A mine operation path and social road intersection management system and method

Abstract

The application belongs to the technical field of intelligent driving, and specifically discloses a mine area operation path and social road intersection management and control system and method, which comprises the following: a cloud control decision unit for receiving the sensing result sent by a roadside communication unit, a roadside communication unit for data communication, a sensing analysis unit for target identification, target tracking and obstacle information detection, which is sent to the roadside communication unit as the sensing result, a gate sub-device for performing intersection management and control, and a vehicle-mounted unit for controlling the mine car according to the received obstacle information. The application has the following advantages: all-weather operation without the participation of personnel, especially for the complex driving roads in the mine area, the application can realize the identification and tracking of the social vehicle, pedestrian or other obstacle information in the intersection, and can realize the time-sharing driving control of the mine area vehicle and the external small vehicle by combining the decision-making ability of the cloud.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a mine operation path and social road intersection management system and method. BACKGROUND

[0002] In the mine operation scene, there is usually an overlap between mine truck driving roads and social vehicle roads, and there are mixed operation scenes of unmanned vehicles, factory vehicles, social vehicles and pedestrians. Some roads are rugged and winding, and there are even 180-degree turning scenes. However, the vehicle body size is large, and the single vehicle blind area is large, which brings safety hazards to mine truck operation.

[0003] In the field of transportation, the method for managing the intersection is usually based on the scene of people-vehicles-roads. According to the monitoring information and cloud big data, the vehicle flow and pedestrian flow information are analyzed, and then the traffic signal light duration is intelligently controlled. However, there is little research on the management method of mine intersection. Some research is based on the data collected by the cloud to control the communication between mine trucks and surrounding vehicles with V2X function, to distinguish between manned vehicles and unmanned mine trucks, and then to allocate road rights. However, for mine roads, many social vehicles and pedestrians do not have the ability to communicate with V2X. Therefore, in such a scene, it is necessary to have radar and camera perception capabilities to intelligently identify vehicles, pedestrians and other obstacles in the management area. The cloud comprehensively analyzes the mine truck driving data in the mine area, intelligently controls the lifting and falling of the intersection barrier gate and the state of other prompt devices, thereby managing the overlapping driving area and avoiding safety accidents.

[0004] In the problem of overlapping mine roads, the traditional intersection management is mostly based on vehicle-vehicle or person-vehicle interaction, and then the red and green lights are controlled according to the monitoring screen to achieve time-sharing control. However, for the problem of difficult supervision of pedestrians and small vehicles in the mine environment, and the blind area problem of mine trucks, it cannot be effectively solved.

[0005] Therefore, a mine operation path and social road intersection management system and method are proposed to solve the above problems. SUMMARY

[0006] The present application aims to provide a mine operation path and social road intersection management system and method to solve or improve the problem of overlapping mine roads and the blind area problem of mine trucks.

[0007] Therefore, the first aspect of the present application is to provide a mine operation path and social road intersection management system.

[0008] The second aspect of the present application is to provide a mine operation path and social road intersection management method.

[0009] The first aspect of the application provides a mine operation path and social road intersection management system, comprising: a cloud control decision unit, a roadside communication unit, a perception analysis unit, a gate sub-device and a vehicle-mounted unit; the cloud control decision unit is used for receiving the perception results sent by the roadside communication unit, when receiving the gate opening request of the gate sub-device located at the intersection, according to the perception results and the mine car driving information, controlling the opening or closing of the gate sub-device, and displaying the monitoring information of the intersection in real time; the roadside communication unit is used for data communication, receiving the control command of the cloud control decision unit, and sending the control command to the gate sub-device to open or close the intersection, and receiving the perception results of the perception analysis unit, and transmitting to the cloud control decision unit and sending the perception results to the mine car near the corresponding intersection through V2X; the perception analysis unit is used for target identification, target tracking and obstacle information detection, and is packaged as perception results and sent to the roadside communication unit, and at the same time the video corresponding to the perception results is sent to the cloud control decision unit; the gate sub-device is used for executing the management of the intersection, when the license plate is identified or started by the pedestrian, the gate opening request is sent to the cloud control decision unit, and the information prompt and the distance of the mine car near the intersection are displayed; the vehicle-mounted unit is used for controlling the mine car according to the received obstacle information, and sending the mine car driving information to the cloud control decision unit.

[0010] The application provides a mine operation path and social road intersection management system, the cloud control decision unit sends control commands to the gate sub-device located at the intersection through the roadside communication unit, whether the intersection has unmanned vehicles, manned vehicles and pedestrians, the intersection can be forced to intercept or open remotely, avoiding the individual who does not comply with traffic control disrupting the overall planning of unmanned vehicles, and the accidental collision between unmanned vehicles and pedestrians or manned vehicles, providing protection for the stable implementation of unmanned control at the mixed intersection of manned vehicles, and the whole process is automatically controlled without the participation of management personnel;

[0011] In the collection of information, not only through the sensors of unmanned vehicles, but also through the perception analysis unit directly set beside the roadside communication unit, the bundled setting of the two facilitates the later data analysis, can adopt fixed and multi-point collection, and can send the real-time collected messages out quickly by setting near the roadside communication unit, improve the efficiency of information transmission, and provide a way of collecting road conditions of unmanned vehicles, and control the road conditions in many ways to provide more rich road condition information for the cloud control decision unit to make decision analysis.

[0012] Specifically, V2X (vehicle to everything) means vehicle-to-external information exchange, that is, wireless communication of vehicles.

[0013] In addition, the technical scheme provided by the embodiment of the application can also have the following additional technical features:

[0014] In any of the above technical schemes, the barrier sub-device comprises a barrier, an LED display screen, a camera, a loudspeaker, a traffic light, and a button; the barrier is used for intercepting or releasing pedestrians, manned vehicles, and mine vehicles; the LED display screen is used for displaying the distance of mine vehicles near the intersection; the loudspeaker and the traffic light are used for sending information prompts at the intersection; the camera is used for automatically identifying the license plates of all vehicles close to the intersection; and the button is used for receiving opening and closing instructions of pedestrians.

[0015] In this technical scheme, the barrier sub-device not only includes a barrier for road interception, but also has a loudspeaker for playing prompt sounds and a traffic light for warning road information opening and closing. In addition, a camera is used to identify the license plates of vehicles that need to pass through the current intersection, so as to analyze data and retain evidence in the later stage. The additional button can help the barrier of the intersection to open and close according to the needs of pedestrians, and can be opened when there is no vehicle passing through, which can further facilitate the travel of pedestrians.

[0016] In any of the above technical schemes, the barrier sub-device manages the lifting and lowering of the barrier, the identification of the license plates by the camera, the traffic light, the LED display screen, and the loudspeaker through an integration scheme. The opening request is sent remotely through the identification of the license plate number. The cloud control decision unit controls the lifting and lowering of the barrier, the traffic light and the loudspeaker prompt, and displays the distance of mine vehicles near the intersection in real time. The communication of the barrier, the camera, the traffic light, the LED display screen, and the loudspeaker is integrated on a gateway through a gateway integration scheme, and communication is performed based on the TCP Socket method.

[0017] In this technical scheme, an integration scheme is used to centrally send and report each information collection to the cloud control decision unit for centralized acquisition, analysis, and decision-making. The opening request is sent remotely through license plate recognition. The information data of license plate recognition is used as an identity representation to deliver the prompt information of the lifting and lowering of the barrier, the traffic light, the LED display screen, and the loudspeaker, which ensures the correspondence of information and facilitates the calibration of information, reduces the confusion in massive information transmission, and further provides protection for the management of manned vehicles, unmanned vehicles, and pedestrians at the intersection.

[0018] Specifically, the integration scheme is a barrier sub-system, and the gateway integration scheme is a network controller.

[0019] In any of the technical solutions above, the cloud control decision unit receives a barrier opening request of the intersection sent by the road side communication unit through the tg808 module; when the road side communication unit of the intersection does not report obstacle information within 10s, it is determined to be open and an open instruction is sent to the road side communication unit of the intersection; or when the road side communication unit of the intersection reports obstacle information within 10s, it is determined to be not open and whether there is obstacle information reporting of the intersection is detected every 30s until there is no obstacle information reporting and it is determined to be open.

[0020] In this technical solution, the cloud control decision unit respectively performs obstacle information storage, boom raising request processing and boom lowering request processing; wherein the obstacle information storage is that the cloud control decision unit receives obstacle information reported by the road side communication unit through the ts808 module and performs persistent storage;

[0021] The boom raising request processing is that the cloud control decision unit receives a boom raising application of the road side communication unit through the tg808 module, if the road side communication unit does not report obstacle information within 10s, it is determined that the boom can be raised, the associated intersection and the road in the intersection are found according to the road side communication unit information, the road to be blocked is sent to the road right, the road right controls each work vehicle, and a boom raising instruction is sent to the road side communication unit; if the road side communication unit reports obstacle information within 10s, a timing task is created, whether there is still obstacle is detected again after 30s, until there is no obstacle, the timing task is ended;

[0022] The boom lowering request processing is that the cloud control decision unit receives a boom lowering notification of the vehicle out of the intersection through the tg808, queries the related road in the intersection and sends it to the road right, and the road right releases the road control.

[0023] In any of the technical solutions above, the perception analysis unit comprises a camera and a laser radar.

[0024] In this technical solution, the camera is used to shoot real-time images of the road, and the laser radar is used to detect various conditions of the road, two means are used to obtain information in different aspects, and information acquisition blockage of the road under unfavorable factors or weather is avoided.

[0025] In any of the technical solutions above, the perception analysis unit can perform space-time calibration, time synchronization and space calibration of the camera and the laser radar; target recognition is performed through a laser radar detection algorithm based on PointPillar algorithm and a target recognition algorithm based on YOLO-V5 algorithm; target tracking and obstacle information detection are performed through a multi-sensor target association and fusion target detection algorithm combined with Kalman filtering.

[0026] In the technical solution, obstacle detection and tracking are realized based on fusion perception of roadside multiple sensors; abnormal event detection based on multiple sensor fusion is realized to detect road littering and depression; a joint calibration algorithm based on laser radar-GPS is realized; perception results are sent to a control gateway; and a push flow target tracking fusion image is sent to a clear flow platform.

[0027] In any of the above technical solutions, the obstacle information includes road abnormal congestion, road littering and road depression.

[0028] In the technical solution, various obstacle information appearing on the road is calibrated in advance to facilitate subsequent algorithm detection and processing, which helps to improve the accuracy of detection and filtering of other abnormal information on the road.

[0029] The second aspect of the application provides a mine area operation path and social road intersection management method, comprising the following steps: S1, setting the latitude and longitude of the roadside communication unit and the IP information, number and access type of the gate sub-device; S2, the roadside communication unit interacts with the cloud control decision unit data through 5G, synchronizes the current gate sub-device state; receiving the perception result sent by the perception analysis unit, forwarding it to the cloud control decision unit through the 5G network, and sending it to the vehicle-mounted unit of the mine car through V2X; S3, the cloud control decision unit calculates the gate sub-device opening or closing instruction according to the perception data and the current mine car driving data, and sends it to the gate sub-device to control opening or closing through the roadside communication unit; S4, the vehicle-mounted unit receives the obstacle information in the perception result, judges whether the obstacle exists a safe driving risk to the future driving track of the current vehicle, and controls the vehicle to limit speed or limit parking or continue driving; wherein, the management method is implemented by the management system of any of the first aspect.

[0030] The mine area operation path and social road intersection management method provided by the application sets the latitude and longitude of the roadside communication unit to calibrate the position in information transmission, calibrates various information of the gate to accurately search in subsequent control, the roadside communication unit sends various intersection road condition information obtained by the perception analysis unit to the cloud control decision unit, completes information collection, the cloud control decision unit analyzes and decides according to various information, then sends the decision result to the gate sub-device through the roadside communication unit, the gate sub-device executes various decision results, completes the control of the intersection, and the vehicle also executes the judgment of road condition according to the information sent by the roadside communication unit during driving, so as to smoothly drive.

[0031] In any of the technical solutions above, the step of judging whether the obstacle poses a safe driving risk to the future driving track of the current vehicle specifically comprises: E1, calculating a matching point of the global reference track corresponding to the current position of the mine car, denoted as pointkey; E2, taking pointkey as the starting point, calculating 48 track points at intervals of 1 m on the global reference track; E3, constructing a vehicle body boundbox at the 48 track points according to the vehicle related parameters and the global reference track coordinates and heading; E4, calculating whether the obstacle convex polygon and the vehicle body boundbox have an intersection through the separating axis algorithm; E5, judging whether the two polygons have an intersection, if yes, judging that there is a safe driving risk, and if not, judging that there is not.

[0032] Specifically, the boundbox is a rectangular frame of the vehicle.

[0033] Compared with the prior art, the present application has the following beneficial effects:

[0034] The mine area operation road and social road intersection management method has the characteristics of all-weather and no personnel participation, especially for the complex driving road in the mine area, can realize the identification and tracking of the information of the social vehicle, pedestrian or other obstacles in the intersection, combined with the decision-making ability of the cloud, realizes the time-sharing driving control of the mine area vehicle and the external small vehicle.

[0035] It can cope with the mixed management of manned vehicles and unmanned vehicles at the intersection, further enrich the terminal software solution required in the overall solution, and provide more flexible application scenarios for the unmanned driving system solution.

[0036] 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

[0037] 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:

[0038] Figure 1 The system each part work logic diagram of the present application;

[0039] Figure 2 The intersection management system architecture diagram of the present application;

[0040] Figure 3 The roadside unit step flow chart of the present application;

[0041] Figure 4 The system timing diagram of the present application;

[0042] Figure 5A method flowchart of the present application. DETAILED DESCRIPTION

[0043] 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 accompanying 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.

[0044] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0045] Please refer to Figures 1-5 , a mine operation path and social road intersection management system and method of some embodiments of the present application are described below.

[0046] Embodiments of the first aspect of the present application propose a mine operation path and social road intersection management system. In some embodiments of the present application, as shown in Figures 1-4 , a mine operation path and social road intersection management system is provided, which includes a cloud control decision unit, a roadside communication unit, a perception analysis unit, a gate sub-device and a vehicle-mounted unit.

[0047] The cloud control decision unit is used to receive the perception results sent by the roadside communication unit, and when receiving the gate opening request of the gate sub-device located at the intersection, according to the perception results and the mine car driving information of the cloud control decision unit, control the opening or closing of the gate sub-device, and display the monitoring information of the intersection in real time.

[0048] The roadside communication unit is used for data communication, receives the control command of the cloud control decision unit, and sends the control command to the gate sub-device to open or close the intersection, and receives the perception results of the perception analysis unit, and transmits to the cloud control decision unit and sends to the mine car near the intersection corresponding to the perception results through V2X mode.

[0049] The perception analysis unit is used for target recognition, target tracking and obstacle information detection, and sends the perception results to the roadside communication unit, and at the same time sends the corresponding video to the cloud control decision unit.

[0050] The gate sub-device is used to perform intersection management, and when the license plate is recognized or started by pedestrians, the gate opening request is initiated to the cloud control decision unit, and information prompt and display of the distance of the mine car near the intersection are performed.

[0051] The vehicle-mounted unit is used for controlling the mine car according to the received obstacle information, and sending mine car driving information to the cloud control decision unit.

[0052] Specifically, the cloud control decision unit respectively performs obstacle information storage, pole lifting request processing and pole lowering request processing. Among them, the obstacle information storage: the platform receives the obstacle information reported by the roadside unit through the ts808 module, and performs persistent storage;

[0053] The pole lifting request processing: the platform receives the pole lifting application of the roadside unit through the tg808 module, if there is no obstacle information reported by the roadside unit within 10s, it is determined that the pole can be lifted, the associated intersection and the road in the intersection are found according to the roadside unit information, and the road to be blocked is sent to the road right, which controls the road right of each working vehicle, and sends the pole lifting instruction to the roadside unit;

[0054] If the roadside unit reports obstacle information within 10s, a timing task is created, and whether there is still obstacle is detected again after 30s, until there is no obstacle, the timing task is ended;

[0055] The pole lowering request processing: the platform receives the pole lowering notification of the vehicle out of the intersection through the tg808, and queries the related intersection road and sends it to the road right, and the road right releases the road control.

[0056] Specifically, the communication step of the roadside communication unit is: data interaction with the cloud platform through 5G, synchronizing the current barrier sub-device state; receiving the barrier control instruction sent by the cloud control platform, and controlling the barrier actuator to execute; receiving the obstacle information and the like sent by the perception unit, and forwarding it to the cloud control platform through the 5G network, and sending it to the mine truck-mounted system through V2X.

[0057] Specifically, the perception analysis unit is used for fusion perception based on roadside multiple sensors, to realize obstacle detection and tracking; an abnormal event detection method based on multi-sensor fusion, to realize road surface scattering and depression detection; a joint calibration algorithm based on laser radar-GPS, to replace the existing algorithm; sending the perception result to the control gateway; and pushing the target tracking fusion image to the clear flow platform.

[0058] Specifically, the barrier sub-device is used for integrated scheme management of the barrier lever, the license plate recognition camera, the traffic light, the display screen and the loudspeaker, and the barrier is remotely requested to be opened through license plate number recognition, the cloud controls the barrier lifting and lowering, the traffic light and the voice prompt, and simultaneously displays the mine car approaching distance in real time; the barrier sub-device adopts a gateway integrated scheme: the barrier lever, the license plate recognition camera, the traffic light, the display screen and the loudspeaker are integrated on one or two gateways, and then communication is realized based on TCP Socket mode, and the gateway has TTS DIDORS485 / 232 function.

[0059] Specifically, the workflow of the vehicle-mounted unit is as follows: calculate the matching point of the global reference trajectory corresponding to the current position of the vehicle, denoted as pointkey; starting from pointkey, calculate 48 trajectory points with a 1m interval between each two trajectory points; construct the vehicle body boundbox in sequence at the 48 trajectory points according to the relevant parameters of the vehicle, the coordinates of the path points, and the heading; calculate whether there is an intersection between the obstacle convex polygon and the vehicle body boundbox using the split axis algorithm; if the two polygons have an intersection, the path distance value of the obstacle from the current vehicle is required.

[0060] This invention provides a control system for the intersection of mining operation paths and public roads. The cloud-based control decision unit sends control commands to the gate device located at the intersection via the roadside communication unit. Regardless of whether the intersection has unmanned vehicles, manned vehicles, and pedestrians, the system can remotely force the intersection to be blocked or opened. This avoids individual violations of traffic control from disrupting the overall planning of unmanned vehicles and prevents accidental collisions between unmanned vehicles and pedestrians or manned vehicles. It provides a guarantee for the stable implementation of unmanned driving control at mixed pedestrian and vehicle intersections, and the entire process is automatically controlled without the need for management personnel to control or participate.

[0061] In terms of information collection, information is collected not only through the sensors of the autonomous vehicle, but also through the perception and analysis unit directly set up next to the roadside communication unit. The bundled setup of the two facilitates subsequent data analysis. It can adopt fixed and multi-point collection, and the proximity to the roadside communication unit can send out the real-time collected messages as quickly as possible, improving the efficiency of information transmission. At the same time, it can provide a way to collect road conditions in real time from multiple aspects and through multiple channels, in addition to the road condition collection methods of autonomous vehicles, so as to provide richer road condition information for the cloud control decision-making unit to make decisions and analyses.

[0062] In some embodiments, such as Figure 4 As shown, the system timing flow is as follows:

[0063] ICU: Sensing Unit

[0064] Obstacleinfo: Obstacle Information

[0065] ZMQ: ZeroMQ is a network message queue.

[0066] V2XServer: V2X service unit

[0067] CloudServer: Communication service unit, responsible for communicating with the cloud platform and message transmission.

[0068] Cloud platform: A cloud service unit responsible for message sending and receiving, and web page information display.

[0069] BarServer: Barrier service unit, responsible for the control of the barrier subsystem

[0070] TCP: Transmission Control Protocol

[0071] BarStatus: Barrier status

[0072] BarControlRep: Barrier opening request

[0073] BarControlRes: Barrier opening response

[0074] Flow: After the sensing unit obtains the obstacle information, it is published to the V2X service unit through the ZMQ method, and then broadcasted through the V2X method. The barrier status and barrier opening request are also published through the ZMQ method. After the communication service unit receives the obstacle information and barrier related information, it is sent to the cloud platform through the TCP method. After the cloud platform processes it, the opening response is sent to the communication service unit through the TCP, and then the opening information is published through the ZMQ, realizing the control of the barrier.

[0075] Embodiments of the second aspect of the application propose a management and control method for a mine operation path and a social road intersection. In some embodiments of the application, as shown in Figure 5 A management and control method for a mine operation path and a social road intersection is provided, which includes the following steps:

[0076] Step 1: The user sets the latitude and longitude of the roadside unit and the IP information, number, barrier entry type, etc. of the barrier subsystem through the parameter setting module;

[0077] Step 2: Time synchronization and space calibration of roadside multi-sensor, including multi-sensor space calibration and laser radar-GPS calibration from local coordinate system to global coordinate system; laser radar detection algorithm based on PointPillar algorithm and visual target detection based on YOLO-V5 algorithm, further development of multi-sensor target association and fusion target detection algorithm, combined with Kalman filter to realize target tracking.

[0078] Step 3: Transmission of sensing data and barrier opening and closing request data based on TCP to the cloud platform. Based on the sensing data and the current mine car driving data, the cloud sends the road to be blocked to the road right, and controls the road right of each operation vehicle through the road right, and sends the lifting rod instruction to the roadside unit. Based on V2X, the vehicle end obstacle information is issued, and the collection of vehicle end blind area and road intersection obstacle data is provided.

[0079] Step 4, the vehicle end master prediction module receives the obstacle data, judges whether the obstacle exists a safe driving risk to the future driving track of the current vehicle, if the safe driving risk exists, the path distance value of the obstacle to the current vehicle needs to be calculated, and output to the control module for speed limiting or parking limiting processing.

[0080] The application provides a management and control method for intersection of mine operation path and social road, which is mainly applied to the scene that the driving route of mine truck or wide-body vehicle and the route of small vehicle or pedestrian have an overlapping area, and the scene that the visual blind area of mine truck is caused by curved road, the road side perception is responsible for blind filling assistance of the mine truck or wide-body vehicle and identification and tracking of objects such as pedestrians and small vehicles in the intersection, automatically manages and controls the driving route of the mine truck and other vehicles, detects pedestrians and obstacles on the driving road of the mine truck, and combines with cloud decision control to perfect the specific scene of mine automatic driving.

[0081] The application has the characteristics of all-weather and no personnel participation, can realize identification and tracking of information of social vehicles, pedestrians or other obstacles in the intersection, combines with the decision ability of the cloud to realize time-sharing driving control of mine vehicles and external small vehicles, can further enrich the terminal software solution required in the overall solution, and provides more flexible application scenes for the unmanned driving system solution.

[0082] Specific implementation steps are as follows:

[0083] When the small vehicle drives to the gate, the license plate number is identified through the gate camera, the management and control system initiates a gate opening rod request, the cloud platform decides whether to open the gate according to the perception result, when the mine truck or wide-body vehicle drives in the gate, the small vehicle is informed that the small vehicle is prohibited to pass through at this time, until the intersection is safe, and the gate opening command is issued. Meanwhile, if the mine truck or wide-body vehicle approaches during the gate opening period, the cloud platform issues a road right prohibition command to the vehicle, until the intersection is safe and there is no obstacle, and the road right is released again.

[0084] In the description of the application, it should be understood that the orientations or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0085] The above described embodiments are only to illustrate the preferred modes of the present application, and are not intended to limit the scope of the present application. Any modification and improvement made by those skilled in the art to the technical solutions of the present application without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A control system for intersections of mining operation paths and public roads, characterized in that, The system comprises a cloud control decision unit, a roadside communication unit, a perception analysis unit, a gate sub-device and a vehicle-mounted unit. The cloud control decision unit is configured to receive the perception result sent by the roadside communication unit, and when receiving an opening request of the gate sub-device located at an intersection, control the opening or closing of the gate sub-device according to the perception result and the mine vehicle driving information, and display the monitoring information of the intersection in real time. The roadside communication unit is configured to communicate data, receive the control command of the cloud control decision unit, send the control command of the gate sub-device to open or close the intersection, receive the perception result of the perception analysis unit, and transmit the perception result to the cloud control decision unit and send the perception result to the mine vehicle near the corresponding intersection through V2X. The perception analysis unit is configured to identify a target, track the target, and detect obstacle information, and send the perception result as a package to the roadside communication unit, and simultaneously send the video corresponding to the perception result to the cloud control decision unit. The gate sub-device is configured to perform management and control of the intersection, and when a license plate is identified or a pedestrian starts, an opening request is sent to the cloud control decision unit, and information is prompted and the distance of the mine vehicle near the intersection is displayed. The vehicle-mounted unit is configured to control the mine vehicle according to the received obstacle information, and send the mine vehicle driving information to the cloud control decision unit. The gate sub-device comprises a gate lever, an LED display screen, a camera, a loudspeaker, a traffic light and a button. The gate lever is configured to intercept or release pedestrians, vehicles with people and mine vehicles. The LED display screen is configured to display the distance of the mine vehicle near the intersection. The loudspeaker and the traffic light are configured to send information prompts at the intersection. The camera is configured to automatically identify the license plates of all vehicles close to the intersection. The button is configured to receive the opening and closing instructions of the pedestrians. The gate sub-device manages the lifting and falling of the gate lever, the identification of the license plate by the camera, the traffic light, the LED display screen and the loudspeaker through an integrated scheme, remotely sends an opening request through the license plate number identification, controls the lifting and falling of the gate lever, the traffic light and the loudspeaker prompt through the cloud control decision unit, and displays the distance of the mine vehicle near the intersection in real time; and / or The gate sub-device integrates the communication of the gate lever, the camera, the traffic light, the LED display screen and the loudspeaker on a gateway through a gateway integration scheme, and communicates based on the TCPSocket mode. The cloud control decision unit receives the opening request of the gate sub-device of the intersection sent by the roadside communication unit through the tg808 module.

2. The mine operation path and social road intersection management system according to claim 1, characterized in that, When the roadside communication unit of the intersection does not report obstacle information within 10s, it is determined to be open and an opening instruction is sent to the roadside communication unit of the intersection; or when the roadside communication unit of the intersection reports obstacle information within 10s, it is determined not to be open, and whether there is obstacle information reporting of the intersection is detected every 30s until there is no obstacle information reporting and it is determined to be open. The perception analysis unit comprises a camera and a laser radar.

3. The mine operation path and social road intersection management system according to claim 1, characterized in that, The perception analysis unit can perform space-time calibration, time synchronization and space calibration of the camera and the laser radar.

4. The mine operation path and social road intersection management system according to claim 3, characterized in that, ​ A laser radar detection algorithm based on the PointPillar algorithm and target recognition based on the YOLO-V5 algorithm are used; A multi-sensor target association and fusion target detection algorithm is used, and Kalman filtering is used for target tracking and obstacle information detection.

5. The mine site operation path and social road intersection management system according to claim 4, characterized by, The obstacle information includes road abnormal congestion, road littering and road depression.

6. A method of managing based on the management system according to any one of claims 1 to 5, characterized by, The method comprises the following steps: S1, setting the latitude and longitude of the roadside communication unit and the IP information, number and access type of the barrier sub-device; S2, the roadside communication unit interacts with the cloud control decision unit data through 5G, synchronizes the current barrier sub-device state, receives the sensing result sent by the sensing analysis unit, forwards it to the cloud control decision unit through the 5G network, and sends it to the vehicle-mounted unit of the mine car through V2X; S3, the cloud control decision unit calculates the barrier sub-device opening or closing instruction according to the sensing data and the current mine car driving data, and sends it to the barrier sub-device to control opening or closing through the roadside communication unit; S4, the vehicle-mounted unit receives the obstacle information in the sensing result, judges whether the obstacle has a safe driving risk to the future driving track of the current vehicle, and controls the vehicle to limit speed or limit parking or continue driving.

7. The method of claim 6, wherein, The step of judging whether the obstacle has a safe driving risk to the future driving track of the current vehicle, specifically comprises: E1, calculate the matching point of the global reference track corresponding to the current position of the mine car, denoted as pointkey; E2, take pointkey as the starting point, and calculate 48 track points at intervals of 1m on the global reference track; E3, according to the vehicle-related parameters and the global reference track coordinates and heading, build a vehicle body boundbox at the 48 track points in turn; E4, calculate whether the obstacle convex polygon and the vehicle body boundbox have intersection by the separation axis algorithm; E5, judge whether the two polygons have intersection, if there is intersection, it is judged that there is safe driving risk, if there is no intersection, it is judged that there is no safe driving risk.

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