Automatic driving system and method for beam transport vehicle

Abstract

The present invention relates to the technical field of automatic control of beam transport vehicles, and specifically, to an automatic driving system and method for beam transport vehicles. The automatic driving system for beam transport vehicles provided by the present invention comprises: a path planning device; a collection device; a determination device, which is used to determine whether it is necessary to correct the travel route of the beam transport vehicle based on the driving direction vector and the forward direction vector of the current path interval; a path correction device, which is used to obtain a correction route for correcting the travel route of the beam transport vehicle based on a path correction model; the generated correction route has a first correction path, a second correction path and a third correction path connected in sequence, the first correction path and the third correction path are both turning routes, and the second correction path is a straight route. The automatic driving method for beam transport vehicles provided by the present invention realizes the correction of beam transport vehicles based on the above system. The present invention can better ensure the timeliness of the correction of beam transport vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of beam transport vehicles, and in particular to an automatic driving system and method for beam transport vehicles. Background Art

[0002] In the patent document CN 111561944 A, a beam transport vehicle operation path planning method and an automatic driving operation control method, a self-driving method for constructing a path equation and realizing the steering control of the beam transport vehicle based on the offset of the beam transport vehicle is disclosed. The deflection control angle α is obtained based on the formula α=k*d, where d is the offset. The disadvantages of this method are: 1. The steering command must be issued only when the offset occurs. This method makes it difficult to make timely actions at the bending points of the path. Instead, the vehicle waits for the offset to occur before turning. This method is obviously unreasonable; 2. In fact, the steering path of the vehicle is an arc route. This method, which only uses the offset as the adjustment object and the deflection control angle as the execution amount, will make the vehicle always in a dynamic adjustment process, which is obviously inconsistent with the needs of actual applications. Summary of the invention

[0003] The present invention provides an automatic driving system and method for a beam transport vehicle, which can overcome certain or some defects of the prior art.

[0004] The automatic driving system for a beam transport vehicle provided by the present invention comprises:

[0005] A path planning device, used to generate a plurality of path sections connected in sequence based on the travel route of the beam transport vehicle, wherein any path section is a straight line section;

[0006] A collection device, used to collect the real-time coordinates of the steering control point of the beam transport vehicle and the driving direction vector of the beam transport vehicle, and to obtain the starting point coordinates and the end point coordinates of the current path section based on the real-time coordinates of the steering control point;

[0007] A determination device, used to determine whether it is necessary to correct the traveling route of the beam transport vehicle based on the traveling direction vector and the forward direction vector of the current path section;

[0008] A path correction device is used to obtain a correction route for correcting the travel route of a beam transport vehicle based on a path correction model; the generated correction route has a first correction path, a second correction path and a third correction path connected in sequence, the first correction path and the third correction path are both turning routes, and the second correction path is a straight route.

[0009] Based on the above, it is possible to determine whether it is necessary to correct the route of the beam transport vehicle by using the driving direction vector and the forward direction vector of the current path interval. This method can realize the correction judgment of the beam transport vehicle when a large deviation occurs in the traveling direction of the beam transport vehicle, thereby better ensuring the timeliness of the correction of the beam transport vehicle.

[0010] Preferably, the steering control point is the center point of the front body of the beam transport vehicle in the forward direction; the acquisition device simultaneously acquires the real-time coordinates of the center point of the rear body of the beam transport vehicle in the forward direction, and acquires the driving direction vector of the beam transport vehicle based on the real-time coordinates of the steering control point and the real-time coordinates of the center point of the rear body of the beam transport vehicle in the forward direction. Thus, the acquisition of the driving direction vector can be achieved better.

[0011] Preferably, the forward direction vector of the current path section is obtained based on the starting point coordinates and the end point coordinates of the current path section, and the determination device is used to determine whether the angle between the driving direction vector and the forward direction vector of the current path section exceeds a set deflection threshold, if so, the route of the beam transport vehicle needs to be corrected, otherwise, the route of the beam transport vehicle does not need to be corrected. Therefore, the correction determination can be better achieved.

[0012] Preferably, the path correction model includes a first correction path model L1, a second correction path model L2 and a third correction path model L3.

[0013]

[0014] Among them, (a, b) is the turning point of the first correction path, p and q are the constant coefficients of the second correction path, (m, n) is the turning point of the third correction path, r1 is the turning radius of the first correction path, and r2 is the turning radius of the third correction path.

[0015] Based on the above, the simulation of the real turning route can be better achieved.

[0016] Preferably, the data acquired by the acquisition device include the real-time coordinates M1 (x1, y1) of the vehicle steering control point, the starting point coordinates M1 (x1, y1) of the current path section, s (x s ,y s ) and the end point coordinates M e (x e ,y e ), the vehicle's speed V;

[0017] The path correction device solves the path correction model by establishing constraint conditions and solving targets, and obtains control parameters of the first correction path, the second correction path, and the third correction path, wherein the control parameters include the steering angle and the duration of the steering angle, so as to better implement the execution of the correction route.

[0018] Preferably, the established constraints include:

[0019]

[0020] in,

[0021] The starting coordinates of the first correction path are M1 (x1, y1) and the end coordinates are M2 (x2, y2), the starting coordinates of the second correction path are M2 (x2, y2) and the end coordinates are M3 (x3, y3), and the starting coordinates of the third correction path are M3 (x3, y3) and the end coordinates are M4 (x4, y4);

[0022] L is the wheelbase of the beam transport vehicle, and α is the set maximum steering angle threshold;

[0023] The steering angle of the first correction path is α1, and the steering angle is maintained for t1. The steering angle of the second correction path is 0, and the steering angle is maintained for t2. The steering angle of the third correction path is α2, and the steering angle is maintained for t3.

[0024] Based on the above, the establishment of constraint relationships between various parameters can be achieved in a better manner.

[0025] Preferably, the solution target established is MIN(α1+α2) or MIN(t1+t2+t3); wherein, MIN(α1+α2) means that the sum of the steering angle α1 and the steering angle α2 is minimum, and MIN(t1+t2+t3) means that the sum of the steering angle maintenance time t1, the steering angle maintenance time t2 and the steering angle maintenance time t3 is minimum.

[0026] Therefore, it is possible to better achieve control with a minimum steering angle or a minimum correction time.

[0027] Preferably, the solution target is MIN [ω1*(α1+α2)+ω2*(t1+t2+t3], where ω1 and ω2 are corresponding preset coefficients. Therefore, it is possible to achieve a better balance between the minimum steering angle and the minimum time required for correction.

[0028] The automatic driving method for a beam transport vehicle provided by the present invention adopts any of the above-mentioned automatic driving systems for a beam transport vehicle to correct the traveling route of the beam transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the path correction device in Example 1 correcting the travel route of the beam transport vehicle. DETAILED DESCRIPTION

[0030] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it.

[0031] Combination Figure 1 In a specific embodiment of the present disclosure, a beam transport vehicle automatic driving system is provided, which includes:

[0032] A path planning device, used to generate a plurality of path sections connected in sequence based on the travel route of the beam transport vehicle, wherein any path section is a straight line section;

[0033] A collection device, used to collect the real-time coordinates of the steering control point of the beam transport vehicle and the driving direction vector of the beam transport vehicle, and to obtain the starting point coordinates and the end point coordinates of the current path section based on the real-time coordinates of the steering control point;

[0034] A determination device, used to determine whether it is necessary to correct the traveling route of the beam transport vehicle based on the traveling direction vector and the forward direction vector of the current path section;

[0035] A path correction device is used to obtain a correction route for correcting the travel route of a beam transport vehicle based on a path correction model; the generated correction route has a first correction path, a second correction path and a third correction path connected in sequence, the first correction path and the third correction path are both turning routes, and the second correction path is a straight route.

[0036] Based on the above, it is possible to determine whether it is necessary to correct the route of the beam transport vehicle by using the driving direction vector and the forward direction vector of the current path interval. This method can realize the correction judgment of the beam transport vehicle when a large deviation occurs in the traveling direction of the beam transport vehicle, thereby better ensuring the timeliness of the correction of the beam transport vehicle.

[0037] Taking an actual working condition as an example for specific explanation, when there is an angle between the next path interval and the current path interval, if the beam transport vehicle still travels in the driving direction of the current path interval when it is about to enter the next path interval, it will inevitably deviate from the driving route; the method of this embodiment can immediately perform a correction judgment when it is about to enter the next path interval, thereby ensuring the timeliness of the correction.

[0038] In addition, the correction route generated by the design has a first correction path, a second correction path and a third correction path connected in sequence. The first correction path and the third correction path are both turning routes, and the second correction path is a straight route. It can simulate the actual turning path of the vehicle and is therefore more in line with the actual situation.

[0039] In this embodiment, when the multiple path sections are generated, multiple path control points can be extracted from the center line of the driving route, and a straight line path formed between two adjacent path control points is a path section.

[0040] The steering control point is the center point of the front vehicle body in the forward direction of the beam transport vehicle ( Figure 1 M1); the collection device simultaneously collects the center point of the rear body of the beam transport vehicle in the forward direction ( Figure 1 The real-time coordinates of the beam transport vehicle (M0) are obtained, and the driving direction vector of the beam transport vehicle is obtained based on the real-time coordinates of the steering control point and the real-time coordinates of the center point of the rear vehicle body in the forward direction of the beam transport vehicle. Thus, the acquisition of the driving direction vector can be better achieved.

[0041] The forward direction vector of the current path section is obtained based on the starting point coordinates and the end point coordinates of the current path section, and the determination device is used to determine whether the angle between the driving direction vector and the forward direction vector of the current path section exceeds the set deflection threshold, if so, the route of the beam transport vehicle needs to be corrected, otherwise, the route of the beam transport vehicle does not need to be corrected. Therefore, the correction determination can be better achieved.

[0042] The forward direction vector of the current path section is a vector pointing from the starting point of the current path section to the end point, and the driving direction vector is a vector pointing from the center point of the rear vehicle body to the center point of the front vehicle body.

[0043] The path correction model includes a first correction path model L1, a second correction path model L2 and a third correction path model L3.

[0044]

[0045] Among them, (a, b) is the turning point of the first correction path, p and q are the constant coefficients of the second correction path, (m, n) is the turning point of the third correction path, r1 is the turning radius of the first correction path, and r2 is the turning radius of the third correction path.

[0046] Based on the above, the simulation of the real turning route can be better achieved.

[0047] The data acquired by the acquisition device include the real-time coordinates of the vehicle steering control point M1 (x1, y1), the starting point coordinates of the current path section M s (x s ,y s ) and the end point coordinates M e (x e ,y e ), the vehicle's speed V;

[0048] The path correction device solves the path correction model by establishing constraint conditions and solving targets, and obtains control parameters of the first correction path, the second correction path, and the third correction path, wherein the control parameters include the steering angle and the duration of the steering angle, so as to better implement the execution of the correction route.

[0049] The constraints established include:

[0050]

[0051] in,

[0052] The starting coordinates of the first correction path are M1 (x1, y1) and the end coordinates are M2 (x2, y2), the starting coordinates of the second correction path are M2 (x2, y2) and the end coordinates are M3 (x3, y3), and the starting coordinates of the third correction path are M3 (x3, y3) and the end coordinates are M4 (x4, y4);

[0053] L is the wheelbase of the beam transport vehicle, and α is the set maximum steering angle threshold;

[0054] The steering angle of the first correction path is α1, and the steering angle is maintained for t1. The steering angle of the second correction path is 0, and the steering angle is maintained for t2. The steering angle of the third correction path is α2, and the steering angle is maintained for t3.

[0055] Based on the above, the establishment of constraint relationships between various parameters can be achieved in a better manner.

[0056] It is particularly worth mentioning that by adding the constraint “(x e -x s )*(x4-m)+(y e -y s )*(y4-n)=0” can make the beam transport vehicle's travel direction consistent with the forward direction of the current path section when it is located at the end point of the third deviation correction path, so it can better avoid the beam transport vehicle being in a deviation correction state all the time.

[0057] The solution target is MIN(α1+α2) or MIN(t1+t2+t3); MIN(α1+α2) means the sum of steering angle α1 and steering angle α2 is minimum, and MIN(t1+t2+t3) means the sum of steering angle maintenance time t1, steering angle maintenance time t2 and steering angle maintenance time t3 is minimum. Therefore, it is possible to achieve the control of minimum steering angle or minimum correction time.

[0058] The solution target established can also be MIN [ω1*(α1+α2)+ω2*(t1+t2+t3)], where ω1 and ω2 are corresponding preset coefficients. Therefore, it is possible to achieve a better balance between the minimum steering angle and the minimum correction time.

[0059] In this embodiment, as a specific embodiment, ω1 and ω2 can both be 0.5. In practice, they can be set as needed.

[0060] In addition, another embodiment of the present invention discloses an automatic driving method for a beam transport vehicle, which uses any of the above-mentioned automatic driving systems for beam transport vehicles to correct the travel route of the beam transport vehicle.

[0061] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on one or several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0062] The present invention and its implementation methods are described schematically above, and the description is not restrictive. The embodiments shown in the embodiments are only part of the implementation methods of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the embodiments and designs a structure and an implementation method similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims

1. The beam transport vehicle automatic driving system includes: A path planning device, used to generate a plurality of path sections connected in sequence based on the travel route of the beam transport vehicle, wherein any path section is a straight line section; A collection device, used to collect the real-time coordinates of the steering control point of the beam transport vehicle and the driving direction vector of the beam transport vehicle, and to obtain the starting point coordinates and the end point coordinates of the current path section based on the real-time coordinates of the steering control point; A determination device, used to determine whether it is necessary to correct the traveling route of the beam transport vehicle based on the traveling direction vector and the forward direction vector of the current path section; A path correction device, used for obtaining a correction route for correcting the traveling route of the beam transport vehicle based on a path correction model; The generated deviation correction route has a first deviation correction path, a second deviation correction path and a third deviation correction path connected in sequence, the first deviation correction path and the third deviation correction path are both turning routes, and the second deviation correction path is a straight route; The steering control point is the center point of the front body of the beam transport vehicle in the forward direction; the acquisition device simultaneously acquires the real-time coordinates of the center point of the rear body of the beam transport vehicle in the forward direction, and obtains the driving direction vector of the beam transport vehicle based on the real-time coordinates of the steering control point and the real-time coordinates of the center point of the rear body of the beam transport vehicle in the forward direction; The path correction model includes a first correction path model L1, a second correction path model L2 and a third correction path model L3. Wherein, (a, b) is the turning point of the first deviation correction path, p and q are the constant coefficients of the second deviation correction path, (m, n) is the turning point of the third deviation correction path, r1 is the turning radius of the first deviation correction path, and r2 is the turning radius of the third deviation correction path; The data acquired by the acquisition device include the real-time coordinates of the vehicle steering control point M1 (x1, y1), the starting point coordinates of the current path section M s (x s ,y s ) and the end point coordinates M e (x e ,y e ), the vehicle's speed V; The path correction device solves the path correction model by establishing constraint conditions and solution targets, and obtains control parameters of the first correction path, the second correction path, and the third correction path, wherein the control parameters include the steering angle and the duration of the steering angle maintenance; The constraints established include: in, The starting coordinates of the first correction path are M1 (x1, y1) and the end coordinates are M2 (x2, y2), the starting coordinates of the second correction path are M2 (x2, y2) and the end coordinates are M3 (x3, y3), and the starting coordinates of the third correction path are M3 (x3, y3) and the end coordinates are M4 (x4, y4); L is the wheelbase of the beam transport vehicle, and α is the set maximum steering angle threshold; The steering angle of the first deviation correction path is α1, and the steering angle is maintained for t1. The steering angle of the second deviation correction path is 0, and the steering angle is maintained for t2. The steering angle of the third deviation correction path is α2, and the steering angle is maintained for t3. The solution target established is MIN(α1+α2) or MIN(t1+t2+t3); wherein MIN(α1+α2) means that the sum of the steering angle α1 and the steering angle α2 is minimum, and MIN(t1+t2+t3) means that the sum of the steering angle maintenance time t1, the steering angle maintenance time t2 and the steering angle maintenance time t3 is minimum; Or the established solution target is MIN [ω1*(α1+α2)+ω2*(t1+t2+t3)], where ω1 and ω2 are corresponding preset coefficients.

2. The automatic driving system for beam transport vehicles according to claim 1, characterized in that: The forward direction vector of the current path interval is obtained based on the starting point coordinates and the end point coordinates of the current path interval. The judgment device is used to determine whether the angle between the driving direction vector and the forward direction vector of the current path interval exceeds the set deflection threshold. If so, the route of the beam transport vehicle needs to be corrected; otherwise, the route of the beam transport vehicle does not need to be corrected.

3. The automatic driving system for beam transport vehicles according to claim 1, characterized in that: ω1 and ω2 are both 0.

5.

4. An automatic driving method for a beam transport vehicle, characterized in that: The beam transport vehicle automatic driving system described in any one of claims 1 to 3 is used to correct the route of the beam transport vehicle.

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