Open-pit mine single-formation follow-up dispatching method and system based on parallel simulation
By constructing simulation models and pre-set strategies to optimize single-unit train scheduling in open-pit mines, the problems of low efficiency and high risk of traditional scheduling methods in complex environments have been solved, and an efficient and safe scheduling scheme has been achieved, which is adaptable to different vehicle combinations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INNER MONGOLIA RESEARCH INSTITUTE CHINA UNIVERSITY OF MINING AND TECHNOLOGY (BEIJING)
- Filing Date
- 2023-12-27
- Publication Date
- 2026-06-26
AI Technical Summary
Traditional open-pit mine scheduling methods cannot fully reflect complex environments, and suffer from high risks, high costs, poor repeatability, and limitations imposed by weather and environmental factors, resulting in inaccurate and inconsistent test results.
A parallel simulation-based single-group train following scheduling method for open-pit mines is adopted. By constructing a simulation model of the target mining area, pre-selecting trains to follow and reference vehicles and preset road sections, and conducting operation tests in the simulation model based on preset strategies, future following routes are obtained, and the vehicle driving path and speed are optimized.
It achieves efficient, safe, and reliable single-unit scheduling, reduces risks and costs, improves scheduling efficiency, ensures safe operation, and adapts to different types and numbers of vehicle combinations.
Smart Images
Figure CN117789442B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of intelligent control and scheduling technology for open-pit mines, and in particular to a method and system for single-group following dispatching in open-pit mines based on parallel simulation. Background Technology
[0002] Open-pit mines present complex environments with numerous pieces of equipment and cumbersome operations. Traditional scheduling methods are constrained by the environment and cannot fully reflect the actual working conditions of the entire collaborative system. Furthermore, they suffer from the following problems: 1) Limitations: Traditional methods are based on simplified conditions and assumptions, failing to fully consider the complex environment of open-pit mines, thus limiting their practical effectiveness; 2) High risk: Field testing is typically high-risk, with unforeseen circumstances such as equipment failure and operational errors potentially leading to damage to personnel, equipment, and the environment; 3) High cost: Traditional testing methods require long-term, repeated field testing, consuming significant time and resources, increasing project costs and timelines; 4) Poor repeatability: The uncontrollable actual site environment leads to large fluctuations and inconsistencies in the results of traditional testing methods, making result analysis and comparison difficult and resulting in inaccurate system performance evaluation; 5) Limited by weather and environmental factors: The harsh environment and variable weather of open-pit mines limit the effectiveness of traditional testing methods, preventing a comprehensive consideration of the impact of various factors on the collaborative work of the mine, resulting in incomplete and inaccurate test results. Summary of the Invention
[0003] In view of this, the present disclosure provides a method and system for single-unit train scheduling in open-pit mines based on parallel simulation, which can provide a comprehensive, intelligent, efficient and reliable single-unit scheduling scheme, effectively reduce risks and costs, improve scheduling efficiency and ensure safe operation.
[0004] In a first aspect, embodiments of this disclosure provide a method for single-unit train following dispatching in open-pit mines based on parallel simulation, including:
[0005] S100, construct a simulation model of the target mining area;
[0006] The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area;
[0007] S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance;
[0008] Wherein, the vehicle to be followed has the same heading as the reference vehicle;
[0009] S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met.
[0010] Optionally, the preset strategy includes: the preset road segment is an uphill road segment with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; and both the reference vehicle and the vehicle to be followed are unmanned vehicles.
[0011] The preset conditions include: the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance;
[0012] The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed of the second speed along a second preset route; when the vehicle to be followed triggers the following, controlling the vehicle to be followed to travel at a constant speed of the first speed along a first preset route, and forming a single group with the reference vehicle.
[0013] V1 <V2;
[0014] 15V²≤L₀≤80V²;
[0015]
[0016] Wherein, V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, and a is the braking acceleration of the vehicle to be followed.
[0017] Optionally, 0 <V1<80km / h;
[0018] 1.2V1≤V2≤6V1;
[0019] The slope of the uphill section with the preset slope is P, where 5°≤P≤25°.
[0020] Optionally, the preset strategy includes: the preset road segment is a downhill road segment with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; and both the reference vehicle and the vehicle to be followed are unmanned vehicles.
[0021] The preset conditions include: the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance;
[0022] The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed of the second speed along a second preset route; when the vehicle to be followed triggers the following, controlling the vehicle to be followed to travel at a constant speed of the first speed along a first preset route, and forming a single group with the reference vehicle.
[0023] V1 <V2;
[0024] 15V²≤L₀≤80V²;
[0025] 5L² < ΔL < 15L²;
[0026] ΔL <L0;
[0027] Wherein, V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, and L2 is the length of the vehicle to be followed.
[0028] Optionally, 1.2V1≤V2≤6V1;
[0029] The slope of the downhill section with the preset slope is P, where 5°≤P≤25°.
[0030] Optionally, the preset strategy includes: the preset road segment is an uphill road segment with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle.
[0031] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance.
[0032] The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed along a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at the first speed and forming a single train with the reference vehicle; and controlling the vehicle to be followed to stop when the vehicle to be followed meets the second condition.
[0033] V1 <V2;
[0034] 15V²≤L₀≤80V²;
[0035] L0>ΔL;
[0036]
[0037] Wherein, V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, L1 is the second preset distance, and a is the braking acceleration of the vehicle to be followed.
[0038] Optionally, the preset strategy includes: the preset road segment is a downhill road segment with a preset gradient; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle.
[0039] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance.
[0040] The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed along a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at the first speed and forming a single train with the reference vehicle; and controlling the vehicle to be followed to stop when the vehicle to be followed meets the second condition.
[0041] V1 <V2;
[0042] 15V²≤L₀≤80V²;
[0043] L0>ΔL;
[0044]
[0045] Wherein, V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, L1 is the length of the vehicle to be followed, and a is the braking acceleration of the vehicle to be followed.
[0046] Optionally, the preset strategy includes: the preset road segment is a road segment containing a turning path; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle.
[0047] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the reference vehicle is running on a turning path and the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance.
[0048] The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed according to a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed according to a first preset route at the first speed and forming a single group with the reference vehicle; triggering speed adjustment when the vehicle to be followed meets the second condition; and controlling the vehicle to be followed to travel at a constant speed according to the first preset route at the third speed.
[0049] V1 <V2;
[0050]
[0051] 15V²≤L₀≤80V²;
[0052] Δl <L0;
[0053] L1 = 0.75ΔL;
[0054] 0 < α ≤ 160°;
[0055] Wherein, V1 is the first velocity, V2 is the second velocity, and V3 is the third velocity.
[0056] L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, L1 is the second preset distance, and α is the turning angle of the turning path.
[0057] Optionally, the preset strategy includes: the preset road segment is a road segment containing an intersection; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle.
[0058] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the reference vehicle passes through the intersection and the lateral vehicle moves to the intersection.
[0059] The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed according to a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed according to a first preset route at the first speed and forming a single group with the reference vehicle; triggering speed adjustment when the vehicle to be followed meets the second condition; and controlling the vehicle to be followed to travel at a constant speed according to the first preset route at the third speed.
[0060] V1 <V2;
[0061]
[0062] 15V²≤L₀≤80V²;
[0063] ΔL <L0;
[0064] S0≥50;
[0065] |S1|≤80;
[0066] Wherein, V1 is the first speed, V2 is the second speed, V3 is the third speed, V4 is the speed of the laterally moving vehicle, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, S0 is the distance of the reference vehicle from the center of the intersection after it crosses the intersection, and S1 is the distance of the laterally moving vehicle from the center of the intersection.
[0067] Secondly, this disclosure also provides a parallel simulation-based single-train train dispatching system for open-pit mines, comprising:
[0068] The module is configured to build a simulation model of the target mining area.
[0069] The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area;
[0070] The pre-selection module is configured to pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at a preset initial distance;
[0071] Wherein, the vehicle to be followed has the same heading as the reference vehicle;
[0072] The execution module is configured to run tests in the simulation model based on a preset strategy to obtain the future tracking route of the vehicle to be followed when the preset conditions are met.
[0073] Thirdly, this disclosure also provides an electronic device that adopts the following technical solution:
[0074] The electronic device includes:
[0075] At least one processor; and,
[0076] A memory communicatively connected to the at least one processor; wherein,
[0077] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform any of the above-described parallel simulation-based open-pit mine single-group train following scheduling methods.
[0078] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium storing computer instructions for causing a computer to execute any of the above-described parallel simulation-based open-pit mine single-unit train following scheduling methods.
[0079] The method disclosed in this application optimizes vehicle travel paths and speeds through simulation model testing, thereby achieving more efficient mine single-unit train following and scheduling. This helps save time and resources. By pre-setting strategies and testing vehicle travel routes in the simulation model, potential safety risks can be detected in advance, and corresponding measures can be taken for adjustment and improvement. This helps reduce accident risks and ensure the safety of personnel and equipment. By pre-selecting vehicles to follow, reference vehicles, and preset road segments, and obtaining their travel parameters at preset initial distances, the distance and speed requirements between vehicles can be determined. This helps ensure coordinated and smooth driving between vehicles. The method includes both manned and unmanned vehicles and takes into account the terrain and environment of excavators and target mining areas; therefore, it can adapt to different types and numbers of vehicle combinations, thus having wider applicability.
[0080] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0081] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0082] Figure 1 This is a flowchart illustrating a specific embodiment of the parallel simulation-based single-group train scheduling method for open-pit mines in this application.
[0083] Figure 2 for Figure 1 A schematic diagram of the simulation model.
[0084] Figure 3 for Figure 1 A schematic diagram of a specific embodiment of the invention.
[0085] Figure 4 This is a schematic diagram of the principle of the single-group train dispatching system for open-pit mines based on parallel simulation in this application.
[0086] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation
[0087] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.
[0088] It should be understood that the following specific examples illustrate the implementation of this disclosure, and those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.
[0089] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.
[0090] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The drawings only show the components related to this disclosure and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0091] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.
[0092] Reference Figure 1 The first aspect of this application discloses a method for single-unit train following dispatching in open-pit mines based on parallel simulation, the method comprising the following steps:
[0093] S100, construct a simulation model of the target mining area.
[0094] The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area.
[0095] S200 pre-selects the vehicle to be followed, the reference vehicle, and the preset road segment, and obtains the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance.
[0096] Among them, the vehicles waiting to follow have the same heading as the reference vehicles.
[0097] S300, based on a preset strategy, runs the test in a simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met.
[0098] The method disclosed in this application optimizes vehicle travel paths and speeds through simulation model testing, thereby achieving more efficient mine single-unit train following and scheduling. This helps save time and resources. By pre-setting strategies and testing vehicle travel routes in the simulation model, potential safety risks can be detected in advance, and corresponding measures can be taken for adjustment and improvement. This helps reduce accident risks and ensure the safety of personnel and equipment. By pre-selecting vehicles to follow, reference vehicles, and preset road segments, and obtaining their travel parameters at preset initial distances, the distance and speed requirements between vehicles can be determined. This helps ensure coordinated and smooth driving between vehicles. The method includes both manned and unmanned vehicles and takes into account the terrain and environment of excavators and target mining areas; therefore, it can adapt to different types and numbers of vehicle combinations, thus having wider applicability.
[0099] The method disclosed in this application can be used to test different customized solutions, obtain reliable and accurate scheduling solutions, and directly guide vehicle scheduling at open-pit mine sites. This effectively ensures the safety of operators and testing equipment, while meeting the needs of different mine terrains, conditions and excavation equipment. It effectively reduces manpower and material costs, ensures uninterrupted operation at open-pit mine sites, and avoids additional production costs and losses.
[0100] Example 1
[0101] In the first embodiment of this application, the preset strategy includes: the preset road segment is an uphill road segment with a preset slope, the reference vehicle travels at a first speed ahead along a first preset route at a constant speed, and the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed, and both the reference vehicle and the vehicle to be followed are unmanned vehicles.
[0102] The preset conditions include: the actual following distance between the vehicle to be followed and the reference vehicle is less than the first preset distance.
[0103] The future tracking route includes: scheduling vehicles to follow to travel at a second speed along a second preset route at a constant speed; when a vehicle to follow triggers the following action, controlling the vehicle to follow to travel at a first speed along a first preset route at a constant speed, and forming a single train with the reference vehicle.
[0104] V1 <V2;
[0105] 15V²≤L₀≤80V²;
[0106]
[0107] Where V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, and a is the braking acceleration of the vehicle to be followed.
[0108] In this embodiment, preferably, 0 <Va1<80km / h;
[0109] 1.2V1≤V2≤6V1;
[0110] The preset slope of the uphill section is P, where 5°≤P≤25°.
[0111] In this embodiment, preferably, 0 <V1<80km / h;
[0112] In this embodiment, a pre-set uphill section with a gradient is selected as the following section. This allows for precise vehicle control on uphill sections, ensuring safe and stable following. By having a reference vehicle lead at a first speed and travel at a constant speed along a first pre-set route, this driving strategy serves as a benchmark for the vehicles to follow, adjusting accordingly based on preset conditions. By having the vehicles to follow follow the reference vehicle at a second speed behind it and travel at a constant speed along a second pre-set route, this ensures that the vehicles to follow approach the reference vehicle at an appropriate time and position. The preset conditions are set to ensure that the vehicles to follow maintain a certain distance from the reference vehicle within a certain range, avoiding excessive closeness or mutual interference. The scheduling method disclosed in this scheme can control the speed and orientation of vehicles to maintain a certain relative position between the vehicles to follow and the reference vehicle, enabling the vehicles to follow according to the reference vehicle's driving strategy and to form a group at an appropriate time. Forming an effective group helps improve the overall coordination and efficiency of the vehicles and reduces potential collision and accident risks. Furthermore, using autonomous vehicles can further improve safety and automation levels.
[0113] Example 2
[0114] In a second embodiment of this application, the preset strategy includes: the preset road segment is a downhill road segment with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; and both the reference vehicle and the vehicle to be followed are unmanned vehicles.
[0115] The preset conditions include: the actual following distance between the vehicle to be followed and the reference vehicle is less than the first preset distance.
[0116] The future tracking route includes: scheduling vehicles to follow to travel at a second speed along a second preset route at a constant speed; when a vehicle to follow triggers the following action, controlling the vehicle to follow to travel at a first speed along a first preset route at a constant speed, and forming a single train with the reference vehicle.
[0117] V1 <V2;
[0118] 15V²≤L₀≤80V²;
[0119] 5L² < ΔL < 15L²;
[0120] ΔL <L0。
[0121] Wherein, V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, and L2 is the length of the vehicle to be followed.
[0122] In this embodiment, preferably, 1.2V1≤V2≤6V1;
[0123] The slope of the downhill section is P, where 5°≤P≤25°.
[0124] This embodiment selects a downhill section with a preset gradient as the following route. This allows for precise vehicle control on downhill sections, ensuring safe and stable following and braking. The reference vehicle travels at a first speed ahead, following a first preset route at a constant speed, as before. This driving strategy serves as a benchmark for the vehicle to follow, allowing it to adjust according to preset conditions. The vehicle to follow travels at a second speed behind the reference vehicle, following a second preset route at a constant speed, as in previous embodiments. This ensures that the vehicle to follow approaches the reference vehicle at the appropriate time and position. The preset conditions are still set to ensure that the vehicle to follow maintains an appropriate distance from the reference vehicle. Embodiment Three
[0125] In the third embodiment of this application, the preset strategy includes: the preset road segment is an uphill road segment with a preset slope, the reference vehicle travels at a first speed ahead along a first preset route at a constant speed, the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed, the reference vehicle is a manned vehicle, and the vehicle to be followed is an unmanned vehicle.
[0126] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance.
[0127] The future tracking route includes: scheduling vehicles to be followed to travel at a second speed along a second preset route; triggering following when the vehicles to be followed meet a first condition; controlling the vehicles to be followed to travel at a first speed along a first preset route and forming a single train with the reference vehicles; and controlling the vehicles to be followed to stop when the vehicles to be followed meet a second condition.
[0128] V1 <V2;
[0129] 15V²≤L₀≤80V²;
[0130] 0>ΔL;
[0131]
[0132] Where V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, L1 is the second preset distance, and a is the braking acceleration of the vehicle to be followed.
[0133] In this embodiment, preferably, 1.2V1≤V2≤6V1;
[0134] The preset slope of the uphill section is P, where 5°≤P≤25°.
[0135] This embodiment, through preset road sections, conditions, and scheduling methods, enables vehicles to follow a reference vehicle's driving strategy and adjust or stop when specific conditions are met. This helps improve vehicle coordination and safety, and ensures a reasonable distance and formation with the reference vehicle. Furthermore, by combining the characteristics of manned and autonomous vehicles, their respective advantages can be leveraged to further improve overall efficiency and flexibility.
[0136] Example 4
[0137] In the fourth embodiment of this application, the preset strategy includes: the preset road segment is a downhill road segment with a preset slope, the reference vehicle travels at a first speed ahead along a first preset route at a constant speed, the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed, the reference vehicle is a manned vehicle, and the vehicle to be followed is an unmanned vehicle.
[0138] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance.
[0139] The future tracking route includes: scheduling vehicles to be followed to travel at a second speed along a second preset route; triggering following when the vehicles to be followed meet a first condition; controlling the vehicles to be followed to travel at a first speed along a first preset route and forming a single train with the reference vehicles; and controlling the vehicles to be followed to stop when the vehicles to be followed meet a second condition.
[0140] V1 <V2;
[0141] 15V²≤L₀≤80V²;
[0142] L0>ΔL;
[0143]
[0144] Wherein, V1 is the first speed, V2 is the second speed, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, L1 is the length of the vehicle to be followed, and a is the braking acceleration of the vehicle to be followed.
[0145] In this embodiment, preferably, 1.2V1≤V2≤6V1;
[0146] The slope of the downhill section is P, where 5°≤P≤25°.
[0147] This embodiment, through preset road sections, conditions, and scheduling methods, enables vehicles to follow reference vehicles and form formations. This improves overall coordination, safety, and efficiency, while ensuring a reasonable following distance. Furthermore, combining manned and autonomous vehicles leverages their respective advantages to enhance the overall level of automation and driving experience.
[0148] Example 5
[0149] In the fifth embodiment of this application, the preset strategy includes: the preset road segment is a road segment containing a turning path; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle.
[0150] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the reference vehicle is running on a turning path and the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance.
[0151] The future tracking route includes: scheduling vehicles to follow to travel at a second speed along a second preset route at a constant speed; triggering following when a vehicle to follow meets a first condition; controlling the vehicle to follow to travel at a first speed along a first preset route at a constant speed and forming a single train with the reference vehicle; triggering speed adjustment when a vehicle to follow meets a second condition; controlling the vehicle to follow to travel at a third speed along a first preset route at a constant speed.
[0152] V1 <V2;
[0153]
[0154] 15V²≤L₀≤80V²;
[0155] ΔL <L0;
[0156] L1 = 0.75ΔL;
[0157] 0 < α ≤ 160°;
[0158] Where V1 is the first velocity, V2 is the second velocity, and V3 is the third velocity.
[0159] L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, L1 is the second preset distance, and α is the turning angle of the turning path.
[0160] In this embodiment, preferably, 1.2V1≤V2≤6V1.
[0161] In this embodiment, following is conducted on road sections containing turning paths. This means that special attention needs to be paid to the vehicle's driving status and following distance when turning, as turning often affects the vehicle's speed and route. Similar to previous embodiments, the reference vehicle is a manned vehicle traveling at a first speed ahead along a first preset route at a constant speed. The vehicle to be followed travels at a second speed behind along a second preset route at a constant speed. The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance, which is to ensure following safety under normal road conditions. The second condition is that the reference vehicle is traveling on a turning path and the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance, indicating that a more cautious following strategy needs to be adjusted within the turning path. This embodiment can adjust the speed and following strategy of the vehicle to be followed according to the characteristics of the turning path, ensuring safe following with the reference vehicle throughout the entire road section and taking appropriate control measures when turning. This helps improve the safety and stability of following in complex road conditions, reduces potential traffic risks, and improves traffic flow efficiency.
[0162] Example 6
[0163] In the sixth embodiment of this application, the preset strategy includes: the preset road segment is a road segment containing an intersection, the reference vehicle travels at a first speed ahead along a first preset route at a constant speed, the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed, the reference vehicle is a manned vehicle, and the vehicle to be followed is an unmanned vehicle.
[0164] The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than the first preset distance. The second condition is that the reference vehicle crosses the intersection and the lateral vehicle moves to the intersection.
[0165] The future tracking route includes: scheduling vehicles to follow to travel at a second speed along a second preset route at a constant speed; triggering following when a vehicle to follow meets a first condition; controlling the vehicle to follow to travel at a first speed along a first preset route at a constant speed and forming a single train with the reference vehicle; triggering speed adjustment when a vehicle to follow meets a second condition; controlling the vehicle to follow to travel at a third speed along a first preset route at a constant speed.
[0166] V1 <V2;
[0167]
[0168] 15V²≤L₀≤80V²;
[0169] ΔL <L0;
[0170] S0≥50;
[0171] |S1|≤80.
[0172] Wherein, V1 is the first speed, V2 is the second speed, V3 is the third speed, V4 is the speed of the vehicle moving laterally, L0 is the initial distance between the vehicle to be followed and the reference vehicle, ΔL is the first preset distance, S0 is the distance of the reference vehicle from the center of the intersection after it crosses the intersection, and S1 is the distance of the vehicle moving laterally from the center of the intersection.
[0173] In this embodiment, preferably, 1.2V1≤V2≤6V1.
[0174] In this embodiment, following vehicles at intersections is considered. Intersections are complex traffic junctions, requiring special attention to vehicle coordination and safety. This embodiment takes into account the complex traffic conditions at intersections, using preset strategies and conditional judgments to ensure safe following and speed adjustments for vehicles under different circumstances, improving traffic flow at intersections and guaranteeing following safety. Furthermore, combining manned and autonomous vehicles allows for full utilization of their respective advantages, enhancing overall traffic coordination and safety.
[0175] Furthermore, referring to Figure 2 The simulation model includes an intelligent vehicle terminal, a cloud-based intelligent dispatch system, a simulation host, a communication switch, a CAN communication device, and multiple domain controllers. The domain controllers can provide the domain controller hardware environment and support the operating environment of each module on the vehicle.
[0176] The domain controller includes a perception system, a mining truck operation management system, GPS positioning, a planning module, a control module, a vehicle-following algorithm, and V2X communication. It interacts with the virtual vehicle in the simulation in real time via CAN communication data. The virtual vehicle receives data from the above modules and controls the operation of the virtual vehicle through the vehicle dynamics calculation unit, thereby achieving a parallel mapping in the real environment.
[0177] The intelligent vehicle terminal includes an excavator controller and can also provide a program for collaborative excavator-truck operation.
[0178] The simulation host supports the computational units for the simulation virtual environment and vehicle dynamics module.
[0179] The cloud-based intelligent dispatch system includes a database, a vehicle-to-vehicle information interaction unit, a dispatch algorithm, traffic management, map management, and the ability to visualize maps and vehicles.
[0180] The communication switch supports data communication between various hardware modules.
[0181] CAN communication devices support simulated vehicle-mounted CAN data communication.
[0182] This simulation model possesses a relatively complete intelligent vehicle-mounted system and cloud-based intelligent dispatching system, along with related communication equipment and control modules. Through a perception system, GPS positioning, planning module, control module, and vehicle-following algorithm, it provides comprehensive perception and control for the vehicle, thereby improving driving safety and reducing accident risks. The mining truck operation management system and intelligent dispatching system can effectively manage and schedule work tasks, optimize work processes, and improve work efficiency. Simultaneously, through the traffic management function of the cloud-based intelligent dispatching system, it can optimize traffic flow, reduce congestion, and improve road segment traffic efficiency. The modules within the domain controller interact in real-time via CAN communication, enabling instant vehicle control and dispatching, and allowing for refined control and optimization of vehicle operation. The excavator controller and the excavator-truck collaborative operation environment program in the intelligent vehicle terminal enable collaborative excavator-truck operations, improving the efficiency and accuracy of excavation work. The cloud-based intelligent dispatching system enables visualized management of maps and vehicles, allowing for real-time monitoring and management of vehicle information. Through the information interaction unit with the vehicle terminal, it facilitates data interaction between the vehicle and the cloud system, further enhancing the system's collaborative operation capabilities.
[0183] In practical applications, one can first build a simulation software and hardware environment, run the simulation system, and create vehicle models, manned vehicles, unmanned vehicles, and excavators with appearance effects 1:1 with real vehicles.
[0184] For example, the hardware environment includes one simulation host, one server, five domain controllers (two manned vehicles and three driverless vehicles), a communication switch, and CAN communication equipment.
[0185] Then, according to the predetermined test plan, the corresponding mining area road operation environment and the weather environment (such as wind, snow, rain, fog, etc.) to be simulated are constructed under the real mining area map in the simulation system.
[0186] The system integrates various modules such as vehicle information, decision-making, control, perception, and vehicle following with the simulation system; and during vehicle operation, location information, driving status, and vehicle task data interact with the cloud in real time.
[0187] For example, during vehicle operation, the vehicle uploads its own Rosbeacon messages (vehicle location information), including the device number, device type, GPS location, attitude, and driving speed, to the cloud-based intelligent dispatch management system. The cloud stores the Rosbeacon messages in the database and forwards them to the target test vehicle through the Rosv2x module.
[0188] The vehicle receives lane information from the cloud, generates guide lines, and sends them to the following system. Specifically, the vehicle operation management module obtains lane information from the cloud-based intelligent dispatch management system and generates a tracking route for the target test vehicle (this vehicle). This route includes information such as the vehicle's tracking route for the next 300 meters, including the geographical location of waypoints, heading, gradient, left and right road boundaries, and distances between adjacent routes, and sends this information to the following system.
[0189] The vehicle following system calculates following information and determines whether to enter the following logic; the planning module receives speed limit instructions and plans the vehicle's driving speed.
[0190] First, whether a vehicle enters the following logic requires a following judgment, namely the following detection distance. The specific logic is as follows: the following detection distance can be used to represent the maximum following distance of the current vehicle relative to the leading vehicle, and the lateral detection distance can be used to represent the maximum lateral distance of the vehicle from the lane line where the current vehicle is located. The values of the following detection distance and the lateral detection distance can be determined according to the actual situation. For example, the following detection distance can be set between 80m and 500m, and specific values can be 80m, 100m, 300m, etc. The lateral detection distance can be set between 4m and 20m, and specific values can be 4m, 9m, 15m, etc.
[0191] When there are multiple vehicles following ahead of this vehicle, this module will select the closest vehicle to follow at the specified speed. At this time, the following module will send the distance to maintain the preset following distance and the speed of the following vehicle to the speed planning module.
[0192] Reference Figure 3 Referring to surrounding vehicles (manned and unmanned vehicles), calculate the geometric relationship between vehicle A and its trajectory. Vehicle A represents vehicle A, vehicle B represents surrounding vehicles, and the solid line represents vehicle A's reference trajectory. For vehicle B, calculate the point H on vehicle A's trajectory line that is closest to the rear axle center of vehicle B, and calculate the distance d from H to the rear axle center of vehicle B, along with the distance s from vehicle A along the trajectory line to point H.
[0193] In this implementation, 1) Car B is within the map boundary: Let β be the heading angle of point H, then the cross product (x B -x H )cosβ-(y B -y H When sinβ>0, it means that car B is on the left side of the trajectory line. At this time, d must be less than the width of the left road. When the cross product is less than 0, then d must be less than the width of the right road.
[0194] 2) The distance s is less than the set following detection range.
[0195] 3) When both vehicles are in the work area or one vehicle is in reverse, the distance d is less than 1 / 2 of the width of the two vehicles plus the lateral safety distance; when one vehicle is on the structured road and both vehicles are moving forward, the distance d is less than 1 / 2 of the width of the two vehicles plus the lateral safety distance, and the heading of vehicle B is the same as the heading of point H: Let α be the heading angle of vehicle B, then when cos(α-β)≥cos45°, the two headings are considered to be the same.
[0196] Reference Figure 4 The second aspect of this application discloses a parallel simulation-based single-train train dispatching system for open-pit mines, comprising:
[0197] The module is configured to build a simulation model of the target mining area.
[0198] The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area;
[0199] The pre-selection module is configured to pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance;
[0200] Among them, the vehicle to be followed has the same heading as the reference vehicle;
[0201] The execution module is configured to run tests in a simulation model based on a preset strategy, and obtain the future tracking route of the vehicle to be followed when the preset conditions are met.
[0202] Existing mining vehicles operating in complex environments primarily rely on perception sensors such as LiDAR, millimeter-wave radar, and cameras to implement critical safety measures such as braking, deceleration, and obstacle avoidance. However, in multi-vehicle collaborative operation scenarios involving both manned and unmanned vehicles, this safety strategy has limitations and cannot fully guarantee safety. The solution disclosed in this application can provide more comprehensive safety assurance in complex environments and multi-vehicle operation scenarios.
[0203] In existing technical solutions, some functions of a single-group train-following cooperative system can be verified and evaluated through simulation systems. However, the on-site environment of open-pit mines is complex and variable. Some complex environmental scenarios, such as train-following systems on certain slopes or in extreme weather conditions (wind, snow, rain, fog), need to be verified in the field, increasing project risks and costs. This method can test and verify single-group cooperative train-following scenarios in open-pit mines in a simulation environment, reducing testing risks and costs, improving testing efficiency, and allowing for repeated verification.
[0204] The solution disclosed in this application can provide collaborative test scenarios that simulate the driving of manned vehicles, such as single-sided operation in an open-pit mine, where an unmanned vehicle (target test vehicle) is driving a manned vehicle in front of it. The simulation system supports the creation of virtual manned vehicles, simulating the operation of manned vehicles, and can control the speed of the virtual vehicles to verify special scenarios. Various following scenarios where a manned vehicle is driving in front can be verified in the simulation system, restoring the real effect under this scenario.
[0205] In the scenario of single-unit multi-vehicle collaborative operation in open-pit mines, there is no relevant technology for following vehicle collaborative systems to help increase vehicle operation safety, and there is no complete and mature testing method for following vehicle collaborative systems.
[0206] The scheme disclosed in this application, combined with a simulation system, can simulate complex scenarios in real mining areas, such as complex weather and road slopes. The system can verify the functions of the vehicle-following cooperative system under different complex scenarios and can be repeatedly tested and verified.
[0207] An electronic device according to embodiments of the present disclosure includes a memory and a processor. The memory is used to store non-transitory computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory. The non-volatile memory may, for example, include read-only memory (ROM), a hard disk, flash memory, etc.
[0208] The processor may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of this disclosure, the processor is used to run the computer-readable instructions stored in the memory, causing the electronic device to perform all or part of the steps of the parallel simulation-based open-pit mine single-group train scheduling method described in the foregoing embodiments of this disclosure.
[0209] Those skilled in the art will understand that, in order to solve the technical problem of how to achieve a good user experience, this embodiment may also include well-known structures such as communication buses and interfaces, and these well-known structures should also be included within the protection scope of this disclosure.
[0210] like Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. It illustrates a structural schematic diagram suitable for implementing the electronic device in the embodiment of the present disclosure. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.
[0211] like Figure 5 As shown, an electronic device may include a processor (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from a storage device into random access memory (RAM). The RAM also stores various programs and data required for the operation of the electronic device. The processor, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.
[0212] Typically, the following devices can be connected to the I / O interface: input devices, such as sensors or visual information acquisition devices; output devices, such as displays; storage devices, such as magnetic tapes or hard drives; and communication devices. Communication devices allow electronic devices to communicate wirelessly or wiredly with other devices (such as edge computing devices) to exchange data. Although Figure 5 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.
[0213] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processor, all or part of the steps of the parallel simulation-based open-pit mine single-unit train scheduling method of embodiments of this disclosure are performed.
[0214] For a detailed description of this embodiment, please refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.
[0215] A computer-readable storage medium according to embodiments of the present disclosure stores non-transitory computer-readable instructions. When these non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the parallel simulation-based open-pit mine single-unit train scheduling method described in the foregoing embodiments of the present disclosure are performed.
[0216] The aforementioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or portable hard drive), media with built-in rewritable non-volatile memory (e.g., memory card), and media with built-in ROM (e.g., ROM cartridge).
[0217] For a detailed description of this embodiment, please refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.
[0218] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.
[0219] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.
[0220] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.
Claims
1. A method for scheduling single-unit trains in open-pit mines based on parallel simulation, characterized in that, include: S100, construct a simulation model of the target mining area; The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met; The preset strategy includes: the preset road segment is an uphill road segment with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; and both the reference vehicle and the vehicle to be followed are unmanned vehicles. The preset conditions include: the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance; The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed of the second speed along a second preset route; when the vehicle to be followed triggers the following action, controlling the vehicle to be followed to travel at a constant speed of the first speed along a first preset route, and forming a single group with the reference vehicle.
2. The method for single-unit train following dispatching in open-pit mines based on parallel simulation as described in claim 1, characterized in that, ； ； ； in, For the first speed, The second speed, The initial distance between the vehicle to be followed and the reference vehicle. The first preset distance, The braking acceleration of the vehicle to be followed.
3. The method for single-unit train following dispatching in open-pit mines based on parallel simulation according to claim 2, characterized in that, ； 1.2V1≤V2≤6V1; The slope of the uphill section with the preset slope is P, where 5°≤P≤25°.
4. A method for scheduling single-unit trains in open-pit mines based on parallel simulation, characterized in that, include: S100, construct a simulation model of the target mining area; The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met; The preset strategy includes: the preset road section is a downhill road section with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; and both the reference vehicle and the vehicle to be followed are unmanned vehicles. The preset conditions include: the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance; The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed of the second speed along a second preset route; when the vehicle to be followed triggers the following action, controlling the vehicle to be followed to travel at a constant speed of the first speed along a first preset route, and forming a single group with the reference vehicle.
5. The method for single-unit train following and scheduling in open-pit mines based on parallel simulation according to claim 4, characterized in that, ； ； ； ； in, For the first speed, The second speed, The initial distance between the vehicle to be followed and the reference vehicle. The first preset distance, Let be the length of the vehicle to be followed.
6. The method for single-unit train following dispatching in open-pit mines based on parallel simulation according to claim 5, characterized in that, 1.2V1≤V2≤6V1; The slope of the downhill section with the preset slope is P, where 5°≤P≤25°.
7. A method for scheduling single-unit trains in open-pit mines based on parallel simulation, characterized in that, include: S100, construct a simulation model of the target mining area; The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met; The preset strategy includes: the preset road segment is an uphill road segment with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle. The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance. The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed along a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at the first speed and forming a single train with the reference vehicle; and controlling the vehicle to be followed to stop when the vehicle to be followed meets the second condition.
8. The method for single-unit train following dispatching in open-pit mines based on parallel simulation according to claim 7, characterized in that, ； ； ； ； in, For the first speed, The second speed, The initial distance between the vehicle to be followed and the reference vehicle. The first preset distance, The second preset distance, The braking acceleration of the vehicle to be followed.
9. A method for scheduling single-unit trains in open-pit mines based on parallel simulation, characterized in that, include: S100, construct a simulation model of the target mining area; The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met; The preset strategy includes: the preset road section is a downhill road section with a preset slope; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle. The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance. The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed along a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at the first speed and forming a single train with the reference vehicle; and controlling the vehicle to be followed to stop when the vehicle to be followed meets the second condition.
10. The method for single-unit train following dispatching in open-pit mines based on parallel simulation according to claim 9, characterized in that, ； ； ； ； in, For the first speed, The second speed, The initial distance between the vehicle to be followed and the reference vehicle. The first preset distance, Let the length of the vehicle to be followed be . The braking acceleration of the vehicle to be followed.
11. A method for scheduling single-unit trains in open-pit mines based on parallel simulation, characterized in that, include: S100, construct a simulation model of the target mining area; The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met; The preset strategy includes: the preset road segment is a road segment containing turning paths; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle. The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the reference vehicle is running on a turning path and the actual following distance between the vehicle to be followed and the reference vehicle is less than a second preset distance. The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed along a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at the first speed and forming a single train with the reference vehicle; triggering speed adjustment when the vehicle to be followed meets the second condition; and controlling the vehicle to be followed to travel at a constant speed along a first preset route at a third speed.
12. The method for single-unit train following dispatching in open-pit mines based on parallel simulation according to claim 11, characterized in that, ； ； ； ； ； ； in, For the first speed, The second speed, The third velocity, The initial distance between the vehicle to be followed and the reference vehicle. The first preset distance, The second preset distance, This represents the turning angle of the turning path.
13. A method for scheduling single-unit trains in open-pit mines based on parallel simulation, characterized in that, include: S100, construct a simulation model of the target mining area; The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; S200: Pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at the preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; S300, based on a preset strategy, runs the test in the simulation model to obtain the future tracking route of the vehicle to be followed when the preset conditions are met; The preset strategy includes: the preset road segment is a road segment containing an intersection; the reference vehicle travels at a first speed ahead along a first preset route at a constant speed; the vehicle to be followed travels at a second speed behind along a second preset route at a constant speed; the reference vehicle is a manned vehicle; and the vehicle to be followed is an unmanned vehicle. The preset conditions include a first condition and a second condition. The first condition is that the actual following distance between the vehicle to be followed and the reference vehicle is less than a first preset distance. The second condition is that the reference vehicle passes through the intersection and the lateral vehicle moves to the intersection. The future tracking route includes: scheduling the vehicle to be followed to travel at a constant speed along a second preset route at the second speed; triggering following when the vehicle to be followed meets the first condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at the first speed and forming a single train with the reference vehicle; triggering speed adjustment when the vehicle to be followed meets the second condition; controlling the vehicle to be followed to travel at a constant speed along a first preset route at a third speed.
14. The method for single-unit train following dispatching in open-pit mines based on parallel simulation according to claim 13, characterized in that, ； ； ； ； 50； 80； in, For the first speed, The second speed, The third velocity, The speed of the laterally moving vehicle. The initial distance between the vehicle to be followed and the reference vehicle. The first preset distance, The distance from the center of the intersection to the reference vehicle after it crosses the intersection. The distance between the lateral moving vehicle and the center of the intersection.
15. A single-train train dispatching system for open-pit mines based on parallel simulation, characterized in that, The system, used to execute the parallel simulation-based single-unit train following dispatching method for open-pit mines as described in any one of claims 1-3, or any one of claims 4-6, or claim 7, or claim 8, or claim 9, or claim 10, or claim 11, or claim 12, or claim 13, or claim 14, comprises: The module is configured to build a simulation model of the target mining area. The simulation model includes several manned vehicles, several unmanned vehicles, several excavators, the actual three-dimensional terrain of the target mining area, and the operating environment of the target mining area; The pre-selection module is configured to pre-select the vehicle to be followed, the reference vehicle, and the preset road segment, and obtain the driving parameters of the vehicle to be followed and the reference vehicle at a preset initial distance; Wherein, the vehicle to be followed has the same heading as the reference vehicle; The execution module is configured to run tests in the simulation model based on a preset strategy to obtain the future tracking route of the vehicle to be followed when the preset conditions are met.