Method and system for avoiding collision between traffic participants in mining area
By obtaining and analyzing real-time location information and movement trends of traffic participants in the mining area, judging and preventing collision risks between traffic participants, the problem of collision risks between traffic participants in the mining area is solved, and safety and prediction accuracy are improved.
Patent Information
- Application Number
- CN202311503366.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-13
- Publication Date
- 2025-05-13
AI Technical Summary
In the mining area, there is a risk of collision between unmanned vehicles, manned vehicles and operators due to the lack of monitoring of their mutual positional relationship and anti-collision management, resulting in safety hazards.
By obtaining real-time location information of each traffic participant in the mining area, classifying it as a category that is within a travelable path and not within a travelable path, calculating the distance between traffic participants for correlation, predicting their movement trends, and determining whether there is a collision risk based on the predicted movement trends, and taking anti-collision measures.
It effectively avoids collisions between traffic participants in the mining area, eliminates safety hazards in the production process, improves the accuracy of traffic participants' movement trend prediction, and reduces the use of computing resources.
Smart Images
Figure CN119992873A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of vehicle and electronic technology, and in particular to a method and system for avoiding collision between traffic participants in a mining area. Background Art
[0002] Vehicle driving safety is an important part of mine production safety. With the gradual popularization of unmanned vehicles, unmanned vehicles, manned vehicles and operators may work in the same mine. Since the operating mechanisms of these three types of traffic participants are different and there is no monitoring of their mutual position relationship and anti-collision management plan for the position relationship, there is a risk of collision between unmanned vehicles, manned vehicles and operators, which creates safety hazards.
[0003] Therefore, it is necessary to provide a method to avoid collisions between traffic participants in the mining area (including unmanned vehicles, manned vehicles and operators) in order to eliminate safety hazards in the production process of the mining area. Summary of the invention
[0004] The starting point of the present disclosure is to provide a method and system for avoiding collisions of traffic participants in a mining area, so as to solve the above-mentioned problems existing in the prior art.
[0005] An embodiment of the present disclosure provides a method for avoiding collisions between traffic participants in a mining area, the method comprising:
[0006] Obtain real-time location information of each traffic participant in the mining area;
[0007] Classifying the traffic participants into a category within a drivable path and a category not within a drivable path according to the real-time position information;
[0008] Obtaining the distances between traffic participants from the real-time position information, and associating the traffic participants according to the distances between them;
[0009] Predicting the movement trends of the mutually related traffic participants based on the real-time location information and categories of the mutually related traffic participants; and,
[0010] It is determined whether there is a risk of collision between mutually related traffic participants based on the predicted movement trends, and anti-collision measures are taken if there is a risk of collision.
[0011] Optionally, the real-time location information of the traffic participant is combined with a map recording the drivable paths in the mining area to determine whether the traffic participant is within the drivable path.
[0012] Optionally, associating the traffic participants according to their distances from each other includes:
[0013] If the distance between two road users is less than a corresponding distance threshold, the two road users are linked.
[0014] Optionally, when both traffic participants are vehicles, the distance threshold is set to a first distance threshold; and
[0015] When the two traffic participants are a vehicle and a worker, the distance threshold is set to the second distance threshold.
[0016] Optionally, predicting the movement trend of traffic participants includes:
[0017] Calculating the motion state information of the traffic participant according to the real-time position information of the traffic participant, wherein the motion state information includes the motion speed and direction;
[0018] When the traffic participant is a vehicle and is classified as being within a drivable path, predicting the movement trend of the traffic participant according to the movement state information of the traffic participant and the path direction information of the drivable path where the traffic participant is located;
[0019] In the case where the traffic participant is a vehicle and is classified as being not within a drivable path, predicting a movement trend of the traffic participant based on the movement state information of the traffic participant; and
[0020] In the case that the traffic participant is a worker, the movement trend of the traffic participant is predicted based on the movement status information of the traffic participant.
[0021] Optionally, judging whether there is a collision risk between mutually related traffic participants according to the predicted movement trend includes:
[0022] When two related traffic participants are vehicles traveling in the same direction on the same road, if, based on the predicted movement trend, the longitudinal distance between the two vehicles along the direction of the road extension is less than the set safe longitudinal distance, it is considered that there is a risk of collision between the two vehicles.
[0023] Optionally, judging whether there is a collision risk between mutually related traffic participants according to the predicted movement trend includes:
[0024] When two related traffic participants are vehicles traveling in opposite directions on the same road, if, based on the predicted movement trend, the lateral distance between the two vehicles along the direction perpendicular to the road extension direction is less than the set safe lateral distance, it is considered that there is a risk of collision between the two vehicles.
[0025] Optionally, judging whether there is a collision risk between mutually related traffic participants according to the predicted movement trend includes:
[0026] When two related traffic participants are vehicles traveling on different roads, or at least one of them is a worker, or at least one of them is classified as not within a drivable path, if, based on the predicted movement trend, their movement routes have an intersection and the difference between the times when the two pass the intersection is less than the set safety difference, it is considered that there is a risk of collision between the two.
[0027] Optionally, taking anti-collision measures when there is a risk of collision includes:
[0028] Changing the motion state of an unmanned vehicle that is at risk of collision;
[0029] Sending collision warning messages to drivers of manned vehicles that are at risk of collision; and
[0030] Send collision warning information to workers who are at risk of collision.
[0031] According to another aspect of the present disclosure, a system for avoiding collisions between traffic participants in a mining area is provided, the system comprising a positioning device and a control device, wherein each traffic participant in the mining area is equipped with a positioning device, the positioning device is configured to detect real-time position information of the traffic participant and send the detected real-time position information to the control device; the control device is configured to execute the method for avoiding collisions between traffic participants in a mining area as described above.
[0032] The method and system for avoiding collisions between traffic participants in a mining area disclosed in the present invention have at least the following advantages:
[0033] In the present disclosure, traffic participants in a mining area are classified and associated based on real-time location information, movement trends are predicted based on the real-time location information and categories of the mutually associated traffic participants, and whether there is a risk of collision between the mutually associated traffic participants is determined based on the predicted movement trends, thereby enabling the collision risk to be discovered and anti-collision measures to be taken to avoid a collision.
[0034] In the present disclosure, in the process of predicting the movement trend of a traffic participant, whether the traffic participant is within a drivable path is taken into consideration as an influencing factor, thereby improving the accuracy of the prediction of the movement trend of the traffic participant.
[0035] In the present disclosure, only whether there is a collision risk between mutually related traffic participants is determined, and there is no need to determine whether there is a collision risk between unrelated traffic participants, thereby reducing the occupation of computing resources. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] Other details and advantages of the present disclosure will become apparent from the detailed description provided below. It should be understood that the following drawings are merely schematic and not drawn to scale, and thus cannot be considered as limiting the present disclosure. The following will be described in detail with reference to the drawings, wherein:
[0037] Figure 1 A flow chart of a method for avoiding collisions between traffic participants in a mining area according to a specific embodiment of the present disclosure is shown.
[0038] Figure 2 A system for avoiding collisions between traffic participants in a mining area according to another specific embodiment of the present disclosure is shown. DETAILED DESCRIPTION
[0039] Embodiments of the present disclosure are described below with reference to the accompanying drawings. In the following description, many specific details are set forth so that those skilled in the art can more fully understand and implement the present disclosure. However, it is obvious to those skilled in the art that the implementation of the present disclosure may not have some of these specific details. In addition, it should be understood that the present disclosure is not limited to the specific embodiments described. On the contrary, any combination of the features and elements described below may be considered to implement the present disclosure, regardless of whether they relate to different embodiments. Therefore, the following aspects, features, embodiments and advantages are for illustrative purposes only and should not be regarded as elements or limitations of the claims unless explicitly stated in the claims.
[0040] Now refer to Figure 1 , showing a flow chart of a method for avoiding collisions between traffic participants in a mining area according to a specific embodiment of the present disclosure.
[0041] like Figure 1 As shown, the method comprises the following steps:
[0042] Step 101, obtaining the real-time location information of each traffic participant in the mining area.
[0043] Specifically, a positioning device can be provided for each traffic participant in the mining area, and the real-time location of the traffic participant can be detected by means of the positioning device. The real-time location information detected by the positioning device can be sent to a control device with data processing and storage capabilities (for example, a background management system responsible for monitoring and managing the production process of the mining area) through any suitable communication method (for example, 4G / 5G / WIFI).
[0044] Step 102 , classifying the traffic participants into a category that is within the drivable path and a category that is not within the drivable path according to the real-time position information.
[0045] Specifically, the control device may store a map recording drivable paths in the mining area. The drivable paths include roads and work areas that are planned to be traversable by vehicles. The control device may combine the real-time location information of all traffic participants with the map recording drivable paths in the mining area to determine whether each traffic participant is within the drivable path, thereby classifying the traffic participants in the mining area into those within the drivable path and those not within the drivable path.
[0046] Step 103, obtaining the distances between traffic participants from the real-time position information, and associating the traffic participants according to the distances between them.
[0047] Specifically, the control device can calculate the distance between each traffic participant based on the real-time position information of the traffic participant. The control device can associate the two traffic participants when the distance between them is less than the corresponding distance threshold. The specific value of the distance threshold can be set according to the actual situation (for example, the type of traffic participant), and these variations do not exceed the protection scope of the present disclosure. For example, when both traffic participants are vehicles, the distance threshold can be set to a first distance threshold; when the two traffic participants are a vehicle and a worker, respectively, the distance threshold can be set to a second distance threshold.
[0048] Step 104 , predicting the movement trends of the mutually related traffic participants based on the real-time position information and categories of the mutually related traffic participants.
[0049] Specifically, in the process of predicting the movement trend, the control device can calculate the movement state information of the traffic participant based on the real-time position information of the traffic participant within a certain period of time. The movement state information may include movement speed and direction. In the case where the traffic participant is a vehicle and is classified as being within a drivable path, it can be considered that the movement path of the traffic participant must be along the drivable path. The control device predicts the movement trend of the traffic participant based on the movement state information of the traffic participant and the path direction information of the drivable path where the traffic participant is located, thereby improving the prediction speed and accuracy of the movement trend. In the case where the traffic participant is a vehicle and is classified as not being within a drivable path, or in the case where the traffic participant is a worker, the control device predicts the movement trend of the traffic participant only based on the movement state information of the traffic participant.
[0050] Step 105 , judging whether there is a collision risk between the mutually related traffic participants based on the predicted movement trend, and taking anti-collision measures if there is a collision risk.
[0051] Specifically, the following criteria can be used to determine whether there is a collision risk between related traffic participants:
[0052] 1. Where two related traffic participants are vehicles travelling in the same direction on the same road, if, based on the predicted movement trend, the longitudinal distance between the two vehicles along the direction of the road extension is less than the set safe longitudinal distance, then it is considered that there is a risk of collision between the two vehicles.
[0053] 2. Where two interrelated traffic participants are vehicles travelling in opposite directions on the same road, if, based on the predicted movement trend, the lateral distance between the two vehicles along the direction perpendicular to the extension of the road is less than the set safe lateral distance, it is considered that there is a risk of collision between the two vehicles.
[0054] 3. When two related traffic participants are vehicles traveling on different roads, or at least one of them is a worker, or at least one of them is classified as not within a drivable path, if, based on the predicted movement trend, their movement routes have an intersection and the difference between the times when they pass the intersection is less than the set safety difference, it is considered that there is a risk of collision between the two.
[0055] The specific values of the safe longitudinal distance, safe lateral distance and safety difference can be set according to the actual situation, and these variations do not exceed the protection scope of the present disclosure. For example, the safe longitudinal distance can be set to 150 meters, the safe lateral distance can be set to 0.5 vehicle widths, and the safety difference can be set to 5 seconds.
[0056] The control device can take different anti-collision measures to avoid the occurrence of collisions according to the specific type of traffic participants with collision risks. For example, if the risk of collision is an unmanned vehicle, the control device can send a control instruction to the unmanned vehicle to change its motion state (for example, change its motion speed) to avoid the occurrence of a collision. The relevant control instructions can also be sent to the fleet management system of the unmanned vehicle so as to display the motion state and collision of the unmanned vehicle to the monitoring personnel of the unmanned vehicle in real time. If the risk of collision is a manned vehicle, the control device can send a collision warning message to the manned vehicle, and the collision warning message can be transmitted to the driver of the manned vehicle through the display and / or speaker on the manned vehicle, so that the driver is aware of the collision risk and takes corresponding measures in time to avoid the collision. If the risk of collision is a worker, the control device can send a collision warning message to the communication device carried by the worker, so that the worker is aware of the collision risk and takes corresponding measures in time to avoid the collision.
[0057] For example, the following are some specific anti-collision measures in common situations:
[0058] 1. Two autonomous vehicles driving on the same road
[0059] a. Two vehicles traveling in the same direction: The speed of the rear vehicle can be adjusted to make the speed of the rear vehicle equal to or lower than the speed of the front vehicle, so that the longitudinal distance between the two vehicles is greater than the set safe longitudinal distance.
[0060] b. Two vehicles are traveling in opposite directions: the movement directions of the two vehicles can be fine-tuned to adjust the lateral distance between the two vehicles so that the lateral distance between the two vehicles is greater than the set safe lateral distance. If the above adjustment cannot be achieved, the two vehicles are gradually decelerated and stopped to avoid a collision between the two vehicles.
[0061] 2. Two autonomous vehicles traveling on different roads with a meeting point
[0062] Compare the time when two vehicles pass through the intersection. The first vehicle to arrive can have the right of way and pass through the intersection at normal speed, and the speed of the second vehicle will be reduced to give way to the first vehicle. If the time of arriving at the intersection is very close, the vehicle with lower priority will give way to the vehicle with higher priority according to the priority of the fleet task.
[0063] 3. Autonomous vehicles and manned vehicles on the same road
[0064] a. Two vehicles are traveling in the same direction: If the rear vehicle is an unmanned vehicle, the speed of the rear vehicle can be adjusted so that the speed of the rear vehicle is equal to or lower than the speed of the front vehicle, so that the longitudinal distance between the two vehicles is greater than the set safe longitudinal distance; if the rear vehicle is a manned vehicle, a collision warning message is sent to the driver of the manned vehicle through the display and / or speaker on the manned vehicle, so that the driver is aware of the collision risk and slows down to avoid the collision.
[0065] b. Two vehicles traveling in opposite directions: The direction and speed of the unmanned vehicle can be adjusted, and a collision warning message can be sent to the driver of the manned vehicle through the display and / or speaker on the manned vehicle, so that the driver is aware of the collision risk and takes appropriate measures to avoid the collision.
[0066] 4. Autonomous vehicles and manned vehicles traveling on different roads with intersections
[0067] The moments when the two vehicles pass through the intersection are compared. If a human-driven vehicle arrives at the intersection first, the speed of the unmanned vehicle is reduced to give way to the manned vehicle. If the unmanned vehicle arrives at the intersection first, a collision warning message is sent to the driver of the manned vehicle through the display and / or speaker on the manned vehicle, so that the driver is aware of the collision risk and takes corresponding measures to avoid the collision.
[0068] 5. Unmanned vehicles and operators
[0069] Adjust the speed of the unmanned vehicle so that it slows down or stops, thereby avoiding a collision; send collision warning information to the operator through the communication device carried by the operator, so that the operator is aware of the collision risk and takes appropriate measures in time to avoid the collision.
[0070] 6. Manned vehicles and operators
[0071] A collision warning message is sent to the driver of a manned vehicle via a display and / or speaker on the manned vehicle, so that the driver is aware of the risk of collision and can take appropriate measures in time to avoid the collision; a collision warning message is sent to an operator via a communication device carried by the operator, so that the operator is aware of the risk of collision and can take appropriate measures in time to avoid the collision.
[0072] In the present disclosure, the vehicle can be not only a vehicle in the traditional sense, such as a car, a truck, etc., but also an engineering machinery that can travel in a mining area, such as an excavator, a bulldozer, a crane, a road roller, etc.
[0073] Based on the principle of the method for avoiding collisions between traffic participants in a mining area disclosed in the present invention, Figure 2 A system for avoiding collisions between traffic participants in a mining area according to another specific embodiment of the present disclosure is schematically shown.
[0074] like Figure 2 As shown, each traffic participant in the mining area is equipped with a positioning device 21, which is configured to detect the real-time location information of the corresponding traffic participant and send the detected real-time location information to the control device 22 through any suitable communication method (for example, 4G / 5G / WIFI). The control device 22 is configured to execute the method for avoiding collisions between traffic participants in the mining area disclosed in the present invention.
[0075] The positioning device 21 may be any suitable type of device with a positioning function, and these variations do not exceed the protection scope of the present disclosure. For example, the positioning device 21 may be an RTK (Real-time kinematic) positioning device.
[0076] The control device 22 may be any suitable device with data processing and storage capabilities, and these variations do not exceed the protection scope of the present disclosure. For example, the control device 22 may be a background management system responsible for monitoring and managing the production process of the mining area.
[0077] Industrial Applicability
[0078] In the present disclosure, traffic participants in a mining area are classified and associated based on real-time location information, movement trends are predicted based on the real-time location information and categories of the mutually associated traffic participants, and whether there is a risk of collision between the mutually associated traffic participants is determined based on the predicted movement trends, thereby enabling the collision risk to be discovered and anti-collision measures to be taken to avoid a collision.
[0079] In the present disclosure, in the process of predicting the movement trend of a traffic participant, whether the traffic participant is within a drivable path is taken into consideration as an influencing factor, thereby improving the accuracy of the prediction of the movement trend of the traffic participant.
[0080] In the present disclosure, only whether there is a collision risk between mutually related traffic participants is determined, and there is no need to determine whether there is a collision risk between unrelated traffic participants, thereby reducing the occupation of computing resources.
[0081] Although the present disclosure has been disclosed as above with preferred embodiments, the present disclosure is not limited thereto. Any changes and modifications made by any person skilled in the art without departing from the spirit and scope of the present disclosure should be included in the protection scope of the present disclosure, and therefore the protection scope of the present disclosure should be subject to the scope defined by the claims.
Claims
1. A method for avoiding collisions between traffic participants in a mining area, characterized in that: The method comprises: Obtain real-time location information of each traffic participant in the mining area; Classifying the traffic participants into a category within a drivable path and a category not within a drivable path according to the real-time position information; Obtaining the distances between traffic participants from the real-time position information, and associating the traffic participants according to the distances between them; Predicting the movement trends of the mutually related traffic participants based on the real-time location information and categories of the mutually related traffic participants; and, It is determined whether there is a risk of collision between mutually related traffic participants based on the predicted movement trends, and anti-collision measures are taken if there is a risk of collision.
2. The method according to claim 1, wherein: The real-time location information of the traffic participants is combined with a map recording the drivable paths in the mining area to determine whether the traffic participants are within the drivable paths.
3. The method according to claim 1, wherein: The association of traffic participants based on their distances to each other includes: If the distance between two road users is less than a corresponding distance threshold, the two road users are linked.
4. The method according to claim 3, wherein: When both traffic participants are vehicles, the distance threshold is set to a first distance threshold; and When the two traffic participants are a vehicle and a worker, the distance threshold is set to the second distance threshold.
5. The method according to claim 1, wherein: Predicting the movement trends of traffic participants includes: Calculating the motion state information of the traffic participant according to the real-time position information of the traffic participant, wherein the motion state information includes the motion speed and direction; When the traffic participant is a vehicle and is classified as being within a drivable path, predicting the movement trend of the traffic participant according to the movement state information of the traffic participant and the path direction information of the drivable path where the traffic participant is located; In the case where the traffic participant is a vehicle and is classified as being not within a drivable path, predicting a movement trend of the traffic participant based on the movement state information of the traffic participant; and In the case that the traffic participant is a worker, the movement trend of the traffic participant is predicted based on the movement status information of the traffic participant.
6. The method according to claim 1, wherein: Judging whether there is a risk of collision between related traffic participants based on the predicted movement trend includes: When two related traffic participants are vehicles traveling in the same direction on the same road, if, based on the predicted movement trend, the longitudinal distance between the two vehicles along the direction of the road extension is less than the set safe longitudinal distance, it is considered that there is a risk of collision between the two vehicles.
7. The method according to claim 1, wherein: Judging whether there is a risk of collision between related traffic participants based on the predicted movement trend includes: When two related traffic participants are vehicles traveling in opposite directions on the same road, if, based on the predicted movement trend, the lateral distance between the two vehicles along the direction perpendicular to the road extension direction is less than the set safe lateral distance, it is considered that there is a risk of collision between the two vehicles.
8. The method according to claim 1, wherein: Judging whether there is a risk of collision between related traffic participants based on the predicted movement trend includes: When two related traffic participants are vehicles traveling on different roads, or at least one of them is a worker, or at least one of them is classified as not within a drivable path, if, based on the predicted movement trend, their movement routes have an intersection and the difference between the times when the two pass the intersection is less than the set safety difference, it is considered that there is a risk of collision between the two.
9. The method according to claim 1, wherein: Anti-collision measures taken when there is a risk of collision include: Changing the motion state of an unmanned vehicle that is at risk of collision; Sending collision warning messages to drivers of manned vehicles that are at risk of collision; and Send collision warning information to workers who are at risk of collision.
10. A system for avoiding collisions between traffic participants in a mining area, characterized in that: The system comprises a positioning device and a control device, wherein: The positioning device is used to be equipped for each traffic participant in the mining area, and the positioning device is configured to detect the real-time position information of the traffic participant and send the detected real-time position information to the control device; and The control device is configured to perform the method according to any one of claims 1 to 9.