Underground autonomous driving vehicle collision avoidance system, method, device and readable storage medium

Abstract

An underground autonomous driving vehicle collision avoidance system, method, device and readable storage medium, relating to the field of intelligent networked vehicle technology, including a roadside module, a vehicle-mounted communication terminal, a dispatching platform and an autonomous driving module; the roadside module is deployed on the wall of a mine tunnel, and is used to detect the collision risk of the autonomous driving vehicle based on a laser beam to generate an early warning signal, and there is a horizontal safety distance between the laser beam and the wall of the mine tunnel; the vehicle-mounted communication terminal obtains the working condition information of the autonomous driving vehicle including the position information and the vehicle speed information through the early warning signal; the dispatching platform determines the dispatching instructions including the operation instructions and the path information according to the working condition information and sends them to the autonomous driving module through the vehicle-mounted communication terminal; the autonomous driving module determines the control instructions based on the dispatching instructions and controls the operation of the vehicle according to the control instructions to achieve the purpose of collision avoidance. This application can fundamentally reduce the probability of collision events and effectively reduce the cost of the whole vehicle.

Description

Technical Field

[0001] The present application relates to the field of intelligent connected vehicle technology, and specifically to an underground autonomous driving vehicle collision avoidance system, method, device and readable storage medium. Background Art

[0002] Due to the complex underground environment and relatively narrow space, various transport vehicles, equipment, and personnel need to move in this narrow space, making safety management difficult, which can easily lead to major safety accidents and property losses. Among them, autonomous driving vehicles, as underground production tools, can improve the intelligence and production efficiency of underground production, but they are still prone to collisions, resulting in safety accidents. Therefore, it is particularly important to effectively avoid collisions between autonomous driving vehicles underground, ensure the safety of underground operations, and ensure safe production.

[0003] In the related technology, collisions of underground autonomous driving vehicles are mainly avoided through two methods: passive collision avoidance and active collision avoidance. Among them, passive collision avoidance refers to the installation of collision avoidance components on the front side of the vehicle, such as collision avoidance beams and other force unloading mechanisms, to reduce the damage to the vehicle caused by collisions. However, this method can only reduce the damage caused by vehicle collisions, but cannot fundamentally reduce the probability of collisions, and will increase the cost of the vehicle to a certain extent. Active collision avoidance refers to the installation of additional distance measuring, radar and other devices at the front of the vehicle to detect the distance between the vehicle and obstacles, thereby achieving a collision avoidance effect. However, the additional installation of distance measuring instruments, radars and other sensors on the vehicle will increase the cost of the entire vehicle to a certain extent.

[0004] It can be seen that how to effectively achieve collision avoidance for autonomous driving vehicles underground while reducing the cost of the entire vehicle is an issue that needs to be urgently addressed. Summary of the invention

[0005] The present application provides an underground autonomous driving vehicle collision avoidance system, method, device and readable storage medium to effectively achieve underground autonomous driving vehicle collision avoidance while reducing the cost of the entire vehicle.

[0006] In a first aspect, an embodiment of the present application provides an underground autonomous driving vehicle collision avoidance system, the system comprising: a roadside module, a vehicle-mounted communication terminal, a dispatching platform, and an autonomous driving module;

[0007] The roadside module is deployed on the wall of the mine tunnel and is used to detect the collision risk of the autonomous driving vehicle based on the laser beam to generate a warning signal and send it to the vehicle-mounted communication terminal. There is a horizontal safety distance between the laser beam and the wall of the mine tunnel;

[0008] The vehicle-mounted communication terminal is used to obtain the operating condition information of the automatic driving vehicle through the early warning signal and send it to the dispatching platform, wherein the operating condition information includes location information and vehicle speed information;

[0009] The dispatching platform is used to determine a dispatching instruction according to the working condition information and send it to the automatic driving module through the vehicle-mounted communication terminal, wherein the dispatching instruction includes an operating instruction and path information;

[0010] The automatic driving module is used to determine the control instructions based on the scheduling instructions, and control the operation of the vehicle according to the control instructions to achieve the purpose of collision avoidance.

[0011] In combination with the first aspect, in one implementation, the roadside module includes a laser transmitter, a laser receiver and a signal trigger module;

[0012] The laser transmitter and the laser receiver are arranged on the wall of the mine tunnel, and the laser receiver is used to receive the laser beam emitted by the laser transmitter;

[0013] When at least a portion of the autonomous driving vehicle is located between the laser transmitter and the laser receiver, the laser receiver sends a target signal to the signal trigger module;

[0014] The signal triggering module generates a warning signal based on the target signal.

[0015] In combination with the first aspect, in one embodiment, when the laser transmitter is located on the wall of a straight section of a mine tunnel, the direction of the laser beam is horizontal; when the laser transmitter is located on the wall of a turning section of a mine tunnel, the direction of the laser beam is vertical.

[0016] In combination with the first aspect, in one implementation, the installation heights of the laser transmitter and the laser receiver are determined based on a front bumper height and / or a rearview mirror height of the autonomous driving vehicle.

[0017] In combination with the first aspect, in one embodiment, the autonomous driving module is used to determine an action instruction based on the operation instruction; the autonomous driving module is used to determine a steering instruction based on the path information, and use the action instruction and the steering instruction as the control instruction.

[0018] In combination with the first aspect, in one embodiment, the autonomous driving module is used to determine whether the target path of the autonomous driving vehicle is a curve section based on the path information; if so, the autonomous driving module is used to determine the target route based on the curve radius corresponding to the target path, and use the target route as a steering instruction; if not, the autonomous driving module is used to use centering as a steering instruction.

[0019] In combination with the first aspect, in one embodiment, a horizontal safety distance between the laser beam and the mine tunnel wall is determined based on the driving accuracy of the autonomous driving vehicle.

[0020] In a second aspect, an embodiment of the present application provides an underground autonomous driving vehicle collision avoidance method, which is applied to the underground autonomous driving vehicle collision avoidance system as described above, and the method includes:

[0021] Detecting the collision risk of the autonomous driving vehicle using the roadside module based on the laser beam to generate a warning signal;

[0022] Based on the warning signal, using the vehicle-mounted communication terminal to obtain operating condition information of the autonomous driving vehicle;

[0023] Based on the working condition information, determining a dispatch instruction using the dispatch platform;

[0024] Based on the dispatching instruction, the automatic driving module is used to determine the control instruction, and the operation of the vehicle is controlled according to the control instruction to achieve the purpose of collision avoidance.

[0025] In the third aspect, an embodiment of the present application provides an underground autonomous driving vehicle collision avoidance device, which includes a processor, a memory, and an underground autonomous driving vehicle collision avoidance program stored in the memory and executable by the processor, wherein when the underground autonomous driving vehicle collision avoidance program is executed by the processor, the steps of the underground autonomous driving vehicle collision avoidance method as described above are implemented.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which an underground autonomous driving vehicle collision avoidance program is stored, wherein when the underground autonomous driving vehicle collision avoidance program is executed by a processor, the steps of the underground autonomous driving vehicle collision avoidance method as described above are implemented.

[0027] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0028] Through the roadside module deployed on the wall of the mine tunnel and the laser beam with a horizontal safety distance between the mine tunnel wall and the mine tunnel wall, it is detected whether the autonomous driving vehicle has a collision risk. If there is a collision risk, an early warning signal will be generated in the first time, so that the vehicle-mounted communication terminal can obtain the working condition information of the autonomous driving vehicle including the position information and the vehicle speed information based on the early warning signal; then the dispatching platform determines the dispatching instructions including the operation instructions and the path information according to the working condition information, and sends the dispatching instructions to the autonomous driving module through the vehicle-mounted communication terminal, so that the autonomous driving module can determine the control instructions based on the dispatching instructions, and then control the operation of the vehicle through the control instructions to avoid the collision between the vehicle and the mine tunnel wall, thereby achieving the purpose of collision avoidance. This application can fundamentally reduce the probability of collision events, and there is no need to install additional sensors such as rangefinders and radars on the vehicle, which effectively reduces the cost of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the functional modules of an embodiment of the underground autonomous driving vehicle collision avoidance system of the present application;

[0030] Figure 2 This is a schematic diagram of the arrangement of the laser transmitter and the laser receiver involved in the embodiment of the present application on the straight section of the mine tunnel;

[0031] Figure 3 This is a schematic diagram of the arrangement of the laser transmitter and the laser receiver involved in the embodiment of the present application on the turning section of the mine tunnel;

[0032] Figure 4 This is a flow chart of an embodiment of the method for avoiding collision of an autonomous driving vehicle underground in the present application;

[0033] Figure 5 This is a schematic diagram of the hardware structure of the underground autonomous driving vehicle anti-collision equipment involved in the embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0036] In a first aspect, an embodiment of the present application provides an underground autonomous driving vehicle collision avoidance system.

[0037] In one embodiment, referring to Figure 1 , Figure 1 This is a functional module diagram of an embodiment of the underground autonomous driving vehicle collision avoidance system of this application. Figure 1As shown, the underground autonomous driving vehicle collision avoidance system includes: a roadside module, an on-board communication terminal, a dispatching platform and an autonomous driving module (i.e., ADCU). Among them, this embodiment will use the roadside module to determine whether there is a risk of collision between the autonomous driving vehicle and the mine tunnel wall; specifically, the roadside module is deployed on the mine tunnel wall so that the roadside module can transmit and receive laser beams on the mine tunnel wall, and there is a horizontal safety distance between the laser beam and the mine tunnel wall; it should be understood that the horizontal safety distance is used to ensure that there is no actual collision between the autonomous driving vehicle and the mine tunnel wall, that is, when the position of the autonomous driving vehicle causes the laser beam to be interrupted or jumped, due to the horizontal safety distance between the laser beam and the mine tunnel wall, it can be determined that there is a risk of collision between the autonomous driving vehicle and the mine tunnel wall, but it has not actually collided. At this time, an early warning signal will be generated to warn the autonomous driving vehicle to take corresponding control measures to avoid the occurrence of a collision.

[0038] It is understandable that under normal conditions, the autonomous driving vehicle will not touch the laser beam and can drive normally; under abnormal conditions, when the autonomous driving vehicle touches the laser beam, the laser beam will be interrupted or jumped, that is, the laser receiver cannot receive the laser emitted by the laser generator. At this time, the roadside module will determine that the autonomous driving vehicle has touched the laser beam, that is, there is a risk of collision between the autonomous driving vehicle and the mine wall, and then generate a warning signal.

[0039] It should be noted that if it is necessary to monitor the collision risk between the autonomous driving vehicle and other fixed obstacles underground, the roadside module can also be installed on the corresponding fixed obstacle, which is not limited here. In addition, for the wall of the mine tunnel, it is usually segmented to form multiple small paths, and each small path may be a straight segment or a turning segment, and the roadside module will be deployed on each small path.

[0040] After the warning signal is generated, the warning signal can be sent to the vehicle-mounted communication terminal through the V2X communication provided by the V2X (Vehicle to everything) module. Of course, the warning signal can also be transmitted through other communication methods. The specific communication method is not limited here, as long as the warning signal can be transmitted to the vehicle-mounted communication terminal.

[0041] In this embodiment, the on-board communication terminal may preferably be a 5G T-BOX (Telematics BOX). When the on-board communication terminal receives a warning signal, it will collect the operating condition information of the autonomous driving vehicle based on the bus, and the operating condition information includes but is not limited to position information and vehicle speed information; and then transmit the operating condition information to the dispatching platform, so that the dispatching platform can determine the corresponding dispatching instructions according to the position information and vehicle speed information, and the dispatching instructions include operation instructions and path information; it can be understood that the path information is used to characterize the small path where the current autonomous driving vehicle is located, and the operation instruction is used to characterize the action that the autonomous driving vehicle needs to perform, such as the autonomous driving vehicle continues to drive, or the autonomous driving vehicle stops running, etc.

[0042] When the dispatching platform determines the dispatching instruction, it will send the dispatching instruction to the autonomous driving module on the autonomous driving vehicle through the on-board communication terminal, so that the autonomous driving module can make decisions and plans based on the dispatching instruction to generate corresponding control instructions, and control the operation of the vehicle according to the control instructions, so as to avoid collision with the mine tunnel wall, thereby achieving the purpose of collision avoidance. It can be seen that this embodiment can fundamentally reduce the probability of collision events, and there is no need to install additional sensors such as rangefinders and radars on the vehicle, which effectively reduces the cost of the entire vehicle.

[0043] In one embodiment, the automatic driving module mainly determines the action instruction of the automatic driving vehicle based on the operation instruction. For example, if the operation instruction is driving, the action instruction of the automatic driving vehicle is to continue driving. Similarly, if the operation instruction is to stop, the action instruction of the automatic driving vehicle is braking. At the same time, the steering instruction is determined according to the path information, and then the action instruction and the steering instruction are used as the final control instruction. For example, if the action instruction is to continue driving, assuming that the small path where the automatic driving vehicle is located is a straight segment according to the path information, then the center driving is directly used as the steering instruction, so that the automatic driving vehicle controls the vehicle to drive in the center; assuming that the small path where the automatic driving vehicle is located is a curve segment according to the path information, it is necessary to determine the target route corresponding to the curve radius of the small path according to the mapping relationship between the preset curve radius and the route, so that the automatic driving vehicle controls the vehicle to turn according to the target route.

[0044] In one embodiment, the roadside module includes at least one group of laser modules and a signal trigger module, and each group of laser modules includes a laser transmitter and a laser receiver; wherein the laser transmitter and the laser receiver are arranged on the wall of the mine tunnel, the laser transmitter is used to emit an infrared or visible laser beam, and the laser receiver is used to receive the laser beam emitted by the laser transmitter; when at least a part of the autonomous driving vehicle is located between a group of laser transmitters and laser receivers, the laser beam will be interrupted or jumped, and at this time the laser receiver will send a target signal to the signal trigger module, and the target signal is used to characterize the risk of collision between the autonomous driving vehicle and the wall of the mine tunnel; when the signal trigger module receives the target signal, it will trigger an alarm and generate a warning signal, and transmit it to the vehicle-mounted communication terminal through the V2X module, so as to slow down, stop or change the running direction of the autonomous driving vehicle, thereby avoiding the collision between the autonomous driving vehicle and the wall of the mine tunnel.

[0045] It should be noted that more than two groups of laser modules can be deployed on each mine tunnel wall to achieve the maximum range of monitoring of the risk of collision between the autonomous driving vehicle and the mine tunnel wall, thereby effectively improving the accuracy of monitoring the risk of collision. Figure 2 As shown, for the same section of path, two groups of laser generators and laser transmitters can be arranged at different heights.

[0046] In one embodiment, see Figure 2 As shown, when the laser transmitter is located on the wall of the straight section of the mine tunnel, the direction of the laser beam emitted by the laser transmitter is horizontal, so as to realize the maximum range of collision risk monitoring between the autonomous driving vehicle and the mine tunnel wall in the horizontal direction; it should be understood that when each group of laser modules is arranged on the wall of the straight section of the mine tunnel, the interval between the laser transmitter and the laser receiver in each group of laser modules can be determined according to the degree of concavity of the wall of the straight section of the mine tunnel, for example, the interval is preferably set to 20m.

[0047] See also Figure 3 As shown, when the laser transmitter is located on the wall of the mine tunnel bend, the direction of the laser beam emitted by the laser transmitter is in the vertical direction, so as to achieve the maximum range of collision risk monitoring between the autonomous driving vehicle and the mine tunnel wall in the vertical direction. It should be understood that when multiple groups of laser modules are arranged on the wall of the mine tunnel bend, the appropriate lateral spacing between each group of laser modules can be determined according to actual needs, for example, the lateral spacing between the laser transmitter in the laser module group A and the laser transmitter in the laser module group B is preferably set to 5m.

[0048] In one embodiment, when arranging the laser transmitter and the laser receiver, the installation height of the laser transmitter and the laser receiver can be determined according to the height corresponding to the most prominent position of the outline of the autonomous driving vehicle, for example, the installation height of the laser transmitter and the laser receiver can be determined according to the height of the front bumper and / or the height of the rearview mirror of the autonomous driving vehicle.

[0049] In one embodiment, the horizontal safety distance between the laser beam and the mine wall can be determined based on the driving accuracy of the autonomous driving vehicle. For example, the higher the driving accuracy of the autonomous driving vehicle, the smaller the horizontal safety distance. Conversely, the lower the driving accuracy of the autonomous driving vehicle, the larger the horizontal safety distance. It should be noted that the driving accuracy is related to the obstacle recognition accuracy and capability of the autonomous driving vehicle. For example, the horizontal safety distance is preferably set to 0.5m.

[0050] On the second aspect, the embodiments of the present application also provide an underground autonomous driving vehicle collision avoidance method, which is applied to the aforementioned underground autonomous driving vehicle collision avoidance system.

[0051] In one embodiment, referring to Figure 4 , Figure 4 This is a flow chart of an embodiment of the underground autonomous driving vehicle collision avoidance method of this application. Figure 4 As shown, the underground autonomous driving vehicle collision avoidance method is applied to the aforementioned underground autonomous driving vehicle collision avoidance system, and the method includes:

[0052] Step S10: Utilize the roadside module and detect the collision risk of the autonomous driving vehicle based on the laser beam to generate a warning signal.

[0053] Exemplarily, in this embodiment, a roadside module capable of transmitting and receiving laser beams on the wall of the mine tunnel is used to determine whether the autonomous driving vehicle has a collision risk. It is understandable that, under normal conditions, the autonomous driving vehicle will not touch the laser beam and can drive normally; while under abnormal conditions, when the autonomous driving vehicle touches the laser beam, the laser beam will be interrupted or jumped, that is, the laser receiver cannot receive the laser emitted by the laser generator. At this time, the roadside module will determine that the autonomous driving vehicle has touched the laser beam, that is, there is a collision risk between the autonomous driving vehicle and the wall of the mine tunnel, and then generate a warning signal.

[0054] Step S20: Based on the warning signal, the operating condition information of the autonomous driving vehicle is obtained using the on-board communication terminal.

[0055] Exemplarily, in this embodiment, when the vehicle-mounted communication terminal receives a warning signal through the V2X module, the location information and speed information of the autonomous driving vehicle will be collected based on the bus, and the location information and speed information will be transmitted to the dispatching platform.

[0056] Step S30: Based on the operating condition information, the scheduling platform is used to determine a scheduling instruction.

[0057] Exemplarily, in this embodiment, the dispatching platform will determine the corresponding dispatching instructions based on the location information and vehicle speed information, and transmit the dispatching instructions to the autonomous driving module through the on-board communication terminal; it can be understood that the dispatching instructions include operating instructions and path information, wherein the path information is used to characterize the small path where the current autonomous driving vehicle is located, and the operating instructions are used to characterize the actions that the autonomous driving vehicle needs to perform, such as the autonomous driving vehicle continuing to drive, or the autonomous driving vehicle stopping running, etc.

[0058] Step S40: Based on the dispatch instruction, the automatic driving module is used to determine the control instruction, and the operation of the vehicle is controlled according to the control instruction to achieve the purpose of collision avoidance.

[0059] Exemplarily, in this embodiment, when the autonomous driving module obtains the dispatch instruction through the vehicle-mounted communication terminal, it will make decisions and plans based on the dispatch instruction to generate corresponding control instructions, and control the operation of the vehicle according to the control instruction, so as to avoid collision with the mine tunnel wall and achieve the purpose of collision avoidance.

[0060] Specifically, when the automatic driving module determines the control instruction according to the dispatch instruction, it mainly determines the action instruction of the automatic driving vehicle according to the operation instruction. For example, if the operation instruction is driving, the action instruction of the automatic driving vehicle is to continue driving. Similarly, if the operation instruction is to stop, the action instruction of the automatic driving vehicle is braking. At the same time, the steering instruction is determined according to the path information, and then the action instruction and the steering instruction are used as the final control instruction. For example, if the action instruction is to continue driving, assuming that the small path where the automatic driving vehicle is located is a straight segment according to the path information, then the center driving is directly used as the steering instruction, so that the automatic driving vehicle controls the vehicle to drive in the center, thereby avoiding the collision between the automatic driving vehicle and the wall of the mine tunnel; assuming that the small path where the automatic driving vehicle is located is a curve segment according to the path information, it is necessary to determine the target route corresponding to the curve radius of the small path according to the mapping relationship between the preset curve radius and the route, so that the automatic driving vehicle controls the vehicle to turn according to the target route, thereby avoiding the collision between the automatic driving vehicle and the wall of the mine tunnel.

[0061] It can be seen that this embodiment can fundamentally reduce the probability of collision events, and there is no need to install additional sensors such as rangefinders and radars on the vehicle, which effectively reduces the cost of the entire vehicle.

[0062] Among them, the implementation of each step in the above-mentioned underground autonomous driving vehicle collision avoidance method corresponds to the various parts in the above-mentioned underground autonomous driving vehicle collision avoidance system embodiment, and its implementation process will not be repeated here one by one.

[0063] On the third aspect, an embodiment of the present application provides an underground autonomous driving vehicle collision avoidance device, which can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0064] Reference Figure 5 , Figure 5 The hardware structure diagram of the underground autonomous driving vehicle collision avoidance device involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the underground autonomous driving vehicle collision avoidance device may include a processor, a memory, a communication interface, and a communication bus.

[0065] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0066] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the underground autonomous vehicle collision avoidance equipment, and the interface used to realize the interconnection between the underground autonomous vehicle collision avoidance equipment and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0067] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0068] The processor may be a general-purpose processor, which may call the underground autonomous driving vehicle collision avoidance program stored in the memory and execute the underground autonomous driving vehicle collision avoidance method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the underground autonomous driving vehicle collision avoidance program is called may refer to the various embodiments of the underground autonomous driving vehicle collision avoidance method of the present application, which will not be repeated here.

[0069] Those skilled in the art will understand that Figure 5The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0070] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0071] The readable storage medium of the present application stores an underground autonomous driving vehicle collision avoidance program, wherein when the underground autonomous driving vehicle collision avoidance program is executed by the processor, the steps of the underground autonomous driving vehicle collision avoidance method as described above are implemented.

[0072] Among them, the method implemented when the underground autonomous driving vehicle collision avoidance program is executed can refer to the various embodiments of the underground autonomous driving vehicle collision avoidance method of the present application. For the sake of brevity of description, it will not be repeated here.

[0073] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0074] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0075] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0076] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0077] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0078] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0079] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An underground autonomous driving vehicle collision avoidance system, characterized in that: The system includes: a roadside module, a vehicle-mounted communication terminal, a dispatching platform and an automatic driving module; The roadside module is deployed on the wall of the mine tunnel and is used to detect the collision risk of the autonomous driving vehicle based on the laser beam to generate a warning signal and send it to the vehicle-mounted communication terminal. There is a horizontal safety distance between the laser beam and the wall of the mine tunnel; The vehicle-mounted communication terminal is used to obtain the operating condition information of the automatic driving vehicle through the early warning signal and send it to the dispatching platform, wherein the operating condition information includes location information and vehicle speed information; The dispatching platform is used to determine a dispatching instruction according to the working condition information and send it to the automatic driving module through the vehicle-mounted communication terminal, wherein the dispatching instruction includes an operating instruction and path information; The automatic driving module is used to determine a control instruction based on the dispatch instruction, and control the operation of the vehicle according to the control instruction to achieve the purpose of collision avoidance; The roadside module includes a laser transmitter, a laser receiver and a signal trigger module; The laser transmitter and the laser receiver are arranged on the wall of the mine tunnel, and the laser receiver is used to receive the laser beam emitted by the laser transmitter; When at least a portion of the autonomous driving vehicle is located between the laser transmitter and the laser receiver, the laser receiver sends a target signal to the signal trigger module; The signal triggering module generates a warning signal based on the target signal; When the laser transmitter is located on the wall of the straight section of the mine tunnel, the direction of the laser beam is horizontal.

2. The underground autonomous driving vehicle collision avoidance system according to claim 1, characterized in that: When the laser transmitter is located on the wall of a turning section of a mine tunnel, the direction of the laser beam is vertical.

3. The underground autonomous driving vehicle collision avoidance system according to claim 2, characterized in that: The installation heights of the laser transmitter and the laser receiver are determined based on the front bumper height and / or rearview mirror height of the autonomous driving vehicle.

4. The underground autonomous driving vehicle collision avoidance system according to claim 1, characterized in that: The automatic driving module is used to determine an action instruction according to the operation instruction; The automatic driving module is used to determine a steering instruction based on the path information, and use the action instruction and the steering instruction as the control instruction.

5. The underground autonomous driving vehicle collision avoidance system according to claim 4, characterized in that: The autonomous driving module is used to determine whether the target path of the autonomous driving vehicle is a curve section according to the path information; If so, the autonomous driving module is used to determine the target route according to the curve radius corresponding to the target path, and use the target route as the steering instruction; If not, the autonomous driving module is configured to use centering as a steering instruction.

6. The underground autonomous driving vehicle collision avoidance system according to claim 1, characterized in that: The horizontal safety distance between the laser beam and the mine tunnel wall is determined based on the driving accuracy of the autonomous driving vehicle.

7. A method for avoiding collision of an underground autonomous driving vehicle, applied to the underground autonomous driving vehicle avoidance system according to any one of claims 1 to 6, characterized in that: The method comprises: Detecting the collision risk of the autonomous driving vehicle using the roadside module based on the laser beam to generate a warning signal; Based on the warning signal, using the vehicle-mounted communication terminal to obtain operating condition information of the autonomous driving vehicle; Based on the working condition information, determining a dispatch instruction using the dispatch platform; Based on the dispatching instruction, the automatic driving module is used to determine the control instruction, and the operation of the vehicle is controlled according to the control instruction to achieve the purpose of collision avoidance.

8. An underground autonomous driving vehicle anti-collision device, characterized in that: The underground autonomous driving vehicle collision avoidance device includes a processor, a memory, and an underground autonomous driving vehicle collision avoidance program stored in the memory and executable by the processor. When the underground autonomous driving vehicle collision avoidance program is executed by the processor, the steps of the underground autonomous driving vehicle collision avoidance method as described in claim 7 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an underground autonomous driving vehicle collision avoidance program, wherein when the underground autonomous driving vehicle collision avoidance program is executed by the processor, the steps of the underground autonomous driving vehicle collision avoidance method as described in claim 7 are implemented.

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