the disclosed functionality is intended to be limited only by the claims and equivalents thereof. It should be appreciated that those skilled in the art can devise numerous ways of implementing the above- described embodiments and / or others thereof without extending beyond the scope of the present application.

[0093] It should also be noted that the terms "first", "second" and the like used in the description are used to distinguish one element from another, and do not necessarily have to follow an ordinal numerical limitation, unless otherwise specified. In addition, the terms "comprise", "include" or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles or devices that include a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article or device that includes the element.

Claims

1. A control method of a mine site work vehicle, characterized by, The method comprises: setting a target safety envelope of a mine operation vehicle; wherein the target safety envelope comprises a vehicle safety envelope and / or a trajectory safety envelope; judging whether the target safety envelope intersects with a safety envelope of another object; if yes, determining an envelope intersection position, and controlling the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position; wherein the setting of the target safety envelope of the mine operation vehicle comprises: determining a vehicle tail extension distance and a vehicle side extension distance according to a vehicle size parameter and a positioning error of the mine operation vehicle; determining a vehicle front extension distance according to a current speed, a maximum braking deceleration and a safety margin of the mine operation vehicle; wherein the safety margin comprises a combination of any one or more of a communication delay, a maximum slope of a line and a braking system response time; and setting the vehicle safety envelope of the mine operation vehicle according to the vehicle tail extension distance, the vehicle side extension distance and the vehicle front extension distance; determining the trajectory safety envelope of the mine operation vehicle according to the vehicle size parameter, a vehicle planning trajectory, the positioning error and the safety margin of the mine operation vehicle; wherein, if the target safety envelope comprises the trajectory safety envelope, the control method further comprises: judging whether the mine operation vehicle has a communication abnormality; if yes, determining a last generated trajectory safety envelope, and controlling the mine operation vehicle to travel along the vehicle planning trajectory within the last generated trajectory safety envelope, so that the mine operation vehicle is within the trajectory safety envelope; setting the last generated trajectory safety envelope as a no-entry area of another vehicle, so that the another vehicle does not enter the no-entry area.

2. The control method of the mine site vehicle according to claim 1, characterized by, The setting of the target safety envelope of the mine operation vehicle comprises: judging whether a vehicle exclusive area is included in a vehicle planning trajectory; wherein the vehicle exclusive area comprises an intersection, a one-way street or a special operation area; if yes, judging whether the vehicle exclusive area is within a safety envelope of another object; if the vehicle exclusive area is within the safety envelope of another object, entering the step of judging whether a vehicle exclusive area is included in a vehicle planning trajectory after a delay preset time; if the vehicle exclusive area is not within the safety envelope of another object, generating a target safety envelope of the mine operation vehicle including the vehicle exclusive area.

3. The method of claim 1, wherein: The control of the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position comprises: controlling the mine operation vehicle to perform a deceleration braking operation according to the envelope intersection position; or, regenerating a vehicle planning trajectory of the mine operation vehicle according to the envelope intersection position, and controlling the mine operation vehicle to travel according to the new vehicle planning trajectory; wherein a target safety envelope of the mine operation vehicle when traveling according to the new vehicle planning trajectory does not intersect with the safety envelope of the another object.

4. The control method of the mine site vehicle according to any one of claims 1 to 3, characterized by, Before judging whether the target safety envelope intersects with the safety envelope of another object, further comprising: setting a vehicle safety envelope of another vehicle, a trajectory safety envelope of another vehicle and a safety envelope of a fixed obstacle as the safety envelope of another object.

5. A control system for a mine site vehicle, characterized by, The method comprises: an envelope setting module configured to set a target safety envelope of a mine operation vehicle; wherein the target safety envelope comprises a vehicle safety envelope and / or a trajectory safety envelope; a judging module configured to judge whether the target safety envelope intersects with a safety envelope of another object; a control module configured to, if the target safety envelope intersects with the safety envelope of the another object, determine an envelope intersection position, and control the mine operation vehicle to perform a collision avoidance operation according to the envelope intersection position; wherein the envelope setting module comprises: a vehicle safety envelope setting unit configured to determine a vehicle tail extension distance and a vehicle side extension distance according to a vehicle size parameter and a positioning error of the mine operation vehicle; and to determine a vehicle front extension distance according to a current speed, a maximum braking deceleration, and a safety margin of the mine operation vehicle; wherein the safety margin comprises a combination of any one or more of a communication delay, a maximum line slope, and a braking system response time; and to set the vehicle safety envelope of the mine operation vehicle according to the vehicle tail extension distance, the vehicle side extension distance, and the vehicle front extension distance; a trajectory safety envelope setting unit configured to determine the trajectory safety envelope of the mine operation vehicle according to the vehicle size parameter, a vehicle planning trajectory, the positioning error, and the safety margin of the mine operation vehicle; wherein, if the target safety envelope comprises the trajectory safety envelope, the control system further comprises: a communication abnormality processing module configured to judge whether the mine operation vehicle has a communication abnormality; if yes, to determine a last generated trajectory safety envelope, and to control the mine operation vehicle to travel along the vehicle planning trajectory within the last generated trajectory safety envelope, so that the mine operation vehicle is within the trajectory safety envelope; and to set the last generated trajectory safety envelope as a no-entry area of another vehicle, so that the another vehicle does not enter the no-entry area.

6. An electronic device, comprising: a memory and a processor, the memory storing a computer program, and the processor invoking the computer program in the memory to implement the steps of the control method of the mine operation vehicle according to any one of claims 1 to 4.

7. A storage medium, characterized by a storage medium storing computer executable instructions, and the computer executable instructions being loaded and executed by a processor to implement the steps of the control method of the mine operation vehicle according to any one of claims 1 to 4.

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