Self-driving mine car backward heterogeneous redundancy sensing method

Abstract

The invention relates to a backward heterogeneous redundancy sensing method for an automatic driving mine car, and the method comprises the steps: employing an ultrasonic radar which is transversely disposed at the bottom of the rear end of a vehicle compartment, is used for detecting the height distance information between the bottom of the rear end of the vehicle compartment and the ground, and is connected with an automatic driving domain controller; the automatic driving domain controller receives height distance information detected by the ultrasonic radar, vehicle speed information sent by the gearbox system, wheel speed information sent by the electronic braking system and acceleration information sent by the inertial navigation system, and identifies whether a vehicle abuts against a retaining wall or not by comparing the information with a calibration threshold value. And executing instructions sent to the gearbox system, the drive-by-wire driving system and the electronic braking system are adjusted, and safe parking of the vehicle close to the retaining wall is achieved. Whether the wheels make contact with the retaining wall or not is distinguished through multiple heterogeneous safety sensing knowledge, and the safety of parking and unloading of the mine car is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a backward heterogeneous redundant perception method for an autonomous mining truck. Background Art

[0002] At present, the general parking operation requirement for mining trucks in domestic mining areas is that the vehicle reverses into position. The road conditions in the loading area and the unloading area are complex. Since the loading area is leveled in real time by an excavator, the safety risk is relatively small. While in the unloading area, because the materials need to be unloaded into the ore pretreatment tank or under the slag platform, the safety risk is relatively high. Generally, a safety retaining wall about half a meter high will be set at the parking position in the mining area to prevent the vehicle from overshooting and falling accidents.

[0003] For autonomous mining trucks, the backward environmental perception sensors conventionally installed at the rear of the vehicle are at risk of damage because the rear of the mining truck is the unloading channel. Especially to ensure that the unloaded materials do not accumulate at the retaining wall, it is generally required that the wheels approach the retaining wall for unloading, and the probability of damaging the on-vehicle sensors is even higher. How to ensure the on-vehicle sensors are not easily damaged while meeting the requirement of perceiving obstacles behind the vehicle is a current difficulty in the industry. The general solution in the industry is to use the V2X vehicle-road collaboration method to set up independent perception devices at the parking point, which is costly and requires adjusting the position of the perception devices as the parking point changes, resulting in a large amount of work in implementation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a backward heterogeneous redundant perception method for an autonomous mining truck.

[0005] To solve the problems in the above background art, the present invention is implemented through the following technical solutions:

[0006] A backward heterogeneous redundant perception method for an autonomous mining truck, including an ultrasonic radar horizontally arranged at the bottom of the rear end of the vehicle compartment. The ultrasonic radar emits downward to detect the height distance information between the bottom of the rear end of the vehicle compartment and the ground. The ultrasonic radar is connected to the autonomous driving domain controller. The autonomous driving domain controller receives the height distance information detected by the ultrasonic radar, the vehicle speed information sent by the transmission system, the wheel speed information sent by the electronic braking system, and the acceleration information sent by the inertial navigation system. By comparing with the calibration threshold, it identifies whether the vehicle touches the retaining wall and adjusts the execution instructions sent to the transmission system, the by-wire drive system, and the electronic braking system to achieve safe parking of the vehicle close to the retaining wall.

[0007] Further, the ultrasonic radar emits downward. By measuring the distance information of the height from the ground and sending the height information from the ground to the autonomous driving domain controller, the autonomous driving domain controller determines and differentiates obstacles when the vehicle is reversing through the height distance information from the ground. The obstacles include, but are not limited to, falling rocks, potholes, and retaining wall obstacles.

[0008] Further, the conditions for differentiating the retaining wall from falling rocks and potholes are as follows: the height of the retaining wall is relatively fixed, and the retaining wall extends beyond the width of the vehicle. The ultrasonic radar detects an obstacle, and the height of the obstacle is lower than the height of the retaining wall.

[0009] Further, when the autonomous driving domain controller determines that the obstacle is a retaining wall, based on the vehicle speed information sent by the transmission system and the distance between the ultrasonic radar and the rear wheels, it calculates the braking deceleration for the vehicle to safely stop, issues a stop torque output command to the drive-by-wire system, sends a target deceleration control command to the electronic braking system, and issues a neutral gear command to the transmission system to control the vehicle to safely stop in front of the retaining wall.

[0010] Further, when the vehicle abuts against the retaining wall, the autonomous driving domain controller collects the wheel speed signal of the rear wheels of the electronic braking system, the vehicle speed signal of the transmission system, and the acceleration signal of the inertial navigation system. By analyzing and judging that the changes in each signal exceed the calibrated threshold, it identifies that the vehicle has abutted against the retaining wall, immediately sends an emergency braking command to the electronic braking system, issues a stop torque output command to the drive-by-wire system, and issues a neutral gear command to the transmission system to control the vehicle to make an emergency stop, realizing the heterogeneous redundant perception control of the vehicle.

[0011] Further, when it is detected that the obstacle is a falling rock or a pothole, the height distance information of the falling rock or pothole detected by the ultrasonic radar exceeds the safety threshold. The autonomous driving domain controller gives an alarm and guides the vehicle to drive into a location where unloading is possible.

[0012] Compared with the prior art, the present invention has the following beneficial technical effects:

[0013] 1. Low cost. For an autonomous driving mining truck, the present invention only adds a set of ultrasonic radars that emit downward at the bottom of the rear end of the vehicle, and the rest of the perception signals all come from the existing systems of the autonomous driving mining truck, with low cost.

[0014] 2. High perception reliability. The ultrasonic radar is set at the bottom of the rear end of the vehicle compartment. The ultrasonic radar is always at the bottom of the vehicle compartment during the flipping process of the vehicle compartment and will not collide with the unloaded materials, ensuring the safety of the ultrasonic radar; and the ultrasonic radar has strong anti-pollution ability and high perception reliability in the heavily polluted scenario of unloading in the mining area.

[0015] 3. Multiple heterogeneous perception redundancy, high safety. The ultrasonic radar senses ground obstacles, and the wheel speed signal of the electronic braking system, the vehicle speed signal from the transmission system, and the acceleration signal of the inertial navigation system jointly identify the event of the wheel hitting the retaining wall, with multiple heterogeneous perception redundancy and high safety;

[0016] 4. Vehicle autonomous perception, which can adapt to the changes of loading and unloading points, saving the operation workload in the mining area. Brief Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the architecture of the present invention. Detailed Embodiment

[0018] Situation Description:

[0019] The by-wire drive system and the electronic braking system are prior arts and are the core execution systems of the by-wire chassis. The by-wire drive system can respond to the CAN bus torque and speed control instructions of the autonomous driving domain controller. Its function in this system is to control the reverse speed of the vehicle according to the relevant instructions of the autonomous driving domain controller and stop the drive torque output during braking. The electronic braking system can respond to the CAN bus deceleration control instructions of the autonomous driving domain controller. Its function in this system is to control the vehicle to brake according to the relevant instructions of the autonomous driving domain controller.

[0020] As Figure 1 shown, a method for rearward heterogeneous redundancy perception of an autonomous driving mining vehicle includes an ultrasonic radar horizontally arranged at the bottom of the rear end of the vehicle carriage. The ultrasonic radar emits downward to detect the height distance information between the bottom of the rear end of the vehicle carriage and the ground. The ultrasonic radar is connected to the autonomous driving domain controller; the autonomous driving domain controller receives the height distance information detected by the ultrasonic radar, the vehicle speed information sent by the transmission system, the wheel speed information sent by the electronic braking system, and the acceleration information sent by the inertial navigation system. By comparing with the calibrated threshold, it identifies whether the vehicle touches the retaining wall and adjusts the execution instructions sent to the transmission system, the by-wire drive system, and the electronic braking system to achieve safe parking of the vehicle against the retaining wall.

[0021] The ultrasonic radar is set at the bottom of the rear end of the vehicle carriage. The ultrasonic radar is always at the bottom of the carriage during the flipping process of the carriage and will not collide with the unloaded materials, ensuring the safety of the ultrasonic radar; and the ultrasonic radar has strong anti-pollution ability and high perception reliability in the heavy pollution scenario of unloading in the mining area.

[0022] The ultrasonic radar emits downward. By measuring the height distance information from the ground and sending the height information from the ground to the autonomous driving domain controller, the autonomous driving domain controller judges and differentiates obstacles when the vehicle is reversing through the height distance information from the ground. The obstacles include but are not limited to falling rocks, potholes, and retaining wall obstacles.

[0023] The conditions for judging and distinguishing the retaining wall from the falling rocks and the potholes are as follows: the height of the retaining wall is relatively fixed, and the retaining wall extends beyond the width of the vehicle. The ultrasonic radar detects an obstacle, and the height of the obstacle is lower than the height of the retaining wall.

[0024] When the autonomous driving domain controller determines that the obstacle is a retaining wall, it calculates the braking deceleration for the vehicle to safely stop based on the vehicle speed information sent by the transmission system and the distance between the ultrasonic radar and the rear wheels. Then it issues a stop torque output command to the by-wire drive system, sends a target deceleration control command to the electronic braking system, and issues a neutral gear command to the transmission system to control the vehicle to safely stop in front of the retaining wall.

[0025] When the vehicle abuts against the retaining wall, the autonomous driving domain controller collects the wheel speed signal of the rear wheels of the electronic braking system, the vehicle speed signal of the transmission system, and the acceleration signal of the inertial navigation system. By analyzing and judging that the changes in each signal exceed the calibration threshold, it identifies that the vehicle has abutted against the retaining wall, and immediately sends an emergency braking command to the electronic braking system, issues a stop torque output command to the by-wire drive system, and issues a neutral gear command to the transmission system to control the vehicle to make an emergency stop, realizing the heterogeneous redundant perception control of the vehicle.

[0026] When it is detected that the obstacle is a falling rock or a pothole, the ultrasonic radar detects that the ground clearance distance information of the falling rock or the pothole exceeds the safety threshold. The autonomous driving domain controller gives an alarm and guides the vehicle to drive into the dischargeable location.

[0027] The ultrasonic radar senses the ground obstacle, and the wheel speed signal of the electronic braking system, the vehicle speed signal from the transmission system, and the acceleration signal of the inertial navigation system jointly identify the event that the wheel abuts against the retaining wall, forming a multiple heterogeneous perception redundancy with high functional safety.

Claims

1. A rear - facing heterogeneous redundant sensing method for an autonomous mining truck, characterized in that, it includes an ultrasonic radar horizontally arranged at the bottom of the rear end of the vehicle compartment. The ultrasonic radar emits downward to detect the height - distance information between the bottom of the rear end of the vehicle compartment and the ground. The ultrasonic radar is connected to the autonomous driving domain controller; the autonomous driving domain controller receives the height - distance information detected by the ultrasonic radar, the vehicle speed information sent by the transmission system, the wheel speed information sent by the electronic braking system, and the acceleration information sent by the inertial navigation system. By comparing with the calibrated threshold, it identifies whether the vehicle touches the retaining wall and adjusts the execution instructions sent to the transmission system, the by - wire drive system, and the electronic braking system to achieve safe parking of the vehicle against the retaining wall.

2. The rear - facing heterogeneous redundant sensing method for an autonomous mining truck according to claim 1, characterized in that, the ultrasonic radar emits downward, measures the height - distance information from the ground, and sends the height - distance information from the ground to the autonomous driving domain controller. The autonomous driving domain controller judges and distinguishes the occurrence of obstacles when the vehicle is reversing based on the height - distance information from the ground. The obstacles include but are not limited to falling rocks, potholes, and retaining wall obstacles.

3. The rear - facing heterogeneous redundant sensing method for an autonomous mining truck according to claim 2, characterized in that, the conditions for judging and distinguishing the retaining wall from falling rocks and potholes are: the height of the retaining wall is relatively fixed, and the retaining wall extends beyond the width of the vehicle. The ultrasonic radar detects an obstacle, and the height of the obstacle is lower than the height of the retaining wall.

4. The rear - facing heterogeneous redundant sensing method for an autonomous mining truck according to claim 3, characterized in that, when the autonomous driving domain controller determines that the obstacle is a retaining wall, based on the vehicle speed information sent by the transmission system and the distance between the ultrasonic radar and the rear wheel, it calculates the braking deceleration for the vehicle to safely stop, issues a stop torque output instruction to the by - wire drive system, issues a target deceleration control instruction to the electronic braking system, and issues a neutral gear instruction to the transmission system to control the vehicle to safely stop in front of the retaining wall.

5. The rear - facing heterogeneous redundant sensing method for an autonomous mining truck according to claim 2, characterized in that, when the vehicle touches the retaining wall, the autonomous driving domain controller collects the wheel speed signal of the rear wheels of the electronic braking system, the vehicle speed signal of the transmission system, and the acceleration signal of the inertial navigation system. By analyzing and judging that the changes of each signal exceed the calibrated threshold, it identifies that the vehicle has touched the retaining wall, and immediately sends an emergency braking instruction to the electronic braking system, issues a stop torque output instruction to the by - wire drive system, and issues a neutral gear instruction to the transmission system to control the vehicle to stop urgently, realizing the heterogeneous redundant sensing control of the vehicle.

6. The rear - facing heterogeneous redundant sensing method for an autonomous mining truck according to claim 2, characterized in that, when it is detected that the obstacle is a falling rock or a pothole, the height - distance information from the ground of the falling rock or pothole detected by the ultrasonic radar exceeds the safety threshold. The autonomous driving domain controller gives an alarm and guides the vehicle to drive into the dischargeable location.

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