Unmanned mine car speed control method, device, terminal, equipment, medium and chip

Abstract

The application provides a speed control method and device of unmanned mine truck, a terminal, equipment, medium and chip, and relates to the field of vehicle control. The method comprises the following steps: when it is detected that the running scene of the unmanned mine truck is a preset effective scene, determining a retarder gear instruction and a mechanical brake instruction compensation coefficient; acquiring a mechanical brake instruction, and correcting the mechanical brake instruction based on the mechanical brake instruction compensation coefficient; and performing speed control of the unmanned mine truck based on the retarder gear instruction and the corrected mechanical brake instruction.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to a method, device, terminal, equipment, medium, and chip for controlling the speed of an unmanned mining truck. Background Technology

[0002] Open-pit mine transportation roads are subject to complex conditions. Transportation routes between the mining area and the spoil heap typically involve long, steep, continuous downhill sections. Under these conditions, stable speed control is crucial for ensuring driving safety. Current technologies primarily rely on mechanical braking systems (including hydraulic and pneumatic brakes) to regulate the speed of unmanned mining trucks downhill. However, prolonged and frequent use of mechanical brakes during long, continuous downhill runs can lead to severe wear and overheating of brake friction. This significantly shortens the lifespan of braking components, increases mine maintenance costs, and easily triggers brake fade, resulting in insufficient braking force or even brake failure, posing a significant safety hazard to the continuous and stable operation of unmanned mining trucks.

[0003] To alleviate the operational load on mechanical braking systems, the industry commonly uses multi-stage retarders as auxiliary braking devices for mining vehicles. In manned driving scenarios, the driver can manually switch retarder gears to obtain the required auxiliary braking torque, thereby reducing the intervention of mechanical braking. However, in the speed control technology system of unmanned mining trucks, there is currently a lack of retarder-assisted braking solutions adapted to the autonomous control logic of unmanned driving. This makes it impossible to achieve coordinated speed regulation control between multi-stage retarders and mechanical braking systems, and it is difficult to effectively solve the safety hazards of mechanical braking overheating and braking force attenuation under long downhill conditions. Summary of the Invention

[0004] In view of this, this application provides a method, device, terminal, equipment, medium and chip for controlling the speed of unmanned mining trucks, which solves the problems of lacking a retarder-assisted braking scheme adapted to the autonomous control logic of unmanned driving and the inability to achieve coordinated speed control of multi-level retarders and mechanical braking systems.

[0005] In a first aspect, embodiments of this application provide a speed control method for unmanned mining trucks, including: When the operating scenario of the unmanned mining truck is detected to be a preset effective scenario, determine the retarder gear command and the mechanical braking command compensation coefficient. Obtain a mechanical braking command and correct the mechanical braking command based on the mechanical braking command compensation coefficient; Speed ​​control of the unmanned mining truck is performed based on the retarder gear command and the modified mechanical braking command.

[0006] Secondly, embodiments of this application provide a speed control device for unmanned mining trucks, comprising: The processing module is used to determine the retarder gear command and mechanical braking command compensation coefficient when the unmanned mining truck is detected to be operating in a preset effective scenario. The correction module is used to acquire the mechanical braking command and correct the mechanical braking command based on the mechanical braking command compensation coefficient; The control module is used to control the speed of the unmanned mining truck based on the retarder gear command and the modified mechanical braking command.

[0007] Thirdly, embodiments of this application provide a terminal, which includes the apparatus as described in the second aspect.

[0008] Fourthly, embodiments of this application provide a computer device including a first processor and a first memory, the first memory storing a program or instructions that run on the first processor, the program or instructions implementing the steps of the method as described in the first aspect when executed by the first processor.

[0009] Fifthly, embodiments of this application provide a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0010] In a sixth aspect, embodiments of this application provide a chip including at least one second processor and a communication interface, the communication interface being coupled to the at least one second processor, the at least one second processor being used to run programs or instructions to implement the steps of the method as described in the first aspect.

[0011] This application discloses a method, apparatus, terminal, device, medium, and chip for controlling the speed of unmanned mining trucks. When the operating scenario of the unmanned mining truck is detected to be a preset effective scenario, a retarder gear position command and a mechanical braking command compensation coefficient are determined; the mechanical braking command is acquired, and the mechanical braking command is corrected based on the mechanical braking command compensation coefficient; based on the retarder gear position command and the corrected mechanical braking command, the speed of the unmanned mining truck is controlled. This application proposes an unmanned mining truck retarder-assisted braking control scheme, which realizes automatic control of the retarder gear position, and simultaneously corrects the mechanical braking command output by the unmanned driving controller, achieving coordinated speed control of multi-level retarders and the mechanical braking system, avoiding problems such as mechanical braking overheating and braking force attenuation caused by prolonged mechanical braking.

[0012] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 One of the flowcharts of the unmanned mining truck speed control method according to an embodiment of this application is shown; Figure 2 The second schematic flowchart of the unmanned mining truck speed control method according to an embodiment of this application is shown; Figure 3 A structural block diagram of the unmanned mining truck speed control device according to an embodiment of this application is shown; Figure 4 A schematic block diagram of the terminal structure according to an embodiment of this application is shown; Figure 5 A structural block diagram of a computer device according to an embodiment of this application is shown; Figure 6 A structural block diagram of a computer-readable storage medium according to an embodiment of this application is shown; Figure 7 A structural block diagram of a chip according to an embodiment of this application is shown. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0015] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0016] The following description, in conjunction with the accompanying drawings, details the unmanned mining truck speed control method, device, terminal, equipment, medium, and chip provided in this application through specific embodiments and application scenarios. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0017] This application provides a method for controlling the speed of unmanned mining trucks, such as... Figure 1 As shown, this method is executed by the retarder-assisted braking controller of the unmanned mining truck. Figure 1 and Figure 2 As shown, the method includes: Step 201: When the operating scenario of the unmanned mining truck is detected to be a preset effective scenario, determine the retarder gear command and the mechanical braking command compensation coefficient.

[0018] This step first involves determining the effective scenario, specifically whether the unmanned mining truck's operating scenario falls within the preset effective scenario. If the scenario is confirmed to be met, the retarder gear setting is then determined. (0, 1st gear, 2nd gear, ..., Max gear) and mechanical braking command compensation coefficient Used to guide the autonomous retarder auxiliary braking control of unmanned vehicles, retarder gear commands. The range is 0, 1, 2, ..., Max, the mechanical braking command compensation coefficient. The range is from 0 to 1.

[0019] If the scenario is not met, the retarder-assisted braking is not used; that is, the retarder gear command is output directly. Mechanical braking command compensation coefficient .

[0020] In one embodiment, the preset effective scenario is a fully loaded downhill scenario, that is, the unmanned mining truck is running on a fully loaded downhill section. In one embodiment of this application, the method further includes: Based on the pre-marked fully loaded downhill sections and the current location of the unmanned mining trucks on the mining area cloud platform, it can detect whether the unmanned mining trucks are running on fully loaded downhill sections; or, it can obtain real-time road condition data and detect whether the unmanned mining trucks are running on fully loaded downhill sections based on the real-time road condition data.

[0021] In this embodiment, a defined effective scenario determination function is implemented. Based on the geographic information of fully loaded downhill sections pre-collected, labeled, and distributed by the mine's cloud-based management platform (including slope parameters, length range, and safety control thresholds), combined with vehicle load status information collected by the unmanned mining truck's onboard sensors and the real-time location transmitted by the unmanned mining truck's onboard positioning system, spatial location matching and road boundary determination logic are used to detect in real time whether the unmanned mining truck has entered a preset fully loaded downhill section. Alternatively, real-time road condition data, including road surface slope, can be obtained from the mine's vehicle-road cooperative sensing equipment, roadside sensors, and high-definition video monitoring system. This data, combined with the vehicle load status information collected by the unmanned mining truck's onboard sensors and the real-time location transmitted by the unmanned mining truck's onboard positioning system, accurately determines whether the unmanned mining truck has entered a fully loaded downhill section. When it is determined that the unmanned mining truck has entered a fully loaded downhill section, it indicates that a preset effective scenario has been established, thus providing a triggering basis for the retarder-assisted braking control strategy.

[0022] It should be noted that in actual unmanned mining truck operation, the braking demand is greater when going downhill fully loaded. Therefore, this application is designed so that the function only takes effect in downhill scenarios with full load. Depending on actual needs, the scenario can also be expanded according to the solution in this application, and the same good results can be achieved. For example, it can also be used for downhill scenarios with half load or more, and long-distance continuous downhill sections.

[0023] In one embodiment of this application, determining the retarder gear position command includes: Speed ​​prediction is performed based on the current speed and acceleration of the unmanned mining truck to obtain the predicted speed. Obtain the gradient of the current downhill section, and based on the linear relationship between gradient and minimum controllable speed at different gears, obtain the minimum controllable speed at different gears under the gradient. Based on the target vehicle speed, the predicted vehicle speed, and the minimum controllable vehicle speed for different gears, the retarder gear command is determined.

[0024] In this embodiment, the predicted vehicle speed is first calculated. If a preset effective scenario is met, the speed is predicted based on the current speed and acceleration of the unmanned mining truck, using the following formula: Predict the vehicle speed after a certain time. The response time of the retarder is usually taken as an empirical value, ranging from 0.3s to 1s.

[0025] (1) in, Current vehicle speed For the current vehicle acceleration, To predict vehicle speed.

[0026] By using the onboard sensor unit or the cloud platform of the mining area to pre-calibrate the geographical information, the slope of the downhill section where the unmanned mining truck is located can be obtained in real time. Based on the pre-calibrated linear mapping relationship between different retarder gears and the minimum controllable speed under the corresponding slope, the minimum controllable speed corresponding to each retarder gear under the current slope can be calculated.

[0027] Furthermore, by combining the preset safe target speed of the unmanned mining truck, the predicted speed obtained above, and the minimum controllable speed of each gear, the retarder gear command adapted to the current driving state is comprehensively determined through multi-condition threshold comparison and logical decision-making, so as to achieve precise constraint and stable control of the vehicle's downhill speed and avoid excessive braking load or brake failure due to excessive speed.

[0028] In one embodiment of this application, the method further includes: When manually driving mining trucks downhill on slopes of varying gradients, the controllable speeds of different gears at different gradients are recorded. Based on the controllable speed at different gears and different slopes, a linear relationship between the slope and the minimum controllable speed at different gears is constructed.

[0029] In this embodiment, offline data collection and processing are performed during the system calibration phase. The mining truck is manually driven through downhill test sections with various preset gradients in the mining area for real-world driving tests. Multiple sets of repeated tests are conducted for different retarder gears, and the controllable speed range within which the vehicle maintains stable driving and the braking system operates safely at the corresponding gradient is collected and recorded in real time. The mining truck can be fully loaded, half-loaded, or in other states, which can be set according to preset effective scenarios, and its state is consistent with the mining truck state in the preset effective scenarios.

[0030] Multiple sets of experimental data were filtered, outlier removed, and mean fitted. Based on the processed valid experimental data, a linear regression algorithm was used for fitting analysis to construct and store the linear relationship between the downhill slope and the minimum controllable speed for different retarder gears. This provides calibration basis and data support for the retarder gear decision-making during the subsequent automatic downhill driving of unmanned mining trucks.

[0031] For example, select two downhill routes with different gradients, the gradients being respectively and Manually drive a fully loaded mining truck without engaging any mechanical brakes, manually switching between different retarder gears (gear 1, 2, ..., Max). Most mining trucks have a maximum Max gear of 4 or 5, and the higher the gear, the greater the braking force. Record the controllable speed at different gears on two different gradients. and ,in Let be the corresponding retarder gear. Then, according to the following formula, the linear relationship between the gradient and the minimum controllable speed at different gears can be determined: (2) in, For road slope, for Retarder on the ramp The minimum controllable speed.

[0032] After obtaining the slope of the current downhill section Then, substituting into formula (2), we can obtain the slope. Minimum controllable speed in different gears , ,…, .

[0033] In one embodiment of this application, a retarder gear command is determined based on the target vehicle speed, the predicted vehicle speed, and the minimum controllable vehicle speed for different gears, including: Obtain the target vehicle speed; If the first gear determination condition is met, then the retarder gear command is determined to be 0. The first gear determination condition is: and , This indicates the minimum controllable speed in the lowest gear. Indicates the target vehicle speed. Indicates predicted vehicle speed; If the second gear determination condition is met, then the retarder gear command is determined to be the maximum gear. The second gear determination condition is as follows: and , This indicates the minimum controllable vehicle speed in the highest gear. If the first gear determination condition and the second gear determination condition are not met, then iterate through the absolute value of the difference between the minimum controllable vehicle speed and the target vehicle speed for all gears, and take the gear corresponding to the minimum absolute value of the difference as the retarder gear command.

[0034] In this embodiment, the target vehicle speed is obtained. If satisfied and The first gear selection condition, that is, if the target vehicle speed is higher than the controllable lower limit of the lowest gear and the predicted vehicle speed will not exceed the target vehicle speed, it means that retarder braking is not required, and then the retarder gear command is given. If satisfied and In other words, if the target vehicle speed is below the controllable lower limit of the maximum gear, and the predicted vehicle speed has exceeded the target speed, it indicates that the strongest braking is required, and the highest gear must be engaged. Therefore, the retarder gear command will be activated. . This indicates the minimum controllable speed in the lowest gear. This indicates the minimum controllable speed for the highest gear. This indicates the predicted vehicle speed.

[0035] If neither the first gear determination condition nor the second gear determination condition is met, then iterate through the minimum controllable vehicle speed and target speed for all gears. The absolute value of the difference , This represents the minimum controllable speed of gear i, taken as... The gear corresponding to the minimum As a retarder gear position command, i.e., retarder gear position command In other words, in the intermediate gears, select the gear with the minimum controllable speed closest to the target speed to achieve precise matching, ensuring controllable speed while avoiding excessive braking.

[0036] By employing the above methods, extreme conditions can be handled without the need for retarder braking or by prioritizing the highest gear, thus ensuring response efficiency. In intermediate conditions, minimum error matching is used to balance vehicle speed control accuracy and braking system lifespan, meeting the safety requirements of prioritizing vehicle speed constraints and optimizing braking performance in fully loaded downhill scenarios.

[0037] In one embodiment of this application, determining the mechanical braking command compensation coefficient includes: Obtain the retarder gear feedback value; Based on the retarder gear feedback value and the retarder gear command, the mechanical braking command compensation coefficient is determined.

[0038] In this embodiment, the actual gear position signal fed back by the on-board retarder actuator, i.e., the retarder gear position feedback value, is acquired in real time. The retarder gear position feedback value is compared with the retarder gear position command, and combined with the predicted vehicle speed and the target vehicle speed, the mechanical braking command compensation coefficient is determined. This coefficient is used to dynamically correct the mechanical braking command obtained from the autonomous driving controller, so as to compensate for the insufficient braking force of the retarder with a more appropriate mechanical braking force, thereby improving the coordinated control accuracy and stability of the vehicle braking system in the scenario of full load downhill.

[0039] In one embodiment of this application, the mechanical braking command compensation coefficient is determined based on the retarder gear feedback value and the retarder gear command, including: If the first coefficient determination condition is met, then the mechanical braking command compensation coefficient is determined to be 1. The first coefficient determination condition is: or , This indicates the retarder gear position command. This indicates the retarder gear feedback value; If the second coefficient determination condition is met, then the mechanical braking command compensation coefficient is calculated based on the predicted vehicle speed and the target vehicle speed. The second coefficient determination condition is as follows: Maximum gear and Alternatively, the second coefficient determination criterion is: Maximum gear and , This indicates the minimum controllable speed for the highest gear. Indicates predicted vehicle speed. Indicates the target vehicle speed; If the first and second coefficient determination conditions are not met, the mechanical braking command compensation coefficient is determined to be 0.

[0040] In this embodiment, if the following conditions are met or The first coefficient determination condition requires full compensation for mechanical braking, and a mechanical braking command compensation coefficient needs to be set. . This means that the retarder gear command is inconsistent with the actual feedback, indicating that the retarder gear was not executed properly or there is an execution deviation; This means the retarder gear command is 0, which means the retarder is not used.

[0041] If satisfied Maximum gear, and or The second coefficient determination condition indicates that the retarder has been working at the maximum gear and has been executed to the required level, but the predicted vehicle speed still exceeds the controllable lower limit of the maximum gear or exceeds the safe target vehicle speed. This indicates that the retarder alone cannot effectively control the speed. In this case, mechanical braking compensation needs to be superimposed. The mechanical braking command compensation coefficient k is dynamically calculated from the deviation between the predicted vehicle speed and the target vehicle speed, and k is limited to between 0 and 1. This not only supplements the braking force to pull the vehicle speed back to the safe range, but also avoids excessive mechanical braking intervention that could cause vehicle jerking or increased wear. The mechanical braking command compensation coefficient can be set according to formula (3). At the same time, it is limited The range is [0,1].

[0042] (3) in, This is the measured and calibrated scale factor, with a reference value of 1.0.

[0043] If neither the first nor the second coefficient judgment condition is met, it indicates that the retarder gear command is consistent with the feedback, and the maximum gear has not been reached or the vehicle speed is controllable. This means that the retarder itself can stably control the vehicle speed, and a mechanical braking command compensation coefficient should be set. This means that only the retarder is used for braking.

[0044] Step 202: Obtain the mechanical braking command and correct the mechanical braking command based on the mechanical braking command compensation coefficient.

[0045] In this step, a mechanical braking command is obtained from the autonomous driving controller, and the mechanical braking command is dynamically corrected using a mechanical braking command compensation coefficient to obtain the corrected mechanical braking command. The mechanical braking command can be adjusted according to formula (4). Make corrections: (4) in, This is the revised mechanical braking command. This is the compensation coefficient for mechanical braking commands.

[0046] This application dynamically adjusts the compensation force of the mechanical brake based on the retarder gear command and actual feedback, combined with the vehicle speed status, and corrects the mechanical brake command to ensure stable and controllable downhill speed.

[0047] Step 203: Based on the retarder gear position command and the corrected mechanical braking command, perform speed control of the unmanned mining truck.

[0048] In this step, the corrected mechanical braking command and retarder gear command are sent to the drive-by-wire module, which then executes the two commands to achieve speed control of the unmanned mining truck.

[0049] This application proposes an auxiliary braking control scheme for the retarder of an unmanned mining truck, which realizes automatic control of the retarder's gear position and corrects the mechanical braking command output by the unmanned driving controller. This achieves coordinated speed regulation control between the multi-stage retarder and the mechanical braking system, avoiding problems such as overheating and brake force attenuation caused by prolonged use of mechanical braking.

[0050] Specifically, through the coordinated optimization control of the retarder and mechanical braking, the continuous braking advantage of the retarder is fully utilized to reduce mechanical brake wear, while the insufficient braking force of the retarder is compensated by the dynamic compensation mechanism. This significantly improves the accuracy, safety and system reliability of downhill speed control, while extending the service life of the braking system and reducing the operation and maintenance costs of vehicles in the mining area.

[0051] It should be noted that existing technologies disclose methods for calculating target braking force and then determining the target gear by comparing the braking force thresholds of different retarder gears. However, these methods have several drawbacks: the braking threshold of the retarder is difficult to obtain accurately; and no coordinated optimization control scheme for the retarder and mechanical braking is mentioned. This application, however, determines the linear relationship between controllable speed and gradient at different retarder gears through offline data acquisition. By predicting the speed and combining it with the current gradient, the target gear of the retarder is determined. Finally, the mechanical braking command is corrected by calculating a mechanical braking command compensation coefficient, thereby achieving auxiliary braking of the retarder. This application avoids the need to obtain the braking thresholds of each retarder gear in advance and proposes an auxiliary braking scheme that coordinates with the mechanical braking command.

[0052] As a specific implementation of the aforementioned unmanned mining truck speed control method, this application provides an unmanned mining truck speed control device, which can also be called an unmanned mining truck retarder auxiliary braking controller. Figure 3 As shown, the unmanned mining truck speed control device 300 includes: a processing module 301, a correction module 302, and a control module 303.

[0053] The processing module 301 is used to determine the retarder gear command and mechanical braking command compensation coefficient when the unmanned mining truck is detected to be operating in a preset effective scenario. The correction module 302 is used to acquire the mechanical braking command and correct the mechanical braking command based on the mechanical braking command compensation coefficient; The control module 303 is used to control the speed of the unmanned mining truck based on the retarder gear command and the modified mechanical braking command.

[0054] Furthermore, the processing module 301 is specifically used for: Speed ​​prediction is performed based on the current speed and acceleration of the unmanned mining truck to obtain the predicted speed. Obtain the gradient of the current downhill section, and based on the linear relationship between the gradient and the minimum controllable speed at different gears, obtain the minimum controllable speed at different gears under the given gradient. The retarder gear command is determined based on the target vehicle speed, the predicted vehicle speed, and the minimum controllable vehicle speed for each gear.

[0055] Furthermore, the processing module 301 is specifically used for: Obtain the target vehicle speed; If the first gear determination condition is met, then the retarder gear command is determined to be 0. The first gear determination condition is: and , This indicates the minimum controllable speed in the lowest gear. Indicates the target vehicle speed. This indicates the predicted vehicle speed; If the second gear determination condition is met, then the retarder gear command is determined to be the maximum gear. The second gear determination condition is: and , This indicates the minimum controllable vehicle speed in the highest gear. If the first gear determination condition and the second gear determination condition are not met, then the absolute value of the difference between the minimum controllable vehicle speed and the target vehicle speed of all gears is traversed, and the gear corresponding to the minimum absolute value of the difference is taken as the retarder gear command.

[0056] Furthermore, the device also includes: a linear relationship construction module, used for: When manually driving mining trucks downhill on slopes of varying gradients, the controllable speeds of different gears at different gradients are recorded. Based on the controllable speed at different gears and different slopes, a linear relationship between the slope and the minimum controllable speed at different gears is constructed.

[0057] Furthermore, the processing module 301 is specifically used for: Obtain the retarder gear feedback value; Based on the retarder gear feedback value and the retarder gear command, the mechanical braking command compensation coefficient is determined.

[0058] Furthermore, the processing module 301 is specifically used for: If the first coefficient determination condition is met, then the mechanical braking command compensation coefficient is determined to be 1. The first coefficient determination condition is: or , This indicates the retarder gear position command. This indicates the retarder gear feedback value; If the second coefficient determination condition is met, then the mechanical braking command compensation coefficient is calculated based on the predicted vehicle speed and the target vehicle speed. The second coefficient determination condition is as follows: Maximum gear and Alternatively, the second coefficient determination condition is: Maximum gear and , This indicates the minimum controllable speed for the highest gear. This indicates the predicted vehicle speed. Indicates the target vehicle speed; If the first coefficient determination condition and the second coefficient determination condition are not met, then the mechanical braking command compensation coefficient is determined to be 0.

[0059] Furthermore, the preset effective scenario is a fully loaded downhill scenario, and the device further includes: an effective scenario determination module, used for: Based on the pre-marked fully loaded downhill sections on the mining area's cloud platform and the current location of the unmanned mining truck, it detects whether the unmanned mining truck has entered a fully loaded downhill section; or, Acquire real-time traffic data, and based on the real-time traffic data, detect whether the unmanned mining truck is running on a fully loaded downhill section.

[0060] The unmanned mining truck speed control device 300 in this application embodiment can be a computer device or a component within a computer device, such as an integrated circuit or a chip. The unmanned mining truck speed control device 300 provided in this application embodiment can achieve... Figure 1 and Figure 2 The various processes implemented in the embodiment of the unmanned mining truck speed control method will not be described again here to avoid repetition.

[0061] This application also provides a terminal, such as... Figure 4 As shown, the terminal 400 includes the aforementioned unmanned mining truck speed control device 300.

[0062] The aforementioned terminal 400 can execute the unmanned mining truck speed control method described in the above embodiments through the unmanned mining truck speed control device 300. It is understood that the implementation method of the terminal 400 controlling the unmanned mining truck speed control device 300 can be set according to the actual application scenario, and the embodiments of this application do not make specific limitations.

[0063] The aforementioned terminal 400 includes, but is not limited to, vehicles, vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radar, or vehicle-mounted cameras, and other sensors. Vehicles can implement the methods provided in this application through these vehicle-mounted terminals, controllers, modules, components, chips, units, radar, or cameras. Vehicles in this application include passenger cars and commercial vehicles. Common commercial vehicle models include, but are not limited to, pickup trucks, mini-trucks, light trucks, mini-vans, dump trucks, cargo trucks, tractors, trailers, special-purpose vehicles, and mining vehicles. Mining vehicles include, but are not limited to, mining trucks, wide-body trucks, articulated trucks, excavators, electric shovels, and bulldozers. This application does not further limit the type of intelligent vehicle; any type of vehicle is within the scope of protection of this application.

[0064] This application also provides a computer device, such as... Figure 5As shown, the computer device 500 includes a first processor 501 and a first memory 502. The first memory 502 stores programs or instructions that can run on the first processor 501. When the program or instructions are executed by the first processor 501, they implement the various steps of the above-described unmanned mining truck speed control method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0065] The first memory 502 can be used to store software programs and various data. The first memory 502 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback function, image playback function, etc.). Furthermore, the first memory 502 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The first memory 502 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0066] The first processor 501 may include one or more processing units; optionally, the first processor 501 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the first processor 501.

[0067] This application also provides a computer-readable storage medium, such as... Figure 6 As shown, a program or instruction 601 is stored on the computer-readable storage medium 600. When the program or instruction 601 is executed by the processor, it implements the various processes of the above-described unmanned mining truck speed control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0068] The methods described in the above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. The computer-readable storage medium 600 may include computer storage media and communication media, and may also include any medium capable of transferring a computer program from one place to another. The storage medium can be any target medium accessible by a computer.

[0069] As one possible design, computer-readable storage medium 600 may include a compact optical disc read-only memory (CD-ROM), RAM, ROM, EEPROM, or other optical disc storage; computer-readable storage medium 600 may also include a disk storage device or other disk storage device. Furthermore, any connecting cable may also be appropriately referred to as a computer-readable storage medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL (Digital Subscriber Line), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs (CD), laser discs, optical discs, digital versatile discs (DVD), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers.

[0070] This application also provides a chip, such as... Figure 7 As shown, the chip 700 includes at least one second processor 701 and a communication interface 702. The communication interface 702 is coupled to the second processor 701. The second processor 701 is used to run programs or instructions to implement the various processes of the above-described unmanned mining truck speed control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0071] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0072] Preferably, the chip 700 further includes a memory, such as a second memory 703, which stores executable modules or data structures, or subsets thereof, or extended sets thereof.

[0073] In this embodiment, the second memory 703 may include read-only memory and random access memory, and provides instructions and data to the second processor 701. A portion of the second memory 703 may also include non-volatile random access memory (NVRAM).

[0074] In this embodiment, the second processor 701, the communication interface 702, and the second memory 703 are coupled together via a bus system 704. The bus system 704 may include a data bus, a power bus, a control bus, and a status signal bus, in addition to the data bus. For ease of description, in... Figure 7 The general designated all buses as Bus System 704.

[0075] The unmanned mining truck speed control method described in the embodiments of this application can be applied to, or implemented by, the second processor 701. The second processor 701 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware or by instructions in software within the second processor 701. The second processor 701 can be a general-purpose processor (e.g., a microprocessor or conventional processor), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates, transistor logic devices, or discrete hardware components. The second processor 701 can implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this invention.

[0076] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0077] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A speed control method for unmanned mining trucks, characterized in that, include: When the operating scenario of the unmanned mining truck is detected to be a preset effective scenario, determine the retarder gear command and the mechanical braking command compensation coefficient. Obtain a mechanical braking command and correct the mechanical braking command based on the mechanical braking command compensation coefficient; Speed ​​control of the unmanned mining truck is performed based on the retarder gear command and the corrected mechanical braking command. Speed ​​prediction is performed based on the current speed and acceleration of the unmanned mining truck to obtain the predicted speed. Obtain the gradient of the current downhill section, and based on the linear relationship between the gradient and the minimum controllable speed at different gears, obtain the minimum controllable speed at different gears under the given gradient. Obtain the target vehicle speed; If the first gear determination condition is met, then the retarder gear command is determined to be 0. The first gear determination condition is: and , This indicates the minimum controllable speed in the lowest gear. Indicates the target vehicle speed. This indicates the predicted vehicle speed; If the second gear determination condition is met, then the retarder gear command is determined to be the maximum gear. The second gear determination condition is: and , This indicates the minimum controllable speed for the highest gear. If the first gear determination condition and the second gear determination condition are not met, then the absolute value of the difference between the minimum controllable vehicle speed and the target vehicle speed of all gears is traversed, and the gear corresponding to the minimum absolute value of the difference is taken as the retarder gear command. The determination of the mechanical braking command compensation coefficient includes: Obtain the retarder gear feedback value; If the first coefficient determination condition is met, then the mechanical braking command compensation coefficient is determined to be 1. The first coefficient determination condition is: or , This indicates the retarder gear position command. This indicates the retarder gear feedback value; If the second coefficient determination condition is met, then the mechanical braking command compensation coefficient is calculated based on the predicted vehicle speed and the target vehicle speed. The second coefficient determination condition is as follows: Maximum gear and Alternatively, the second coefficient determination condition is: Maximum gear and , This indicates the minimum controllable vehicle speed in the highest gear. This indicates the predicted vehicle speed. Indicates the target vehicle speed; If the first coefficient determination condition and the second coefficient determination condition are not met, then the mechanical braking command compensation coefficient is determined to be 0.

2. The method according to claim 1, characterized in that, The method further includes: When manually driving mining trucks downhill on slopes of varying gradients, the controllable speeds of different gears at different gradients are recorded. Based on the controllable speed at different gears and different slopes, a linear relationship between the slope and the minimum controllable speed at different gears is constructed.

3. The method according to claim 1 or 2, characterized in that, The preset effective scenario is a fully loaded downhill scenario, and the method further includes: Based on the pre-marked fully loaded downhill sections on the mining area's cloud platform and the current location of the unmanned mining truck, it detects whether the unmanned mining truck has entered a fully loaded downhill section; or, Acquire real-time traffic data, and based on the real-time traffic data, detect whether the unmanned mining truck is running on a fully loaded downhill section.

4. A speed control device for unmanned mining trucks, characterized in that, The apparatus for implementing the unmanned mining truck speed control method as described in any one of claims 1 to 3 includes: The processing module is used to determine the retarder gear command and mechanical braking command compensation coefficient when the unmanned mining truck is detected to be operating in a preset effective scenario. The correction module is used to acquire the mechanical braking command and correct the mechanical braking command based on the mechanical braking command compensation coefficient; The control module is used to control the speed of the unmanned mining truck based on the retarder gear command and the modified mechanical braking command.

5. A terminal, characterized in that, The terminal includes the unmanned mining truck speed control device as described in claim 4.

6. A computer device, characterized in that, It includes a first processor and a first memory, the first memory storing a program or instructions that run on the first processor, the program or instructions being executed by the first processor to implement the unmanned mining truck speed control method as described in any one of claims 1 to 3.

7. A computer-readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the unmanned mining truck speed control method as described in any one of claims 1 to 3.

8. A chip, characterized in that, The chip includes at least one second processor and a communication interface, the communication interface being coupled to the at least one second processor, the at least one second processor being used to run programs or instructions to implement the unmanned mining truck speed control method as described in any one of claims 1 to 3.

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