Carrying vehicle control method, device and equipment and storage medium

Abstract

The invention provides a carrier vehicle control method, device and equipment and a storage medium, a carrier vehicle runs on a fixed driving road section, the running process of the carrier vehicle is divided into a plurality of running stages in advance, and a reference speed is determined according to the current driving road section of the carrier vehicle; according to the reference speed and the obtained actual speed of the carrier vehicle, the operation stage of the carrier vehicle is determined, so that the recognition process of the operation stage of the carrier vehicle can be optimized, the recognition accuracy of the operation stage is improved, and the robustness and maintainability of a control system are enhanced. According to the method, the control instruction corresponding to the operation stage is called to control the acceleration of the carrier vehicle, so that the acceleration can be reasonably controlled according to different operation stages of the carrier vehicle, and the problems that the carrier vehicle is started too fast and is difficult to stop accurately can be avoided.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology in mines, and in particular to a method, device, equipment and storage medium for controlling a transport vehicle. Background Art

[0002] With the rapid advancement of science and technology, smart mines have become an inevitable trend in the development of the mining industry. Smart mine solutions aim to achieve intelligent, efficient and green mines by integrating advanced technologies such as the Internet of Things, cloud computing, big data, and artificial intelligence, thereby promoting the sustainable development of the mining industry.

[0003] Self-driving mine trucks are the most critical participants in smart mines. Self-driving mine trucks usually go through multiple stopping and starting processes in a single operation cycle. In related technologies, most of them use separation logic to judge the operation process of the self-driving mine truck and realize the corresponding functions. However, each judgment process of this separation logic involves the complex superposition of many judgment conditions, and there are problems such as numerous and complex judgment conditions, low recognition accuracy of the operation process, and difficulty in maintaining the system in the later stage. In addition, this separation logic also faces the problem of difficulty in reasonably controlling the self-driving mine truck, for example, it is difficult to accurately park the self-driving mine truck, it is difficult to reasonably limit the throttle when starting the self-driving mine truck, and so on. Summary of the invention

[0004] In view of this, the present application provides a vehicle control method, device, equipment and storage medium to solve the above technical problems.

[0005] In a first aspect of the present application, a method for controlling a transport vehicle is provided, wherein the transport vehicle is operated on a fixed driving section, and the operation process of the transport vehicle is pre-divided into a plurality of operation phases, the method comprising:

[0006] Determining a reference speed according to the current driving section of the transport vehicle;

[0007] Determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle;

[0008] A control instruction corresponding to the operation phase is called to control the acceleration of the transport vehicle.

[0009] According to an embodiment of the present application, the multiple operating stages include a stationary stage, a driving-off stage, and a starting stage, and determining the operating stage of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle includes:

[0010] When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage;

[0011] When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase;

[0012] The calling of the control instruction corresponding to the operation stage to control the acceleration of the transport vehicle includes:

[0013] When it is determined that the transport vehicle is in the departure phase or the start phase, determining whether the transport vehicle is unloaded;

[0014] If the transport vehicle is unloaded, calling a first control instruction to control the transport vehicle to accelerate at a first acceleration;

[0015] Otherwise, a second control instruction is called to control the transport vehicle to accelerate at a second acceleration, wherein the second acceleration is smaller than the first acceleration.

[0016] According to an embodiment of the present application, the first control instruction and the second control instruction respectively include a preset first throttle limit value and a second throttle limit value, and calling the first control instruction to control the transport vehicle to accelerate at a first acceleration includes:

[0017] calling the first control instruction so that the transport vehicle adjusts the throttle opening to the first throttle limit value according to the first control instruction, and the transport vehicle accelerates at the first acceleration when the throttle opening is the first throttle limit value;

[0018] The calling of the second control instruction to control the transport vehicle to accelerate at a second acceleration includes:

[0019] The second control instruction is called so that the transport vehicle adjusts the throttle opening to the second throttle limit value according to the second control instruction, and the transport vehicle accelerates at the second acceleration when the throttle opening is the second throttle limit value.

[0020] According to one embodiment of the present application, the multiple operation phases include a parking phase, and determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle includes:

[0021] If the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage;

[0022] The calling of the control instruction corresponding to the operation stage to control the acceleration of the transport vehicle includes:

[0023] In the case where it is determined that the transport vehicle is in the parking stage, obtaining a distance between the transport vehicle and an end point of the trajectory of the transport vehicle;

[0024] When the distance is less than a first preset threshold, a third control instruction is called to control the transport vehicle to decelerate at a third acceleration.

[0025] According to an embodiment of the present application, the multiple operating stages include a stationary stage, and determining the operating stage of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle includes:

[0026] If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary stage;

[0027] After calling the third control instruction to control the transport vehicle to decelerate at a third acceleration, the method further includes:

[0028] Determining whether the running phase of the transport vehicle is switched to the stationary phase;

[0029] If the vehicle is switched to the stationary phase and the time the vehicle is in the stationary phase is greater than a second preset threshold, a fourth control instruction is called to control the vehicle to perform a parking operation.

[0030] According to one embodiment of the present application, the third control instruction is used to provide a preset maximum braking value, and the fourth control instruction is used to clear the maximum braking value and provide a parking signal.

[0031] According to an embodiment of the present application, the multiple operating stages include a stationary stage, a departure stage, a starting stage, a driving stage, and a parking stage, and determining the operating stage of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle includes:

[0032] If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary stage;

[0033] When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage;

[0034] When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase;

[0035] When the transport vehicle is in the starting stage, if both the reference speed and the actual speed are not 0, the actual speed is greater than the reference speed, and the actual speed is greater than a third preset threshold, it is determined that the transport vehicle is switched to the driving stage;

[0036] When the transport vehicle is in the starting stage or the driving stage, if the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage;

[0037] When the transport vehicle is in the parking stage, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the driving stage.

[0038] In a second aspect of the present application, a control device for a transport vehicle is provided, wherein the transport vehicle is operated on a fixed driving section, and the operation process of the transport vehicle is pre-divided into a plurality of operation stages, and the device comprises:

[0039] A first determining unit, configured to determine a reference speed according to a current driving section of the transport vehicle;

[0040] a second determining unit, configured to determine the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle;

[0041] The control unit is used to call the control instructions corresponding to the operation stage to control the acceleration of the transport vehicle.

[0042] In a third aspect of the present application, an electronic device is provided, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the steps of the method proposed in the above embodiment.

[0043] In a fourth aspect of the present application, a transport vehicle is provided, wherein the transport vehicle comprises the electronic device as described in the third aspect.

[0044] In a fifth aspect of the present application, a machine-readable storage medium is provided, wherein the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by a processor, the steps of the method proposed in the above embodiment are implemented.

[0045] In a sixth aspect of the present application, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the method proposed in the above embodiment when executed by a processor.

[0046] It can be seen from the above technical solutions that the transport vehicle runs on a fixed driving section, and the operation process of the transport vehicle is pre-divided into multiple operation stages. By determining the reference speed according to the current driving section of the transport vehicle, and determining the operation stage of the transport vehicle according to the reference speed and the actual speed of the transport vehicle obtained, the identification process of the operation stage of the transport vehicle can be optimized, thereby improving the accuracy of the operation stage identification and enhancing the robustness and maintainability of the control system. By calling the control instructions corresponding to the operation stage to control the acceleration of the transport vehicle, the acceleration can be reasonably controlled for different operation stages of the transport vehicle, thereby avoiding the problem of the transport vehicle starting too fast and difficulty in accurately stopping.

[0047] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flow chart of a method for controlling a transport vehicle provided in an embodiment of the present application;

[0049] Figure 2 It is a schematic diagram of the rotation of a transport vehicle in the operation phase provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic diagram of a process flow of a mine car starting control provided by an embodiment of the present application;

[0051] Figure 4 It is a flow chart of a mine car parking control provided by an embodiment of the present application;

[0052] Figure 5 is a schematic structural diagram of a transport vehicle control device provided in an embodiment of the present application;

[0053] Figure 6 It is a schematic diagram of the hardware structure of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0055] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0056] In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0057] With the rapid advancement of science and technology, smart mines have become an inevitable trend in the development of the mining industry. Smart mine solutions aim to achieve intelligent, efficient and green mines by integrating advanced technologies such as the Internet of Things, cloud computing, big data, and artificial intelligence, thereby promoting the sustainable development of the mining industry.

[0058] Autonomous driving mine trucks are the most critical participants in smart mines. Autonomous driving mine trucks usually go through multiple parking and starting stages in a single operation cycle.

[0059] In the related technologies, separation logic is mostly used to determine the stage of the autonomous mining car and realize the corresponding functions. However, each judgment process of this separation logic involves the complex superposition of many judgment conditions. In the actual application process, there are problems such as numerous and complex judgment conditions, low stage recognition accuracy, and difficulty in maintaining the system in the later stage.

[0060] In addition, this separation logic also faces the problem of difficulty in reasonably controlling the self-driving mine car. For example, during the parking stage, it is difficult to control the mine car to accurately stop at the parking point planned by the upstream module, resulting in obstruction of subsequent loading work; after the mine car stops, it is difficult to identify and control the mine car to enter a long-term parking state, resulting in a reduction in the service life of the mine car's longitudinal actuator; during the starting stage, it is difficult to reasonably control the throttle of the mine car. If the throttle is too large, the mine car will start too fast, and starting too fast will cause the mine car to respond to complex road conditions after starting. It is very likely that an unsafe incident will occur, which will directly affect driving safety.

[0061] In view of this, an embodiment of the present application discloses a transport vehicle control method to solve the above technical problems.

[0062] like Figure 1 As shown, Figure 1 1 is a flow chart of a method for controlling a transport vehicle provided in an embodiment of the present application. The embodiment of the present application does not limit the execution subject of the method flow. Optionally, the execution subject may be the transport vehicle itself, or a computing device used for controlling the transport vehicle, etc.

[0063] In an embodiment of the present application, the transport vehicle operates on a fixed driving section, and the operation process of the transport vehicle is pre-divided into multiple operation stages.

[0064] A transport vehicle refers to a vehicle used to transport goods or people. For example, a transport vehicle may be a mine car used to transport mineral resources such as coal and iron ore in a mining scenario, such as an autonomous mine car. Of course, the embodiments of the present application do not specifically limit the type of transport vehicle. For example, the transport vehicle may also be an ordinary truck, a container truck, etc., which play their own unique transportation role in different application scenarios.

[0065] The transport vehicles are restricted to operate on pre-set, fixed driving sections, and the operation process of the transport vehicles on these driving sections is pre-divided into multiple operation stages, each of which has corresponding speed limits and control instructions.

[0066] Exemplarily, the operation process of a mine car operating on a fixed driving section in a mine is pre-divided into five operation phases, including a stationary phase, a departure phase, a starting phase, a driving phase, and a parking phase.

[0067] The vehicle control method may include the following steps:

[0068] S101: determining a reference speed according to the current driving section of the transport vehicle;

[0069] The current driving section of the transport vehicle can be determined first, and then the reference speed of the transport vehicle can be determined based on the current driving section, wherein the reference speed refers to the driving speed that the transport vehicle should reach in the current driving section, which is a guiding speed.

[0070] In some embodiments, the transport vehicle may be positioned to determine the current driving section of the transport vehicle, and then a reference speed of the transport vehicle on the current driving section may be planned based on the current driving section and the speed limit on the current driving section.

[0071] Exemplarily, the speed limit conditions on the driving section may include pre-set, fixed speed limit conditions, such as section characteristics such as turning radius and slope, and may also include real-time speed limit conditions, such as traffic flow, weather conditions, etc.

[0072] For example, the transport vehicle can be positioned through GPS or on-board sensors to determine the current driving section of the transport vehicle; the speed limit conditions on the current driving section can be obtained, including turning radius, slope size and traffic flow; a basic speed can be determined according to the current driving section, and then the basic speed can be adjusted according to the speed limit conditions such as turning radius, slope size and traffic flow, so as to plan the reference speed of the transport vehicle on the current driving section.

[0073] Of course, the embodiments of the present application do not specifically limit the method of "determining the reference speed according to the current driving section of the transport vehicle". For example, deep learning models, machine learning methods, etc. can also be used.

[0074] S102: determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle;

[0075] After the reference speed is obtained according to S101, the actual speed of the transport vehicle is obtained, and the operating stage of the transport vehicle is determined according to the reference speed and the actual speed obtained, so as to optimize the identification process of the operating stage of the transport vehicle, avoid numerous and complex judgment conditions, and thus improve the accuracy of the operating stage identification and enhance the robustness and maintainability of the control system.

[0076] In some embodiments, the operation process of the transport vehicle is pre-divided into five operation stages, namely, a stationary stage, a departure stage, a starting stage, a driving stage, and a parking stage.

[0077] If the reference speed and the actual speed are both 0, it is determined that the transport vehicle switches to the stationary stage;

[0078] When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage;

[0079] When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase.

[0080] When the transport vehicle is in the starting stage, if both the reference speed and the actual speed are not 0, and the actual speed is greater than the reference speed, and the actual speed is greater than a third preset threshold, it is determined that the transport vehicle is switched to the driving stage.

[0081] When the transport vehicle is in the starting stage, if the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage.

[0082] When the transport vehicle is in the driving stage, if the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage.

[0083] When the transport vehicle is in the parking stage, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the driving stage.

[0084] like Figure 2 As shown, Figure 2This is a rotation diagram of a transport vehicle in the operation phase provided by an embodiment of the present application. Among them, ref_v represents the reference speed of the transport vehicle, in m / s; ego_v represents the actual speed of the transport vehicle, in m / s, and the displacement of the transport vehicle between two positions can be obtained by positioning the transport vehicle at different time points, and the actual speed of the transport vehicle can be solved by combining the time interval between the two time points; determine_v represents the third preset threshold, that is, the determination speed for determining the end of the start of the transport vehicle, in m / s, and an exemplary determine_v can be 3m / s.

[0085] Combination Figure 2 , the switching relationship between the five operating stages of the transport vehicle is:

[0086] When the reference speed ref_v and the actual speed ego_v of the transport vehicle are both 0m / s, the running phase of the transport vehicle switches to the stationary phase;

[0087] When the transport vehicle is in the stationary stage, when the reference speed ref_v is not 0m / s and the actual speed ego_v is 0m / s, the operation stage of the transport vehicle is switched to the departure stage;

[0088] When the transport vehicle is in the departure phase, when the reference speed ref_v is 0m / s and the actual speed ego_v is also 0m / s, the operation phase of the transport vehicle switches back to the stationary phase; when it is also in the departure phase, when the reference speed ref_v is not 0m / s and the actual speed ego_v is not 0m / s, the operation phase of the transport vehicle switches to the starting phase;

[0089] When the transport vehicle is in the starting stage, when the reference speed ref_v is 0m / s and the actual speed ego_v is not 0m / s, the operation stage of the transport vehicle is switched to the parking stage; also in the starting stage, when the reference speed ref_v is not 0m / s, the actual speed ego_v is not 0m / s, the actual speed ego_v is greater than the reference speed ref_v, and the actual speed ego_v is greater than the determination speed determine_v, the operation stage of the transport vehicle is switched to the driving stage;

[0090] When the transport vehicle is in the driving stage, when the reference speed ref_v is 0m / s and the actual speed ego_v is not 0m / s, the running stage of the transport vehicle is switched to the parking stage;

[0091] When the transport vehicle is in the docking stage, when the reference speed ref_v is not 0m / s and the actual speed ego_v is not 0m / s, the operation stage of the transport vehicle switches back to the driving stage; also in the docking stage, when the reference speed ref_v is 0m / s and the actual speed ego_v is also 0m / s, the operation stage of the transport vehicle switches to the stationary stage.

[0092] In an embodiment of the present application, the operating phases of the transport vehicle are predefined and differentiated, and the operating phases are switched and rotated by combining the reference speed and actual speed of the transport vehicle, so that the identification process of the operating phase of the transport vehicle can be optimized, thereby improving the accuracy of operating phase identification and enhancing the robustness and maintainability of the control system.

[0093] S103: calling a control instruction corresponding to the operation stage to control the acceleration of the transport vehicle.

[0094] Each operating stage is pre-set with a corresponding control instruction. After the operating stage of the transport vehicle is determined according to S102, the control instruction corresponding to the operating stage is called to control the acceleration of the transport vehicle, including calling the control instruction corresponding to the operating stage to control the transport vehicle to accelerate at an acceleration, or calling the control instruction corresponding to the operating stage to control the transport vehicle to decelerate at an acceleration.

[0095] In some embodiments, the operation phases of the transport vehicle include a stationary phase, a departure phase, and a start phase. If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary phase; when the transport vehicle is in the stationary phase, if the reference speed is not 0 and the actual speed is 0, it can be determined that the transport vehicle is switched to the departure phase; when the transport vehicle is in the departure phase, if the reference speed and the actual speed are both not 0, it can be determined that the transport vehicle is switched to the start phase.

[0096] After determining that the transport vehicle is in the departure phase or the start phase, first determine whether the transport vehicle is unloaded.

[0097] If the transport vehicle is unloaded, calling a first control instruction to control the transport vehicle to accelerate at a first acceleration;

[0098] If the transport vehicle is not empty, a second control instruction is called to control the transport vehicle to accelerate at a second acceleration, wherein the second acceleration may be smaller than the first acceleration.

[0099] For example, if the transport vehicle is empty, the first control instruction is called to control the transport vehicle to move at a speed of 0.9 m / s. 2 The vehicle accelerates at an acceleration of . Under this acceleration condition, the vehicle starts smoothly without any overshoot or overspeed.

[0100] If the transport vehicle is not empty, but fully loaded, the second control instruction is called to control the transport vehicle to move at a speed of 0.6 m / s. 2 The vehicle is accelerated at an acceleration of . Under this acceleration condition, the vehicle starts relatively smoothly without any overshoot or overspeed.

[0101] In this embodiment, for the departure phase and the starting phase involved in the starting process of the transport vehicle, when the transport vehicle is in any of the above phases, the corresponding control instructions are called according to the empty or full-load state of the transport vehicle to control the transport vehicle to accelerate with the corresponding acceleration, so that the acceleration of the starting process of the transport vehicle can be reasonably limited, thereby avoiding the problem of the transport vehicle starting too fast.

[0102] In some embodiments, two different groups of throttle limit parameters are preset, namely, a first throttle limit value and a second throttle limit value. The first control instruction includes the first throttle limit value, and the second control instruction includes the second throttle limit value.

[0103] If the transport vehicle is unloaded, the first control instruction is called, and the transport vehicle can obtain and execute the first control instruction to apply the first throttle limit value contained in the first control instruction to the throttle control of the transport vehicle, that is, adjust the throttle opening of the transport vehicle to the first throttle limit value.

[0104] The transport vehicle may accelerate at a first acceleration when the accelerator opening is at a first accelerator limit value.

[0105] If the transport vehicle is not unloaded, the second control instruction is called, and the transport vehicle can obtain and execute the second control instruction to apply the second throttle limit value contained in the second control instruction to the throttle control of the transport vehicle, that is, adjust the throttle opening of the transport vehicle to the second throttle limit value.

[0106] The transport vehicle can accelerate at a second acceleration when the throttle opening is at a second throttle limit value, wherein the second acceleration is smaller than the first acceleration.

[0107] In this embodiment, for the departure phase and the starting phase involved in the starting process of the transport vehicle, when the transport vehicle is in any of the above phases, the corresponding control instructions are called according to the empty or full-load status of the transport vehicle, and the throttle opening of the transport vehicle is adjusted to the throttle limit value contained in the corresponding control instruction. The throttle limit value is used to reasonably limit the acceleration of the departure phase and the starting phase, thereby avoiding the problem of the transport vehicle starting too fast.

[0108] In some embodiments, the throttle opening T is related to the theoretical acceleration a of the vehicle. cmd The relationship between them is as follows:

[0109]

[0110] Wherein, k represents the maximum acceleration of the transport vehicle. In this embodiment, the maximum acceleration of the transport vehicle is 2m / s 2 , that is, the value of k here is 2.

[0111] According to the above relationship, when the throttle opening T of the transport vehicle is 100%, the theoretical acceleration a of the transport vehicle is cmd 2m / s 2 When the transport vehicle starts from a standstill, the acceleration value is too large, and the transport vehicle may start too fast and overshoot, so this is restricted.

[0112] When the transport vehicle is unloaded, if the throttle opening T is set to 50%, the theoretical acceleration a can be obtained according to the above relationship: cmd 1m / s 2 Through actual vehicle testing and calculation, the actual acceleration that can be provided at this throttle opening is 0.9m / s 2 Under this acceleration, the vehicle starts relatively smoothly without any overshoot or overspeed.

[0113] Therefore, the first throttle limit value may be preset to 50%.

[0114] When the transport vehicle is fully loaded, if the throttle opening T is set to 50%, due to the increase in the load of the transport vehicle, the start is slower than that of an empty vehicle at the same throttle opening. In order to avoid the vehicle starting too slowly, the throttle opening under full load needs to be adjusted. If the throttle opening T is set to 60%, according to the above relationship, the theoretical acceleration a can be obtained cmd 1.2m / s 2 Through actual vehicle test calculations, the actual acceleration that can be provided at this throttle opening is 0.6m / s 2 Under this acceleration, the vehicle starts relatively smoothly without any overshoot or overspeed.

[0115] Therefore, the second throttle limit value may be preset to 60%.

[0116] In some embodiments, the operation phase of the transport vehicle includes a parking phase.

[0117] When the transport vehicle is in the starting stage or the driving stage, if the reference speed is 0 and the actual speed is not 0, the transport vehicle switches to the parking stage. When it is determined that the transport vehicle is in the parking stage, the distance between the transport vehicle and the end point of the trajectory of the transport vehicle is obtained, where the end point of the trajectory of the transport vehicle may be the end point of the trajectory of the transport vehicle on the current driving section.

[0118] When the distance between the transport vehicle and the end point of the trajectory of the transport vehicle is less than a first preset threshold, a third control instruction is called to control the transport vehicle to decelerate at a third acceleration.

[0119] Exemplarily, the first preset threshold may be 0.5 m, 1 m, etc.

[0120] For example, the third control instruction may be a maximum braking value instruction, that is, the third control instruction is used to provide a preset maximum braking value. The maximum braking value refers to a preset maximum braking force or action value that can slow down or stop the vehicle. For example, the maximum braking value may be -3.0 m / s 2 .

[0121] In this embodiment, when the transport vehicle is in the docking stage, by obtaining the distance between the transport vehicle and the end point of the trajectory of the transport vehicle, when the distance is less than a first preset threshold, a third control instruction is called to control the transport vehicle to decelerate at a third acceleration, so that precise docking can be achieved when the transport vehicle is in the docking stage, that is, it can be accurately docked at the planned docking point.

[0122] In some embodiments, the operating phase of the vehicle includes a stationary phase.

[0123] When the vehicle is in the parking stage, after calling the third control instruction to control the vehicle to decelerate at the third acceleration, the actual speed of the vehicle can be reduced to 0 m / s. When the vehicle is in the parking stage, if the actual speed of the vehicle is 0 and the reference speed is also 0, the operation stage of the vehicle is switched from the previous parking stage to the static stage.

[0124] If the time that the transport vehicle is in the stationary stage is greater than the second preset threshold, the fourth control instruction is called to control the transport vehicle to perform a parking operation.

[0125] Exemplarily, the second preset threshold may be 10 seconds, 20 seconds, etc.

[0126] Exemplarily, the fourth control instruction can be used to clear the maximum braking value and provide a parking signal, wherein the parking signal can be used to control the vehicle to pull up the handbrake, thereby realizing a long-term parking logic function.

[0127] In this embodiment, when the time when the transport vehicle is in the stationary stage is greater than the second preset threshold, the fourth control instruction is called to control the transport vehicle to perform a parking operation. Since the fourth control instruction can be used to clear the maximum braking value and provide a parking signal, the consumption of the longitudinal actuator of the transport vehicle can be reduced by pulling up the parking brake after the braking is completed, thereby increasing the service life of the entire vehicle.

[0128] In an embodiment of the present application, the transport vehicle is operated on a fixed driving section, and the operation process of the transport vehicle is pre-divided into multiple operation stages. By determining a reference speed according to the current driving section of the transport vehicle, and determining the operation stage of the transport vehicle according to the reference speed and the actual speed of the transport vehicle obtained, the identification process of the operation stage of the transport vehicle can be optimized, thereby improving the accuracy of the operation stage identification and enhancing the robustness and maintainability of the control system. By calling the control instructions corresponding to the operation stage to control the acceleration of the transport vehicle, the acceleration can be reasonably controlled for different operation stages of the transport vehicle, thereby avoiding the problem of the transport vehicle starting too fast and being difficult to stop accurately.

[0129] like Figure 3 As shown, Figure 3 It is a flow chart of a mine car starting control provided in an embodiment of the present application.

[0130] In some embodiments, the transport vehicle may be a mine car, which runs on a fixed driving section, and the running process of the mine car is pre-divided into a stationary stage, a departure stage, a starting stage, a driving stage, and a parking stage. The starting process of the mine car includes a departure stage and a starting stage. If the mine car is in any stage of the above starting process, the starting throttle of the mine car needs to be restricted, otherwise, the throttle of the mine car does not need to be restricted.

[0131] The reference speed is determined according to the current driving section of the minecart, and the actual speed of the minecart is obtained by solving the minecart positioning. If the reference speed and actual speed of the minecart are both 0, it is determined that the minecart switches to the stationary stage.

[0132] According to the reference speed and actual speed of the minecart, it is determined whether the minecart is in the departure stage or the starting stage. When the minecart is in the stationary stage, if the reference speed of the minecart is not 0 and the actual speed is 0, it is determined that the minecart is in the departure stage; when the minecart is in the departure stage, if the reference speed of the minecart is not 0 and the actual speed is not 0, it is determined that the minecart is in the starting stage.

[0133] After determining that the mine car is in the departure phase or the starting phase, continue to determine whether the mine car is empty.

[0134] If the mine car is unloaded, the first control instruction is called, and the mine car can obtain and execute the first control instruction to apply the first throttle limit value contained in the first control instruction to the throttle control of the mine car, that is, adjust the throttle opening of the mine car to the first throttle limit value.

[0135] If the mine car is fully loaded, the second control instruction is called, and the mine car can obtain and execute the second control instruction to apply the second throttle limit value contained in the second control instruction to the throttle control of the mine car, that is, adjust the throttle opening of the mine car to the second throttle limit value.

[0136] In this embodiment, for the departure phase and the starting phase involved in the mine car starting process, when the transport vehicle is in any of the above phases, the corresponding control instructions are called according to the empty or full load status of the transport vehicle, and the throttle opening of the transport vehicle is adjusted to the throttle limit value contained in the corresponding control instructions. The throttle limit value is used to reasonably limit the acceleration of the departure phase and the starting phase, thereby avoiding the problem of the mine car starting too fast.

[0137] like Figure 4 As shown, Figure 4 It is a flow chart of a mine car parking control provided by an embodiment of the present application. In some embodiments, the transport vehicle may be a mine car, which runs on a fixed driving section, and the running process of the mine car is pre-divided into a stationary phase, a departure phase, a starting phase, a driving phase, and a parking phase.

[0138] The reference speed is determined according to the current driving section of the mine car, and the actual speed of the mine car is obtained by solving the mine car positioning.

[0139] According to the reference speed and actual speed of the minecart, it is determined whether the minecart is in the docking stage.

[0140] When the mine car is in the starting stage, if the reference speed of the mine car is 0 and the actual speed is not 0, it is determined that the mine car is in the parking stage. In addition, when the mine car is in the driving stage, if the reference speed is 0 and the actual speed is not 0, it can also be determined that the mine car is switched to the parking stage. For the mine car in the starting stage and the driving stage, refer to the relevant description of S102, which will not be repeated here.

[0141] After determining that the minecart is in the docking stage, the distance lr between the minecart and the end point of the minecart track is obtained.

[0142] It is determined whether lr is less than a preset threshold lt, where lt can be preset to 0.5m.

[0143] If lr is less than lt, the third control instruction is called to control the mine car to decelerate at the third acceleration. Specifically, the third control instruction may be a maximum braking value instruction, that is, the third control instruction is used to provide a preset maximum braking value, which refers to the preset maximum deceleration that can slow down or stop the mine car, and the maximum braking value may be -3.0m / s 2 .

[0144] Determine whether the mine car switches to the stationary stage. After calling the third control instruction to control the mine car to decelerate at the third acceleration, the actual speed of the mine car can be reduced to 0m / s. If the actual speed of the mine car is reduced to 0 and the reference speed is also 0, it is determined that the mine car switches from the parking stage to the stationary stage.

[0145] When it is determined that the mine car switches to the stationary stage, the timing starts, and it is determined whether the time the mine car is in the stationary stage exceeds 10 seconds.

[0146] If the mine car is in the stationary stage for more than 10 seconds, the fourth control instruction is called to control the mine car to perform the parking operation. Specifically, the fourth control instruction is used to clear the maximum braking value and provide a parking signal, which can be used to control the mine car to pull up the handbrake, thereby realizing the parking and long-term parking logic functions.

[0147] In this embodiment, when the mine car is in the docking stage, by obtaining the distance lr between the mine car and the end point of the mine car track, the third control instruction is called to control the mine car to decelerate at the third acceleration when lr is less than the preset threshold value lt, so that the mine car can be accurately docked when it is in the docking stage, and it can be accurately docked at the planned docking point. In addition, after long-term braking, the fourth control instruction can be called to control the mine car to perform a parking operation. Since the fourth control instruction is used to clear the maximum braking value and provide a parking signal, the consumption of the mine car longitudinal actuator can be reduced by pulling up the parking brake after the braking is completed, thereby improving the service life of the entire vehicle.

[0148] The above content describes the method provided by the present application. The following describes the device provided by the present application:

[0149] See also Figure 5 , is a schematic diagram of the structure of a transport vehicle control device provided in an embodiment of the present application.

[0150] like Figure 5 As shown, the device may include:

[0151] A first determining unit 510 is used to determine a reference speed according to a current driving section of the transport vehicle;

[0152] A second determining unit 520, configured to determine the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle;

[0153] The control unit 530 is used to call the control instructions corresponding to the operation stage to control the acceleration of the transport vehicle.

[0154] Optionally, the multiple operating stages include a stationary stage, a driving-off stage, and a starting stage, and the second determining unit 520 is specifically configured to:

[0155] When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage;

[0156] When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase;

[0157] The control unit 530 is specifically used for:

[0158] When it is determined that the transport vehicle is in the departure phase or the start phase, determining whether the transport vehicle is unloaded;

[0159] If the transport vehicle is unloaded, calling a first control instruction to control the transport vehicle to accelerate at a first acceleration;

[0160] Otherwise, a second control instruction is called to control the transport vehicle to accelerate at a second acceleration, wherein the second acceleration is smaller than the first acceleration.

[0161] Optionally, the first control instruction and the second control instruction respectively include a preset first throttle limit value and a preset second throttle limit value, and the control unit 530 is specifically configured to:

[0162] calling the first control instruction so that the transport vehicle adjusts the throttle opening to the first throttle limit value according to the first control instruction, and the transport vehicle accelerates at the first acceleration when the throttle opening is the first throttle limit value;

[0163] The second control instruction is called so that the transport vehicle adjusts the throttle opening to the second throttle limit value according to the second control instruction, and the transport vehicle accelerates at the second acceleration when the throttle opening is the second throttle limit value.

[0164] Optionally, the multiple operation phases include a docking phase, and the second determining unit 520 is specifically configured to:

[0165] If the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage;

[0166] The control unit 530 is specifically used for:

[0167] In the case where it is determined that the transport vehicle is in the parking stage, obtaining a distance between the transport vehicle and an end point of the trajectory of the transport vehicle;

[0168] When the distance is less than a first preset threshold, a third control instruction is called to control the transport vehicle to decelerate at a third acceleration.

[0169] Optionally, the multiple operating stages include a static stage, and the second determining unit 520 is specifically configured to:

[0170] If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary stage;

[0171] The control unit 530 is specifically used for:

[0172] Determining whether the running phase of the transport vehicle is switched to the stationary phase;

[0173] If the vehicle is switched to the stationary phase and the time the vehicle is in the stationary phase is greater than a second preset threshold, a fourth control instruction is called to control the vehicle to perform a parking operation.

[0174] Optionally, the third control instruction is used to provide a preset maximum braking value, and the fourth control instruction is used to clear the maximum braking value and provide a parking signal.

[0175] Optionally, the multiple operating stages include a stationary stage, a departure stage, a starting stage, a driving stage, and a parking stage, and the second determining unit 520 is specifically configured to:

[0176] If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary stage;

[0177] When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage;

[0178] When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase;

[0179] When the transport vehicle is in the starting stage, if both the reference speed and the actual speed are not 0, the actual speed is greater than the reference speed, and the actual speed is greater than a third preset threshold, it is determined that the transport vehicle is switched to the driving stage;

[0180] When the transport vehicle is in the starting stage or the driving stage, if the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage;

[0181] When the transport vehicle is in the parking stage, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the driving stage.

[0182] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0183] The present application embodiment also provides a hardware structure. Figure 6 , Figure 6 The hardware structure diagram of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the hardware structure may include: a processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the method disclosed in the above example of this application.

[0184] The embodiment of the present application also provides a transport vehicle, which includes the above-mentioned electronic device. The transport vehicle refers to a vehicle used to transport goods or personnel. For example, the transport vehicle can be a mine car used to transport mineral resources such as coal and iron ore in a mining scenario, such as an autonomous driving mine car. Of course, the embodiment of the present application does not specifically limit the type of transport vehicle. For example, the transport vehicle can also be an ordinary truck, a container transport truck, etc., which play their own unique transportation role in different application scenarios.

[0185] Based on the same application concept as the above method, an embodiment of the present application also provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by a processor, the method disclosed in the above example of the present application can be implemented.

[0186] Exemplarily, the above-mentioned machine-readable storage medium can be any electronic, magnetic, optical or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as optical disk, DVD, etc.), or similar storage medium, or a combination thereof.

[0187] It should be noted that, in this article, relational terms such as target and target are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0188] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling a transport vehicle, characterized in that: The transport vehicle is operated on a fixed driving section, and the operation process of the transport vehicle is pre-divided into multiple operation stages. The method includes: Determining a reference speed according to the current driving section of the transport vehicle; Determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle; A control instruction corresponding to the operation phase is called to control the acceleration of the transport vehicle.

2. The method according to claim 1, characterized in that: The multiple operation phases include a stationary phase, a driving-away phase, and a starting phase, and determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle includes: When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage; When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase; The calling of the control instruction corresponding to the operation stage to control the acceleration of the transport vehicle includes: When it is determined that the transport vehicle is in the departure phase or the start phase, determining whether the transport vehicle is unloaded; If the transport vehicle is unloaded, calling a first control instruction to control the transport vehicle to accelerate at a first acceleration; Otherwise, a second control instruction is called to control the transport vehicle to accelerate at a second acceleration, wherein the second acceleration is smaller than the first acceleration.

3. The method according to claim 2, characterized in that The first control instruction and the second control instruction respectively include a preset first throttle limit value and a preset second throttle limit value, and calling the first control instruction to control the transport vehicle to accelerate at a first acceleration includes: calling the first control instruction so that the transport vehicle adjusts the throttle opening to the first throttle limit value according to the first control instruction, and the transport vehicle accelerates at the first acceleration when the throttle opening is the first throttle limit value; The calling of the second control instruction to control the transport vehicle to accelerate at a second acceleration includes: The second control instruction is called so that the transport vehicle adjusts the throttle opening to the second throttle limit value according to the second control instruction, and the transport vehicle accelerates at the second acceleration when the throttle opening is the second throttle limit value.

4. The method according to claim 1, characterized in that The multiple operation phases include a parking phase, and determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle comprises: If the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage; The calling of the control instruction corresponding to the operation stage to control the acceleration of the transport vehicle includes: In the case where it is determined that the transport vehicle is in the parking stage, obtaining a distance between the transport vehicle and an end point of the trajectory of the transport vehicle; When the distance is less than a first preset threshold, a third control instruction is called to control the transport vehicle to decelerate at a third acceleration.

5. The method according to claim 4, characterized in that The multiple operation phases include a stationary phase, and determining the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle comprises: If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary stage; After calling the third control instruction to control the transport vehicle to decelerate at a third acceleration, the method further includes: Determining whether the running phase of the transport vehicle is switched to the stationary phase; If the vehicle is switched to the stationary phase and the time the vehicle is in the stationary phase is greater than a second preset threshold, a fourth control instruction is called to control the vehicle to perform a parking operation.

6. The method according to claim 5, characterized in that The third control instruction is used to provide a preset maximum braking value, and the fourth control instruction is used to clear the maximum braking value and provide a parking signal.

7. The method according to claim 1, characterized in that The multiple operation stages include a stationary stage, a departure stage, a starting stage, a driving stage, and a parking stage. The determining the operation stage of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle includes: If the reference speed and the actual speed are both 0, it is determined that the transport vehicle is switched to the stationary stage; When the transport vehicle is in the stationary stage, if the reference speed is not 0 and the actual speed is 0, it is determined that the transport vehicle is switched to the departure stage; When the transport vehicle is in the departure phase, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the starting phase; When the transport vehicle is in the starting stage, if both the reference speed and the actual speed are not 0, the actual speed is greater than the reference speed, and the actual speed is greater than a third preset threshold, it is determined that the transport vehicle is switched to the driving stage; When the transport vehicle is in the starting stage or the driving stage, if the reference speed is 0 and the actual speed is not 0, it is determined that the transport vehicle is switched to the parking stage; When the transport vehicle is in the parking stage, if both the reference speed and the actual speed are not 0, it is determined that the transport vehicle is switched to the driving stage.

8. A vehicle control device, characterized in that: The transport vehicle runs on a fixed driving section, and the running process of the transport vehicle is pre-divided into multiple running stages. The device includes: A first determining unit, configured to determine a reference speed according to a current driving section of the transport vehicle; a second determining unit, configured to determine the operation phase of the transport vehicle according to the reference speed and the acquired actual speed of the transport vehicle; The control unit is used to call the control instructions corresponding to the operation stage to control the acceleration of the transport vehicle.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the method according to any one of claims 1 to 7.

10. A transport vehicle, characterized in that: The carrier vehicle comprises the electronic device as claimed in claim 9.

11. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

12. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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