A safety envelope generation system and method for surface mine vehicle-road cooperation

Abstract

The application discloses a kind of open-pit mine vehicle road cooperation's safety envelope generation system and method, the system includes gateway, safety envelope detection service module, distributed cache module, data reported by work vehicle is received by gateway, then by gateway is converted into message queue, push to safety envelope detection service module;Safety envelope detection service module, based on the data reported by work vehicle generates safety envelope, and save safety envelope in distributed cache module, obtain the conflict information of distributed cache module, as the prior information of collision risk to determine whether there is collision risk currently, envelope collision risk instruction is issued to the vehicle detected to collision risk.The present application is judged with the data of single vehicle in the prior art, all elements in mining area in the present application will become part of decision, so that the final decision is more reasonable and more global.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mine transportation, and more particularly to a safety envelope generation system and method for work vehicles in an open-pit mine unmanned system based on vehicle-cloud cooperation. BACKGROUND

[0002] In the field of open-pit mine transportation, safety is the most critical factor. At present, most safety hazards can be avoided through reasonable scheduling and precise road right control.

[0003] However, when an unmanned project is first carried out in a mining area or a version is updated and iterated unstably, safety hazards will inevitably occur due to various factors. For example, vehicles on opposite sides of a two-way road are scratched due to unreasonable two-way road setting, a shovel is planned to load at a position too close to cause a collision between a dump truck and the shovel during loading, a vehicle collides with a roadside retaining wall due to excessive curvature of a curve, and a vehicle collides with a dump retaining wall or falls due to inaccurate parking or unreasonable parking position planning. When similar situations occur, an early prevention mechanism needs to be provided to control the vehicle brake in time before danger occurs. Therefore, a collision prevention envelope needs to be quickly formed according to the real-time position of each vehicle, and it is necessary to detect whether a conflict occurs between the envelopes of vehicles, the road boundary, and the dump line in real time. An emergency stop task is automatically issued to avoid danger when a conflict is found.

[0004] The calculation of the safety envelope needs to consider the current position, heading angle, vehicle type, and current speed of the vehicle, as well as the work state. For example, when a work vehicle is driving on a road, the faster the speed, the larger the envelope in front of the vehicle will be. When the vehicle is dumping, the rear envelope needs to be partially contracted according to the best dumping effect. In the work, the production efficiency is not affected, and the maximum safety is ensured.

[0005] To solve the above problems, the present application proposes a safety envelope generation system and method to avoid accidents and predict safety hazards during the operation of open-pit mine vehicles. SUMMARY

[0006] The present application aims to dynamically generate a safety envelope according to the vehicle, road, and other scenes in the mining area transportation to ensure work efficiency and ensure vehicle driving safety.

[0007] The present application provides a safety envelope generation system for vehicle-road cooperation of open-pit mine vehicles, which comprises a gateway, a safety envelope detection service module, and a distributed cache module.

[0008] (1) The gateway uniformly receives the data reported by the work vehicle, and then converts the data into a message queue by the gateway and pushes it to the safety envelope detection service module.

[0009] (2) A safety envelope detection service module generates a safety envelope based on the data reported by the work vehicle, saves the safety envelope into a distributed cache module, obtains collision information of the distributed cache module as prior information of collision risk to determine whether there is a collision risk at present, and issues an envelope collision risk instruction to the vehicle detected with the collision risk;

[0010] (3) A distributed cache module stores the safety envelope of the work vehicle into the distributed cache as comparison data for detection by other work vehicles, and synchronizes real-time high-precision map data to obtain surrounding environment information and determine whether the work vehicle has a collision risk with the surrounding environment.

[0011] Further, the data reported by the work vehicle includes a model parameter corresponding to the current vehicle, position information, a heading angle, a vehicle speed, and a vehicle planning trajectory.

[0012] Further, the distributed cache module is Redis.

[0013] The application also provides a safety envelope generation method for vehicle-road cooperation in an open-pit mine, including the following steps:

[0014] Firstly, vehicle position information, vehicle dispatch information, and high-precision map data are received, a vehicle center point is positioned according to the vehicle position information, an envelope frame surrounding the vehicle is generated according to the equipment model of the vehicle dispatch information, a front envelope frame of the vehicle is generated according to the high-precision map data, and a static safety envelope of the vehicle is obtained.

[0015] Secondly, a task state of the current vehicle is determined, a dynamic safety envelope of the vehicle corresponding to different task states is generated based on the static safety envelope of the vehicle and using a corresponding safety envelope generation strategy.

[0016] Thirdly, the generated dynamic safety envelope of the vehicle is updated and stored to ensure that the dynamic safety envelope matches the current vehicle position, and Rtree spatial indexing is used during storage.

[0017] Fourthly, it is determined whether the dynamic safety envelope of the current vehicle overlaps with a dynamic safety envelope generated by another work vehicle and a perception map boundary graphic, and an alarm or parking is performed.

[0018] Further, the first step obtains the static safety envelope of the vehicle based on the envelope frame surrounding the vehicle and the front envelope frame of the vehicle, the static safety envelope of the vehicle is a closed rectangle formed by extending the vehicle contour outward by a corresponding distance, and the specific calculation is as follows:

[0019] (1) The tail safety envelope is the vehicle tail contour extended backward by a distance L r , L r is a positioning error Maximum backward slip distance D of the vehicle b sum;

[0020]

[0021] (2) The lateral safety envelope is the distance L extending outward from the two sides of the vehicle's profile. s L s Positioning error With the vehicle's maximum lateral control error sum:

[0022]

[0023] (3) The forward safety envelope is the forward extension distance L of the vehicle's frontal profile. h L h The vehicle is based on its current speed v, and positioning error is taken into account. and control error Maximum safe distance Ds;

[0024]

[0025] Furthermore, in the second step, the secure envelope generation strategy includes:

[0026] (1) Normal road driving: Based on the current speed of the vehicle, the shape of the front driving route of the vehicle on the road is obtained, and the forward envelope of the vehicle is dynamically extended. The shape of the extension is calculated in real time according to the shape of the autonomous driving trajectory.

[0027] (2) Reversing into the loading dock: Based on the reversing lane and the current speed of the vehicle, the rear envelope of the vehicle is extended. The shape of the extension is calculated in real time according to the shape of the autonomous driving trajectory. As the vehicle gradually decelerates, it returns to the static envelope shape after parking in place.

[0028] (3) Reversing into the dumping parking position: Based on the reversing lane and the current speed of the vehicle, the rear envelope of the vehicle is extended. The shape of the extension is calculated in real time according to the shape of the autonomous driving trajectory. As the vehicle gradually decelerates, the rear envelope is restored to the static envelope shape after parking in place. At the same time, the distance from the rear wheel of the vehicle to the rear end is reduced to facilitate dumping.

[0029] Furthermore, for normal road driving, the rear dynamic envelope L R With static security envelope L r Maintain consistency:

[0030] L R =L r

[0031] The dynamic envelope extension distance L on both sides S Lateral distance L from static safety envelopes Consistent:

[0032] L s = L s

[0033] The front extension distance is:

[0034] L H = (1+k)L h +(T s +T c )·v

[0035] Where k is the ground friction coefficient, T s is the system response delay, T c communication delay.

[0036] The present application provides a kind of open pit vehicle safety envelope generation system and method, compared with the different points of existing traffic situation generation buffer is except using vehicle itself relevant parameter to make decision, also introduce the road data of high-precision map, geographical factors such as stripping line and vehicle task state, cause final decision more reasonable more global, not with the data of single vehicle do judgment, all elements in mining area will become part of decision.The present application has the beneficial effects compared with prior art:

[0037] 1, a kind of safety envelope generation strategy based on the current state of vehicle is proposed, strategy mode includes normal driving area, loading area and unloading area three.

[0038] 2, a kind of mining area multi-source real-time data acquisition module is proposed, by real-time acquisition perception module, planning module and platform data, ensure the freshness and diversity of data for decision.

[0039] 3, a kind of risk prediction mechanism based on safety envelope conflict is proposed, the conflict of safety envelope is used as prior information to judge whether there is collision risk currently, if there is collision risk, the detected vehicle with risk is given envelope collision risk instruction, envelope collision risk detection provides buffer time for actual vehicle collision detection. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 For the overall architecture of safety envelope generation system;

[0041] Figure 2 For safety envelope generation detection flow chart;

[0042] Figure 3 For the envelope frame diagram of vehicle. DETAILED DESCRIPTION

[0043] The present application will be described in detail below in conjunction with the drawings.

[0044] The present application provides an open-pit mine operation vehicle safety envelope generation system, the overall architecture is as shown in the figure, including gateway, safety envelope detection service module, distributed cache module: Figure 1

[0045] (1) Gateway, the data reported by the operation vehicle is uniformly received by the gateway, and then converted into a message queue by the gateway and pushed to the safety envelope detection service module. The data reported by the operation vehicle includes basic data such as the model parameters corresponding to the current vehicle, position information, heading angle, vehicle speed, and vehicle planning trajectory.

[0046] (2) Safety envelope detection service module, mainly responsible for generating safety envelope based on the data reported by the operation vehicle, and saving the safety envelope to the distributed cache module Redis middleware, obtaining the conflict information of Redis and issuing instructions. By obtaining the conflict information of the Redis middleware, as prior information of collision risk, it is judged whether there is a collision risk at present, and the envelope collision risk instruction is issued to the vehicle detected to have a collision risk.

[0047] (3) Distributed cache module, store the safety envelope of the operation vehicle in the distributed cache, as the comparison data for detection of other operation vehicles. In addition, by synchronizing real-time high-precision map data, accurate road boundaries and dump lines, retaining walls and other information are obtained to judge whether the operation vehicle has a collision risk with the surrounding environment. Redis is used in this scheme for operation vehicle safety envelope storage and rapid positioning of other operation vehicle envelopes that have conflicts through spatial indexing. That is, it supports horizontal expansion of later services and can improve the speed of obtaining and storing data.

[0048] The present application also provides an open-pit mine operation vehicle safety envelope generation method, which first judges the envelope generation strategy through the current state of the device, confirms the strategy, and loads the current device model parameters. Specifically, it includes the following steps:

[0049] The first step is to receive information, and the information source includes vehicle positioning position information, heading angle, and is used to locate the specific position of the vehicle.

[0050] The vehicle positioning position information is provided by the vehicle-mounted GPS, and is reported as the positioning position in the WGS84 coordinate system with a positioning accuracy of meters. It cannot be directly used to construct envelope boundary points, and the coordinate system is inconsistent with the high-precision map data, so the vehicle position is converted to the UTM coordinate system for envelope construction.

[0051] The high-precision map data of the position where the current vehicle is located is used to judge the actual length, width, etc. of the vehicle according to the heading slope curvature of the lane line and the model parameters corresponding to the current device. Figure 3 ​As shown, according to the position information, the position of the vehicle center point is located, according to the device model, the envelope frame surrounding the vehicle in the map is generated, and according to the high-precision road map in which the vehicle is located, the vehicle forward envelope frame fitting the road is generated.

[0052] Based on the envelope frame surrounding the vehicle and the vehicle forward envelope frame, the vehicle static safety envelope is obtained, which is a closed rectangle formed by extending the vehicle contour outward by a corresponding distance, and the specific calculation is as follows:

[0053] (1) The tail static safety envelope is the vehicle tail contour extending backward by a distance L r , L r is the sum of the positioning error and the maximum rear slip distance D b of the vehicle;

[0054]

[0055] (2) The side static safety envelope is the vehicle contour extending outward by a distance L s , L s is the sum of the positioning error and the maximum lateral control error of the vehicle;

[0056]

[0057] (3) The front static safety envelope is the vehicle front contour extending forward by a distance L h , L h is the maximum safety distance D s of the vehicle based on the current speed v, considering the positioning error and the control error .

[0058]

[0059] Secondly, the mine card positioning parameters are uploaded to the high-precision map, the task state of the vehicle is confirmed, according to the road type and drivable area boundary information in the high-precision map under different task states, the automatic driving track information, the corresponding safety envelope generation strategy is used, based on the vehicle static safety envelope, the vehicle dynamic safety envelope corresponding to different task states is generated:

[0060] (1) Normal road driving: referring to the vehicle front driving route envelope shape points of the road where the vehicle is located, the number of shape points is positively correlated with the current speed of the vehicle. The dynamic extension of the vehicle forward envelope is calculated in real time according to the shape of the automatic driving track shape:

[0061] The tail dynamic envelope L R and the static safety envelope L rConsistent:

[0062] L R = L r

[0063] The extension distance L of the dynamic envelope on both sides S The lateral distance L of the static safety envelope s Consistent:

[0064] L S = L s

[0065] The extension distance L in front is:

[0066] L H = (1+k)L h + (T s +T c )·v

[0067] Where k is the ground friction coefficient, related to the ground state, T s is the system response delay, T c communication delay.

[0068] (2) Pour into the loading parking position: refer to the pouring lane, and the size of the speed, the envelope behind the vehicle is extended, and the calculation method is the same as (1), and the vehicle gradually slows down, and restores to the static envelope shape after parking.

[0069] (3) Pour into the dump parking position: similar to (2), the difference is that after parking, the rear envelope not only restores to the static envelope shape, but also shrinks the distance from the rear wheel to the tail of the vehicle, which is convenient for dumping.

[0070] The third step is to update and store the generated dynamic safety envelope, ensure that the dynamic safety envelope and the current vehicle position match, and store the Rtree spatial index. Rtree can extend the idea of B-tree to multi-dimensional space, adopt the idea of B-tree splitting space (if B-tree splits a one-dimensional line segment, R-tree is in two-dimensional or even multi-dimensional space), and adopt the method of merging and decomposing nodes when adding and deleting operations, to ensure the balance of the tree; Therefore, Rtree is a balanced tree for storing high-dimensional data, which can effectively solve the high-dimensional space search problem.

[0071] The fourth step is to judge whether the dynamic safety envelope of the current vehicle and the dynamic safety envelope generated by other working vehicles and the boundary figure of the perception map overlap in space, and to alarm or stop.

[0072] In summary, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection of the present application.

Claims

1. A method for generating a safety envelope for surface mine vehicle-road collaboration, characterized in that, The method comprises the following steps: The first step is to receive vehicle position information, vehicle scheduling information, and high-precision map data, locate the position of the vehicle center point according to the vehicle position information, generate an envelope frame around the vehicle according to the equipment model of the vehicle scheduling information, generate a vehicle front envelope frame fitting the road according to the high-precision map data, and obtain a vehicle static safety envelope; The second step is to judge the task state of the current vehicle, generate a vehicle dynamic safety envelope corresponding to different task states based on the vehicle static safety envelope and using a corresponding safety envelope generation strategy; The third step is to update and store the generated vehicle dynamic safety envelope, ensure that the dynamic safety envelope matches the current vehicle position, and store the dynamic safety envelope using Rtree spatial indexing; The fourth step is to judge whether the dynamic safety envelope of the current vehicle and the dynamic safety envelope generated by other working vehicles and the perception map boundary graphics have spatial overlap, and to perform warning or parking; The first step obtains a vehicle static safety envelope based on the envelope frame around the vehicle and the vehicle front envelope frame, and the vehicle static safety envelope is a closed rectangle formed by extending the vehicle contour outward by a corresponding distance, and the specific calculation is as follows: (1) the rear safety envelope is the distance the rear profile of the vehicle extends back , is the positioning error and the maximum rearward roll distance of the vehicle ​ (2) the lateral safety envelope is the distance that the vehicle profile extends outwards on both sides , is the positioning error and the maximum lateral control error of the vehicle ​ (3) The forward safety envelope is the distance that the frontal contour of the vehicle extends forward. , For vehicles based on current speed And consider positioning error and control error Maximum safe distance ; ； The second step, the safety envelope generation strategy comprises: (1) normal road driving: according to the current speed of the vehicle, obtain the envelope shape point of the vehicle front driving route on the road, and dynamically extend the vehicle front envelope, and the shape of the extension is calculated in real time according to the automatic driving trajectory shape; (2) back into the loading parking position: according to the back-in lane and the current speed of the vehicle, the envelope behind the vehicle is extended, and the shape of the extension is calculated in real time according to the automatic driving trajectory shape; as the vehicle gradually slows down, the static envelope shape is restored after parking in place; (3) back into the dumping parking position: according to the back-in lane and the current speed of the vehicle, the envelope behind the vehicle is extended, and the shape of the extension is calculated in real time according to the automatic driving trajectory shape; as the vehicle gradually slows down, the static envelope shape is restored after parking in place, and the distance from the rear wheel to the tail of the vehicle is retracted, facilitating dumping.

2. The safety envelope generation method for surface mine vehicle car- road collaboration according to claim 1, characterized in that, For normal road travel, the rear dynamic envelope is maintained in line with the static safety envelope : Dynamic envelope extension distance on both sides Lateral distance from static safety envelope Consistency: The front extension distance is: wherein k is the ground friction coefficient, is the system response delay, is the communication delay.

3. A safety envelope generation system for surface mine vehicle car- road collaboration, performing the safety envelope generation method according to claim 1 or 2, characterized in that, It comprises: Gateway, safety envelope detection service module, distributed cache module: (1) Gateway: the data reported by the working vehicle is uniformly received by the gateway, and then converted into a message queue by the gateway and pushed to the safety envelope detection service module; (2) Safety envelope detection service module: generate a safety envelope based on the data reported by the working vehicle, save the safety envelope to the distributed cache module, obtain the conflict information of the distributed cache module as prior information of the collision risk to judge whether there is a collision risk, and issue an envelope collision risk instruction to the vehicle detected with the collision risk; (3) Distributed cache module: store the safety envelope of the working vehicle in the distributed cache as comparison data for detection by other working vehicles; and real-time synchronization of high-precision map data to obtain surrounding environment information and judge whether the working vehicle has a collision risk with the surrounding environment; The data reported by the working vehicle includes the model parameters, position information, heading angle, vehicle speed, and vehicle planning trajectory corresponding to the current vehicle. The distributed cache module is Redis.

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