CN109085822A - The method and apparatus of mining automatic driving vehicle - Google Patents
The method and apparatus of mining automatic driving vehicle Download PDFInfo
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- CN109085822A CN109085822A CN201810724894.7A CN201810724894A CN109085822A CN 109085822 A CN109085822 A CN 109085822A CN 201810724894 A CN201810724894 A CN 201810724894A CN 109085822 A CN109085822 A CN 109085822A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The present invention provides the control methods and device of a kind of mining automatic driving vehicle, method include: in mining automatic driving vehicle according to planning path when driving, the first location information of the current location point of mining automatic driving vehicle is obtained, and obtains the second location information at least one sampled point being located in front of first location information in planning path；Based on first location information and second location information, determine whether the driving path in front of mining automatic driving vehicle includes climb and fall section；When driving path in front of mining automatic driving vehicle includes climb and fall section, the control strategy for being directed to climb and fall section is determined；Based on control strategy, mining automatic driving vehicle traveling is controlled.The present invention is simple and convenient, reliable for operation, even if mining automatic driving vehicle can also be safely completed the traveling of climb and fall in the underground of bad environments.
Description
Technical field
The present invention relates to mining automatic driving vehicle technical field more particularly to a kind of controls of mining automatic driving vehicle
Method and apparatus.
Background technique
Currently, mine vehicle has unmatched effect, coal, ore and waste residue etc. during mining mineral resource
Material is required to be transported by mine vehicle.But the road in mining area but often exists and wriggles that rugged, design is lack of standardization etc.
Problem, meanwhile, the exploitation of mineral resources also extends to underground more deep always, with being continuously increased for mining depth, underground
Working environment is also more and more severe.
In the practical application of mine vehicle, it is all pilot steering that vehicle is most of, these working environments are to mine vehicle
The life security of driver brings great threat.Since the running region in mining area is often relatively fixed with route, belong to weight
The intelligence degree of mine vehicle can be improved therefore for the safety of driver in renaturation work, thus research it is mining nobody drive
Vehicle is sailed to become more and more important.
And in the research of mining automatic driving vehicle, the centre-of gravity shift of mining automatic driving vehicle, road environment are severe
Situations such as all easily cause mining automatic driving vehicle occur during climb and fall glide, rollover etc. accidents, to it is mining nobody
The use for driving vehicle brings security risk.
Summary of the invention
The present invention is in view of the above-mentioned problems, provide the control method and device of a kind of mining automatic driving vehicle, Neng Gou
The safety of mining automatic driving vehicle is improved during climb and fall.
In a first aspect, providing a kind of control method of mining automatic driving vehicle, comprising: in mining automatic driving vehicle
When driving according to planning path, the first location information of the current location point of mining automatic driving vehicle is obtained, and obtains planning
It is located at the second location information of at least one sampled point in front of first location information on path；Based on first location information and
Two location informations determine whether the driving path in front of mining automatic driving vehicle includes climb and fall section；It is mining nobody drive
When the driving path for sailing vehicle front includes climb and fall section, the control strategy for being directed to climb and fall section is determined；Based on control plan
Slightly, mining automatic driving vehicle traveling is controlled.
In the first mode in the cards, first location information and second location information include latitude and longitude information and sea
Pull out information；Based on first location information and second location information, determine whether is driving path in front of mining automatic driving vehicle
Including climb and fall section, comprising: determine the first driving path from planning path, wherein the first driving path includes at least one
A sampled point；Based on latitude and longitude information and altitude information, the estimation value of slope of the first driving path is determined；It is big in estimation value of slope
When given threshold, determine that the first driving path includes climb and fall section.
With reference to first aspect the first mode in the cards is based on longitude and latitude in second of mode in the cards
Information and altitude information are spent, determines that the estimation value of slope of the first driving path includes: based on current location point and apart from present bit
A latitude and longitude information and altitude information for the first sampled point of interval predetermined period is set, current location point and the first sampled point are calculated
The first longitude and latitude difference and current location point and the first sampled point the first height above sea level difference；Based on the first longitude and latitude difference and
First height above sea level difference calculates the estimation value of slope of the first driving path.
With reference to first aspect the first mode in the cards is based on longitude and latitude in the third mode in the cards
Information and altitude information are spent, determines that the estimation value of slope of the first driving path includes: based on adjacent default in front of the point of current location
Second sampled point in period and the latitude and longitude information and altitude information of third sampled point calculate the second sampled point and third sampled point
The second longitude and latitude difference and the second sampled point and third sampled point the second height above sea level difference；Based on the second longitude and latitude difference
With the second height above sea level difference, the estimation value of slope of the first driving path is calculated.
The third mode in the cards of the mode in the cards of second with reference to first aspect or first aspect,
In 4th kind of mode in the cards, when the driving path in front of mining automatic driving vehicle includes climb and fall section, determine
The control strategy of mining automatic driving vehicle includes: starting point based on climb and fall section and the first sampled point or third sampled point,
Calculate the actual grade value of climb and fall section；When driving path in front of mining automatic driving vehicle includes climb and fall section,
The control strategy of mining automatic driving vehicle is determined based on actual grade value.
The 4th kind of mode in the cards with reference to first aspect is based on first in the 5th kind of mode in the cards
Location information and second location information, determine the driving path in front of mining automatic driving vehicle whether include climb and fall section also
It include: that the second driving path, the second driving path are determined from planning path based on first location information and second location information
It is that mining automatic driving vehicle travels straight road to before climb and fall section；Traveling in front of mining automatic driving vehicle
When path includes climb and fall section, the control strategy of mining automatic driving vehicle is determined based on actual grade value, comprising: obtain mine
With first travel speed of the automatic driving vehicle on the second driving path；Based on actual grade value, obtain mining unmanned
Second travel speed of the vehicle in climb and fall section；Based on the first travel speed, the second travel speed and the second driving path
Length calculates mining automatic driving vehicle and travels the acceleration needed to climb and fall section；Based on acceleration and vehicle parameter, meter
Calculate the first torque that mining automatic driving vehicle needs on the second driving path；Based on the first torque, calculating is mining, and nobody is driven
Sail the first turnning circle of the motor of vehicle, wherein control strategy includes the first turnning circle.
5th kind of mode in the cards of the 4th kind of mode or first aspect in the cards with reference to first aspect,
In 6th kind of mode in the cards, when the driving path in front of mining automatic driving vehicle includes climb and fall section, it is based on
The actual grade value of climb and fall section determines the control strategy of mining automatic driving vehicle, further includes: based on actual grade value and
The vehicle parameter of mining automatic driving vehicle calculates mining automatic driving vehicle is needed in the safety traffic of climb and fall section second
Torque；Based on the second torque, the second turnning circle of the motor of mining automatic driving vehicle is calculated, wherein control strategy includes
Second turnning circle.
Second aspect provides a kind of control device of mining automatic driving vehicle, comprising: module is obtained, for mining
Automatic driving vehicle when driving, obtains the first position letter of the current location point of mining automatic driving vehicle according to planning path
Breath, and the second location information for obtaining at least one sampled point being located in front of first location information in planning path；Sentence
Cover half block determines the driving path in front of mining automatic driving vehicle for being based on first location information and second location information
It whether include climb and fall section；It includes climb and fall area that determination module, which is also used to the driving path in front of mining automatic driving vehicle,
Duan Shi determines the control strategy for being directed to climb and fall section；Control module controls mining unmanned for being based on control strategy
Vehicle driving.
In the first mode in the cards, first location information and second location information include latitude and longitude information and sea
Pull out information；Determination module is specifically used for: the first driving path is determined from planning path, wherein the first driving path includes extremely
A few sampled point；Based on latitude and longitude information and altitude information, the estimation value of slope of the first driving path is determined；If estimating slope
Angle value is greater than given threshold, then the first driving path includes climb and fall section.
With reference to first aspect the first mode in the cards, in second of mode in the cards, determination module
Be specifically used for: the latitude and longitude information of the first sampled point based on current location point and apart from current location point interval predetermined period and
Altitude information calculates the first longitude and latitude difference and current location point and the first sampled point of current location point and the first sampled point
The first height above sea level difference；Based on the first longitude and latitude difference and the first height above sea level difference, the estimation value of slope of the first driving path is calculated.
With reference to first aspect the first mode in the cards, in the third mode in the cards, determination module
Be specifically used for: the latitude and longitude information of the second sampled point and third sampled point based on predetermined period adjacent in front of the point of current location and
Altitude information, the second longitude and latitude difference and the second sampled point for calculating the second sampled point and third sampled point are sampled with third
Second height above sea level difference of point；Based on the second longitude and latitude difference and the second height above sea level difference, the estimation gradient of the first driving path is calculated
Value.
The third mode in the cards of the mode in the cards of second with reference to first aspect or first aspect,
In 4th kind of mode in the cards, determination module is specifically also used to: starting point based on climb and fall section and the first sampled point or
Third sampled point calculates the actual grade value of climb and fall section；Driving path in front of mining automatic driving vehicle includes upper
When descending section, the control strategy of mining automatic driving vehicle is determined based on actual grade value.
The 4th kind of mode in the cards with reference to first aspect, in the 5th kind of mode in the cards, determination module
It is specifically also used to: based on first location information and second location information, the second driving path, the second row is determined from planning path
Sailing path is that mining automatic driving vehicle travels straight road to before climb and fall section；Mining automatic driving vehicle is obtained to exist
The first travel speed on second driving path；Based on actual grade value, mining automatic driving vehicle is obtained in climb and fall section
The second travel speed；Length based on the first travel speed, the second travel speed and the second driving path, calculates mining nothing
People drives the acceleration that vehicle driving is needed to climb and fall section；Based on acceleration and vehicle parameter, calculate mining unmanned
The first torque that vehicle needs on the second driving path；Based on the first torque, the motor of mining automatic driving vehicle is calculated
First turnning circle, wherein control strategy includes the first turnning circle.
5th kind of mode in the cards of the 4th kind of mode or first aspect in the cards with reference to first aspect,
In 6th kind of mode in the cards, determination module is specifically also used to: based on actual grade value and mining automatic driving vehicle
Vehicle parameter calculates the second torque that mining automatic driving vehicle is needed in the safety traffic of climb and fall section；Based on the second torque,
Calculate the second turnning circle of the motor of mining automatic driving vehicle, wherein control strategy includes the second turnning circle.
When based on the embodiment of the present invention, according to the route planned, mining automatic driving vehicle can be according to it
Whether the location information of current location information and sampled point has climb and fall section in front of it to determine.It can make so mining
Automatic driving vehicle can obtain the information whether front has climb and fall section in advance before encountering climb and fall section, thus
The control strategy of mining automatic driving vehicle can be obtained according to the climb and fall situation in the front of mining automatic driving vehicle, into
And control the safety traffic of mining automatic driving vehicle, even if so that mining automatic driving vehicle in the underground of bad environments,
The traveling of climb and fall can more safely and reliably be completed.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is the structural schematic diagram of the control system of the mining automatic driving vehicle of one embodiment of the invention.
Fig. 2 is the schematic flow chart of the control method of the mining automatic driving vehicle of one embodiment of the invention.
Fig. 3 is the schematic flow chart of the control method of the mining automatic driving vehicle of another embodiment of the present invention.
Fig. 4 is the schematic diagram of the control device of the mining automatic driving vehicle of one embodiment of the invention.
Fig. 5 is the block diagram of the computer equipment of one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of the control system of mining automatic driving vehicle according to an embodiment of the invention.
The control system 100 of unmanned mining automatic driving vehicle may include that driving information obtains equipment 110 and control
Control equipment 120.
It may include vehicle-bone global positioning system (Global Positioning that driving information, which obtains equipment 110,
System, GPS) locating module 111, for obtaining the own location information of mining automatic driving vehicle, wherein GPS positioning mould
Block 111 can be set in the outside of mining automatic driving vehicle.It can also include differential reference station that driving information, which obtains equipment 110,
112, the GPS receiver equipment of differential reference station 112 can be placed in the ground control point in mining area, to according to the ground received
The GPS signal at control point and the actual coordinate of ground control point periodically calculate GPS corrected parameter.Driving information obtains equipment 110
It can also include communication module 113, multiple communication interface can be set in communication module 113, for example, 3G communication interface or 4G communication
Interface etc., the GPS corrected parameter for obtaining differential reference station 112 is transferred to GPS positioning module 111, so that GPS positioning mould
The location information for the mining automatic driving vehicle itself that block 111 obtains is more accurate.Meanwhile GPS positioning module 111 can also incite somebody to action
This more accurate location information is sent to mining automatic driving vehicle control equipment 120.
Control equipment 120 may include control host 121, control execution module 122 and control display module 123 etc..
Vehicle control host 121 may include host, motion control card, driving motor etc., for generate it is mining nobody drive
The control strategy of vehicle is sailed, to control the traveling of mining automatic driving vehicle by controlling execution module 122.In addition, control
Host 121 can also include route sub-module stored and data sub-module stored, for storing the vehicle of mining automatic driving vehicle
Parameter and driving path, the corresponding safe velocity of value of slope and ramp in ramp and the position of sampled point in travel
Confidence breath, travel speed, operating range and running time etc..
Controlling execution module 122 may include motor, Throttle Opening Control module, brake control module etc., which can connect
The control strategy that motion control card and driving motor in control host 121 transmit is received, for specifically executing these controls
Strategy, wherein Throttle Opening Control module and brake control module are by components groups such as spring cylinder, lead screw, crank connecting rod, pedals
At.For example, can use brake control module on straight road and deceleration-operation is carried out to mining automatic driving vehicle, it is electric at this time
Machine is received in control host 121 and is started turning after the signal of driving motor, and the rotation of actuating motor drives the rotation of lead screw, together
When brake control module crank connecting rod then start to push, pedal tramples brake.When mining automatic driving vehicle enters slope
Behind road, adjustment pedal pushes amplitude, guarantees safety traffic of the vehicle on ramp, until control terminates.
Control display module 123 can receive the ring in front of the mining automatic driving vehicle that control host 121 transmits
Border information, for example, the location information of driving path, sampled point in front of mining automatic driving vehicle, can also receive control master
The control strategy etc. that machine 121 transmits.Control display module 123 can be shown these information in the form of image, text etc.
In on the display of control display module 123.
Fig. 2 is the schematic flow chart of the control method of the mining automatic driving vehicle of one embodiment of the invention.The reality of Fig. 2
Applying example can be executed by the control system of Fig. 1.The method of Fig. 2 includes following content.
210, mining automatic driving vehicle according to planning path when driving, obtain the present bit of mining automatic driving vehicle
First location information a little is set, and obtains the second of at least one sampled point being located in front of first location information in planning path
Location information；
220, it is based on first location information and second location information, determines the driving path in front of mining automatic driving vehicle
It whether include climb and fall section；
230, when the driving path in front of mining automatic driving vehicle includes climb and fall section, determines and be directed to climb and fall area
The control strategy of section；
240, it is based on control strategy, controls mining automatic driving vehicle traveling.
When based on the embodiment of the present invention, according to the route planned, mining automatic driving vehicle can be according to it
Whether the location information of current location information and sampled point has climb and fall section in front of it to determine.It can make so mining
Automatic driving vehicle can obtain the information whether front has climb and fall section in advance before encountering climb and fall section, thus
The control strategy of mining automatic driving vehicle can be obtained according to the climb and fall situation in the front of mining automatic driving vehicle, into
And control the safety traffic of mining automatic driving vehicle, even if so that mining automatic driving vehicle in the underground of bad environments,
The traveling of climb and fall can more safely and reliably be completed.
Specifically, in 110, at least one sampling in the planning path and planning path of mining automatic driving vehicle
Point, which can be, in advance to be obtained.For example, mining automatic driving vehicle can be travelled road needed for it as experienced driver
Line pilot steering one time.The available mine of control host 121 during driver's traveling, in mining automatic driving vehicle
With the driving path of automatic driving vehicle, and it can periodically sample second of at least one sampled point on driving path
The of location information, the driving path of the mining automatic driving vehicle that can also be will acquire in real time and at least one sampled point
Two location informations are stored into the route sub-module stored and data sub-module stored in control host 121.In reality of the invention
It applies in example, each period for example can be 0.5 second or 1 second etc..
It should be understood that can also plan the driving path of mining automatic driving vehicle automatically in advance, it is then mining unmanned
Vehicle goes traveling according to this planning path.
For example, control host 121 can be obtained from GPS positioning module 111 in driver's mining automatic driving vehicle
The driving path of mining automatic driving vehicle and the second location information of at least one sampled point；In mining automatic driving vehicle root
When driving according to above-mentioned planning path, control host 121 can also obtain mining automatic driving vehicle from GPS positioning module 111
Current first location information, wherein first location information and second location information may include for determining climb and fall section
Information, for example, first location information and second location information may include latitude and longitude information and altitude information.
According to an embodiment of the invention, first location information and second location information include latitude and longitude information and height above sea level letter
Breath；Based on first location information and second location information, determine the driving path in front of mining automatic driving vehicle whether include
Climb and fall section, comprising: the first driving path is determined from planning path, wherein the first driving path includes that at least one is adopted
Sampling point；Based on latitude and longitude information and altitude information, the estimation value of slope of the first driving path is determined；It is greater than in estimation value of slope and sets
When determining threshold value, determine that the first driving path includes climb and fall section.
Specifically, mining automatic driving vehicle according to above-mentioned planning path when driving, can according to it is mining nobody drive
It sails the current location information of vehicle, control at least one sampled point on the driving path and driving path stored in host 121
Location information, calculate the estimation value of slope of mining automatic driving vehicle current location road ahead.If value of slope is greater than
Given threshold can determine in front of mining automatic driving vehicle there is climb and fall section, it is possible to further according to climb and fall section
Actual grade value, mining automatic driving vehicle in safe velocity of climb and fall section etc. determine mining automatic driving car
Control strategy.If value of slope is less than given threshold, can determine in front of mining automatic driving vehicle without climb and fall
Section.In an embodiment of the present invention, given threshold is preferably 4 degree.
Based on the embodiment of the present invention, before by calculating mining automatic driving vehicle using latitude and longitude information and altitude information
The estimation value of slope of the driving path of side determines whether the front of mining automatic driving vehicle has climb and fall section, so that mining
The control of automatic driving vehicle is more simple and easy to do.
In one embodiment of the invention, it is based on latitude and longitude information and altitude information, determines estimating for the first driving path
Meter value of slope includes: the longitude and latitude letter of the first sampled point based on current location point and apart from current location point interval predetermined period
Breath and altitude information, calculate current location point and the first longitude and latitude difference and current location point of the first sampled point are adopted with first
First height above sea level difference of sampling point；Based on the first longitude and latitude difference and the first height above sea level difference, the estimation slope of the first driving path is calculated
Angle value.
For example, the value of slope of A point forward path can be according to automatic driving vehicle current location point AnFront is adjacent default
Two sampled point B in periodnAnd CnLongitude and latitude range difference and height above sea level range difference calculate, wherein predetermined period is preferably 50
Period.With the traveling of automatic driving vehicle, location point An, sampled point BnAnd CnAll changing always, for example, automatic driving car
Current location point is A1, distance A1Nearest sampled point is B1, along forward path and B1The sampling in point 50 sampling periods of interval
Point is C1, certainly, B1It is also possible to and A1The sampled point in point about 50 sampling periods of interval, the embodiment of the present invention do not make this
Limitation.With the traveling of automatic driving vehicle, automatic driving vehicle current location point is A2, distance A2The sampled point of certain distance
For B2, along forward path and B2The sampled point in point 50 sampling periods of interval is C2, and so on, automatic driving vehicle present bit
It sets a little as AnWhen, distance AnThe sampled point of certain distance can be Bn, and along forward path and B2Point is spaced 50 sampling periods
Sampled point can be Cn。
Estimation value of slope can use following formula to calculate, wherein θcnFor AnThe estimation of the one section of driving path in point front
Value of slope, HnFor CnSampled point and BnThe height above sea level difference of sampled point, LxnFor CnSampled point and BnSampled point transverse direction longitude and latitude difference pair
The distance answered, LynFor CnSampled point and BnThe corresponding distance of sampled point longitudinal direction longitude and latitude difference.If θcnIt, can greater than given threshold
To have climb and fall section in front of the mining automatic driving vehicle of determination.If θcnLess than given threshold, can determine it is mining nobody drive
Sailing vehicle front does not have climb and fall section.It, can be according to H when determining has climb and fall section in front of mining automatic driving vehiclen
The positive and negative climb and fall situation to judge climb and fall section.For example, working as HnWhen for positive value, have one in front of mining automatic driving vehicle
Section uphill way；Work as HnWhen for negative value, there is one section of descending section in front of mining automatic driving vehicle, in which:
Optionally, in another embodiment of the invention, second based on predetermined period adjacent in front of the point of current location adopts
The latitude and longitude information and altitude information of sampling point and third sampled point calculate the second longitude and latitude of the second sampled point and third sampled point
Spend the second height above sea level difference of difference and the second sampled point and third sampled point；It is poor based on the second longitude and latitude difference and the second height above sea level
Value calculates the estimation value of slope of the first driving path.
For example, it is also possible to according to automatic driving vehicle current location point AnWith with AnThe sampling of point distance about predetermined period
Point DnLongitude and latitude range difference and height above sea level range difference calculate AnThe value of slope of point forward path, wherein predetermined period is preferably 50
A period.In an embodiment of the present invention, value of slope can use above formula also to calculate, wherein θcnFor AnPoint front one
The estimation value of slope of section driving path, HnFor DnSampled point and AnThe height above sea level difference of point, LxnFor DnSampled point and AnPoint is laterally
The corresponding distance of longitude and latitude difference, LynFor DnSampled point and AnThe corresponding distance of the longitudinal longitude and latitude difference of point.Due to AnThe longitude and latitude of point
Whether degree information and altitude information are accurately, not influenced accurately by sampling, so the gradient can be improved in this calculation
The precision of value.
According to an embodiment of the invention, when the driving path in front of mining automatic driving vehicle includes climb and fall section,
The control strategy for determining mining automatic driving vehicle includes: that the starting point based on climb and fall section is sampled with the first sampled point or third
Point calculates the actual grade value of climb and fall section；Driving path in front of mining automatic driving vehicle includes climb and fall section
When, the control strategy of mining automatic driving vehicle is determined based on actual grade value.
For example, can directly mark the initial position of climb and fall section when planning the path of mining automatic driving vehicle
Point.Moreover, if according to θcnJudge there is climb and fall section in front of mining automatic driving vehicle, obtains sample point CnOr Dn
Latitude and longitude information and altitude information.Then, according to sample point CnWith the longitude and latitude difference of the source location set of climb and fall section
With height above sea level difference or sample point DnLongitude and latitude difference and height above sea level difference with the source location set of climb and fall can
To calculate the actual grade value in ramp in front of mining automatic driving vehicle, and then it can determine the control of mining automatic driving vehicle
System strategy.
According to an embodiment of the invention, being based on first location information and second location information, mining automatic driving car is determined
Whether the driving path in front of includes climb and fall section further include: first location information and second location information is based on, from rule
It draws and determines the second driving path in path, the second driving path is that mining automatic driving vehicle is travelled to before climb and fall section
Straight road；When driving path in front of mining automatic driving vehicle includes climb and fall section, determined based on actual grade value
The control strategy of mining automatic driving vehicle, comprising: obtain the first row of the mining automatic driving vehicle on the second driving path
Sail speed；Based on actual grade value, mining automatic driving vehicle is obtained in the second travel speed of climb and fall section；Based on first
The length of travel speed, the second travel speed and the second driving path calculates mining automatic driving vehicle and travels to climb and fall area
The acceleration that section needs；Based on acceleration and vehicle parameter, calculates mining automatic driving vehicle and needed on the second driving path
The first torque；Based on the first torque, the first turnning circle of the motor of mining automatic driving vehicle is calculated, wherein control plan
It slightly include the first turnning circle.
Specifically, can use the motor turnning circle of mining automatic driving vehicle as its control strategy.
When mining automatic driving vehicle is according to the good route of above-mentioned planning, mining automatic driving vehicle is in straight road
First travel speed of road can according to the current operating range of the mining automatic driving vehicle that stores in control host 121 and
Running time calculates.It is of course also possible to which the position being currently located according to mining automatic driving vehicle is directly from control host 121
The first travel speed corresponding to current location is extracted in the travel speed of at least one sampled point of middle storage.Climb and fall section
On the second travel speed can be obtained from control host 121 according to the actual grade value in ramp.
If according to θcnJudge there is climb and fall section in front of mining automatic driving vehicle, then can be according to current
The length of straight road in front of first travel speed, the second travel speed and mining automatic driving vehicle come calculate it is mining nobody
Drive the acceleration a that the starting point that vehicle is travelled from current location point to climb and fall section needsp, acceleration apCan according to
Lower formula calculates, wherein vSFor the first current travel speed of mining automatic driving vehicle, vNFor on climb and fall section
Two travel speeds.
The vehicle parameter of mining automatic driving vehicle may include air drag, rolling resistance, total weight, radius of wheel,
Speed changer notch speed ratio, speed ratio of main reducer and transmission system efficiency etc..Mining automatic driving vehicle is controlled to add on straight road
Speed or the first torque M to slow downe1Following calculation method be can use to calculate, wherein FwFor air drag, FfTo roll resistance
Power, G are the total weight of mining automatic driving vehicle, and r is radius of wheel, igFor speed changer notch speed ratio, i0For speed ratio of main reducer,For transmission system efficiency.
Due to the difference of torque and gear, the mining automatic driving vehicle of control can be calculated according to the following formula straight
The opening value β that throttle or brake on road need1。
β1=kMe1
It, can be according to motor control coefficient μ and opening value β according to the model of different actuating motors and control equipment1Come
It calculates and controls mining automatic driving vehicle turnning circle Q needed for actuating motor rotation on straight road1, calculation formula is such as
Under.Acceleration operation is carried out to mining automatic driving vehicle for example, can use vehicle accelerator control module, is needed at this time by holding
Row motor drives control execution module 122 to realize that throttle is trampled.
Q1=μ β1
Based on the embodiment of the present invention, it is being put down using the turnning circle of actuating motor as mining automatic driving vehicle is controlled
The control strategy of straight way road, so that the control of mining automatic driving vehicle is simpler easy.
Optionally, in another embodiment of the invention, the driving path in front of mining automatic driving vehicle includes upper
When descending section, the control strategy of mining automatic driving vehicle is determined based on the actual grade value of climb and fall section, further includes: base
In the vehicle parameter of actual grade value and mining automatic driving vehicle, mining automatic driving vehicle is calculated in climb and fall section safety
Travel the second torque needed；Based on the second torque, the second turnning circle of the motor of mining automatic driving vehicle is calculated,
In, control strategy includes the second turnning circle.
For example, after mining automatic driving vehicle enters climb and fall section, it can be on climb and fall section according to the second row
Sail speed traveling.At this point, control host 121 can be according to the actual grade of its pre-stored vehicle parameter and climb and fall section
Value θt, calculate and control the second torque M that mining automatic driving vehicle drives at a constant speed safely needs in climb and fall sectione2, calculate public
Formula is as follows.
Then, according to vehicle control coefficient k, motor control coefficient μ and the second torque Me2Come calculate control it is mining nobody drive
Sail the vehicle opening value β that throttle or brake need in the safety traffic of climb and fall section2Exist with mining automatic driving vehicle is controlled
Turnning circle Q needed for actuating motor rotation when climb and fall section drives safely2, wherein β2And Q2With β1And Q1Calculation method
Similar, details are not described herein.
Based on the embodiment of the present invention, using the turnning circle of actuating motor as the mining automatic driving vehicle of control upper
Control strategy on descending section, so that the control of mining automatic driving vehicle is simpler easy.
Fig. 3 is the schematic flow chart of the control method of the mining automatic driving vehicle of another embodiment of the present invention.
This method can be executed by the host in the control host 121 in Fig. 1 in system 100.
310, obtain the real-time and precise location information of mining automatic driving vehicle, driving path and at least one sampled point
Location information.
For example, location information may include the latitude and longitude information and altitude information of vehicle.The position of driving path and sampled point
Mining automatic driving vehicle can be needed intact artificial of the travel route that travel in advance by experienced driver by confidence breath
It drives one time, during artificial traveling, differential reference station 112 is according to the GPS signal and ground of the ground control point received
Face control point actual coordinate periodically calculates GPS corrected parameter, and using communication module 113 parameter taken place frequently surely give it is vehicle-mounted
GPS module 111, vehicle GPS module 111 using the GPS corrected parameter and its own obtain GPS signal can by it is mining nobody
The three dimensional local information of the driving path and its all fronts that drive vehicle is transferred to vehicle control host 121 and is stored in vehicle control master
The route sub-module stored of machine 121, vehicle control host 121 obtain driving path and its all fronts of mining automatic driving vehicle
Three dimensional local information.In an embodiment of the present invention, during artificial traveling, mining automatic driving vehicle can be in its row
Sail selects some cycles to be sampled on path, obtains multiple sampled points, and the period of sampling can be 0.5 second or 1 second etc..
315, the location information based on vehicle real-time and precise location information, driving path and at least one sampled point calculates
The estimation value of slope in the path in front of mining automatic driving vehicle.
For example, can use in the driving path in front of mining automatic driving vehicle with vehicle real-time and precise location point phase
The height above sea level difference of sampled point and vehicle real-time and precise location point away from predetermined period and the ratio of longitude and latitude horizontal distance difference
Value calculates the estimation value of slope θ of the driving path in front of mining automatic driving vehiclec, calculation formula is as follows:
Wherein, H is height above sea level difference, LxFor lateral longitude and latitude difference, LyFor longitudinal longitude and latitude difference.
320, determine whether the path in front of mining automatic driving vehicle is climb and fall section.
325, if θcLess than or equal to angle threshold θm, determine that the path in front of mining automatic driving vehicle is straight road,
Mining automatic driving vehicle continues to travel, and continues to calculate value of slope θc。
330, if θcGreater than angle threshold θm, determine that the driving path in front of mining automatic driving vehicle is climb and fall area
Section.
335, the position based on mining automatic driving vehicle real-time and precise location information, driving path, at least one sampled point
Confidence breath and vehicle parameter etc. calculate mining automatic driving vehicle in straight road and climb and fall section and control actuating motor
Turnning circle Q1And Q2。
340, by Q1And Q2It is sent to control execution module 122.
345, by the location information and Q of driving path, sampled point in front of mining automatic driving vehicle1And Q2It is sent to
Control display module 123.
In order to make it easy to understand, the detailed process for the step 335 being explained below in Fig. 3.
For example, the height above sea level difference and longitude and latitude difference of the sampled point in the starting point and 315 based on climb and fall section, meter
Calculate the actual grade value of climb and fall section；Actual grade value based on climb and fall section obtains nobody in control host 121
It drives vehicle and enters the safe speed v after climb and fall sectionS；Calculate the real time running speed v of mining automatic driving vehicleN；It is based on
The starting point of mining automatic driving vehicle real time position point and climb and fall section calculates the real time position point of mining automatic driving vehicle
The distance L of starting point apart from climb and fall sectionp；According to safe speed vS, real time running speed vNAnd distance LpCalculate control mine
The acceleration a needed with automatic driving vehicle after entering climb and fall section with safe speed travelingp, calculation formula is as follows:
Based on acceleration apWith the vehicle parameter of mining automatic driving vehicle, calculates and control mining automatic driving vehicle acceleration
Or the torque M needed that slows downe1, calculation formula is as follows:
Wherein, FwFor air drag, FfFor rolling resistance, G is the total weight of mining automatic driving vehicle, r be it is mining nobody
Drive the radius of wheel of vehicle, igFor the notch speed ratio of the speed changer of mining automatic driving vehicle, i0For mining automatic driving vehicle
The speed ratio of main reducing gear,For the transmission system efficiency of mining automatic driving vehicle；
Based on torque Me1With the difference of mining automatic driving vehicle gear, calculating controlled on straight road it is mining nobody drive
Sail the throttle of vehicle needs or the opening value β of brake1, its calculation formula is:
β1=kMe1
Wherein, k is the vehicle control coefficient of mining automatic driving vehicle；
According to different actuating motor models and control equipment, calculating controls mining automatic driving vehicle on straight road
Reach torque Me1The turnning circle Q of the actuating motor needed1, its calculation formula is:
Q1=μ β1
Wherein, μ is motor control coefficient；
After mining automatic driving vehicle travels climb and fall section, according to the vehicle for the mining automatic driving vehicle being previously stored
Parameter and actual grade value θ are calculated and are controlled the torsion that mining automatic driving vehicle drives at a constant speed safely needs in climb and fall section
Square Me2, its calculation formula is:
Calculating controls mining automatic driving vehicle on climb and fall section and reaches torque Me2The rotation of the actuating motor needed
Enclose number Q2, wherein turnning circle Q2Calculation method be referred to turnning circle Q1Calculation method, details are not described herein.
Described above is the control methods of mining automatic driving vehicle according to an embodiment of the present invention, retouch below with reference to Fig. 3
State the control device of mining automatic driving vehicle according to an embodiment of the present invention.
Fig. 4 is the schematic diagram of the control device 400 of mining automatic driving vehicle according to an embodiment of the invention.
Device 400 includes obtaining module 410, determination module 420 and control module 430.
Obtain module 410, for mining automatic driving vehicle according to planning path when driving, obtain it is mining unmanned
The first location information of the current location point of vehicle, and be located in front of first location information at least in planning path for obtaining
The second location information of one sampled point；Determination module 420 is determined for being based on first location information and second location information
Whether the driving path in front of mining automatic driving vehicle includes climb and fall section；Determination module 420 be also used to it is mining nobody
When the driving path for driving vehicle front includes climb and fall section, the control strategy for being directed to climb and fall section is determined；Control module
430, for being based on control strategy, control mining automatic driving vehicle traveling.
Based on the embodiment of the present invention, when the device is according to the route planned, in mining automatic driving vehicle
Determination module can determine whether its front has climb and fall area according to the location information of its current location information and sampled point
Section, so that mining automatic driving vehicle can obtain whether front has climb and fall section in advance before encountering climb and fall section
Information more safely travelled so that control module can control mining automatic driving vehicle.Even, in bad environments
Underground it is also ensured that mining automatic driving vehicle safely and reliably completes the traveling of climb and fall.
According to an embodiment of the invention, determination module 420 is specifically used for: the first driving path is determined from planning path,
Wherein, the first driving path includes at least one sampled point；Based on latitude and longitude information and altitude information, the first driving path is determined
Estimation value of slope；When estimating that value of slope is greater than given threshold, determine that the first driving path includes climb and fall section, wherein
First location information and second location information include latitude and longitude information and altitude information.
According to an embodiment of the invention, determination module 420 is specifically used for: based on current location point and apart from current location point
It is spaced the latitude and longitude information and altitude information of the first sampled point of predetermined period, calculates the of current location point and the first sampled point
Once latitude difference and the first height above sea level difference of current location point and the first sampled point；Based on the first longitude and latitude difference and first
Height above sea level difference calculates the estimation value of slope of the first driving path.
According to an embodiment of the invention, determination module 420 is specifically used for: based on predetermined period adjacent in front of the point of current location
The second sampled point and third sampled point latitude and longitude information and altitude information, calculate the second sampled point and third sampled point
Second height above sea level difference of the second longitude and latitude difference and the second sampled point and third sampled point；Based on the second longitude and latitude difference and
Two height above sea level differences calculate the estimation value of slope of the first driving path.
According to an embodiment of the invention, determination module 420 is specifically also used to: the starting point based on climb and fall section is adopted with first
Sampling point or third sampled point calculate the actual grade value of climb and fall section；Driving path in front of mining automatic driving vehicle
When including climb and fall section, the control strategy of mining automatic driving vehicle is determined based on actual grade value.
According to an embodiment of the invention, determination module 420 is specifically also used to: being based on first location information and second confidence
Breath determines the second driving path from planning path, and the second driving path is that mining automatic driving vehicle is travelled to climb and fall area
Straight road before section；Obtain first travel speed of the mining automatic driving vehicle on the second driving path；Based on reality
Value of slope obtains mining automatic driving vehicle in the second travel speed of climb and fall section；Based on the first travel speed, the second row
The length for sailing speed and the second driving path calculates mining automatic driving vehicle and travels the acceleration needed to climb and fall section；
Based on acceleration and vehicle parameter, the first torque that mining automatic driving vehicle needs on the second driving path is calculated；It is based on
First torque calculates the first turnning circle of the motor of mining automatic driving vehicle, wherein control strategy includes the first turning collar
Number.
According to an embodiment of the invention, determination module 420 is specifically also used to: based on actual grade value and mining unmanned
The vehicle parameter of vehicle calculates the second torque that mining automatic driving vehicle is needed in the safety traffic of climb and fall section；Based on
Two torques calculate the second turnning circle of the motor of mining automatic driving vehicle, wherein control strategy includes the second turning collar
Number.
The operations and functions of above-mentioned modules in the control device of the above mining automatic driving vehicle can refer to Fig. 1
To the specific descriptions of 3 embodiment of the method part, in order to avoid repeating, this will not be repeated here.
Fig. 5 is the block diagram of computer equipment 500 according to an embodiment of the invention.
Referring to Fig. 5, device 500 includes processing component 510 and the memory resource as representated by memory 520.Processing group
Part 510 further comprises one or more processors, memory 520 for store can by the instruction of the execution of processing component 510,
Such as application program.The application program stored in memory 520 may include one or more modules, each of which corresponds to one
Group instruction.In addition, processing component 510 is configured as executing instruction, to execute the control method of above-mentioned mining automatic driving vehicle.
Device 500 can also include power supply module, be configured as the power management of executive device 500.Device 500 may be used also
To include wired or radio network interface, it is configured as device 500 being connected to network.Device 500 can also include input
Export (I/O) interface.Device 500 can be operated based on the operating system for being stored in memory 520, such as Windows
ServerTM、Mac OS XTM、UnixTM、LinuxTM、FreeBSDTMDeng.
The embodiment of the invention also provides a kind of non-transitorycomputer readable storage mediums, when the instruction in storage medium
When being executed by the processor of above-mentioned apparatus 500, so that above-mentioned apparatus 500 is able to carry out a kind of control of mining automatic driving vehicle
Method, comprising: mining automatic driving vehicle according to planning path when driving, obtain the current location of mining automatic driving vehicle
The first location information of point, and obtain the second at least one sampled point being located in front of first location information in planning path
Confidence breath；Based on first location information and second location information, determine whether is driving path in front of mining automatic driving vehicle
Including climb and fall section；When driving path in front of mining automatic driving vehicle includes climb and fall section, determine for up and down
The control strategy of slope section；Based on control strategy, mining automatic driving vehicle traveling is controlled.
Those of ordinary skill in the art may be aware that use described in conjunction with the examples disclosed in the embodiments of the present disclosure
In the step of mining automatic driving vehicle controls, can be come with the combination of electronic hardware or computer software and electronic hardware
It realizes.These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution
Condition.Professional technician can specifically realize described function to each using distinct methods, but this
Realization should not be considered as beyond the scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the method for foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the embodiment of the control device of mining automatic driving vehicle described above is only schematic
, for example, the division of the unit, only a kind of logical function partition, there may be another division manner in actual implementation,
Such as multiple units or components can be combined or can be integrated into another system, or some features can be ignored, or not hold
Row.Another point, shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces,
The indirect coupling or communication connection of device or unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program ver-ify code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (14)
1. a kind of control method of mining automatic driving vehicle characterized by comprising
The mining automatic driving vehicle according to planning path when driving, obtain the present bit of the mining automatic driving vehicle
First location information a little is set, and obtains at least one sampling being located in front of the first location information in the planning path
The second location information of point；
Based on the first location information and the second location information, the traveling in front of the mining automatic driving vehicle is determined
Whether path includes climb and fall section；
When driving path in front of the mining automatic driving vehicle includes climb and fall section, determines and be directed to the climb and fall area
The control strategy of section；
Based on the control strategy, the mining automatic driving vehicle traveling is controlled.
2. the method according to claim 1, wherein the first location information and the second location information packet
Include latitude and longitude information and altitude information；
It is described to be based on the first location information and the second location information, it determines in front of the mining automatic driving vehicle
Whether driving path includes climb and fall section, comprising:
The first driving path is determined from the planning path, wherein the first driving path includes at least one sampled point；
Based on the latitude and longitude information and altitude information, the estimation value of slope of first driving path is determined；
When the estimation value of slope is greater than given threshold, determine that first driving path includes climb and fall section.
3. according to the method described in claim 2, it is characterized in that, described be based on the latitude and longitude information and altitude information, really
The estimation value of slope of first driving path includes: calmly
The longitude and latitude of the first sampled point based on the current location point and apart from current location point interval predetermined period is believed
Breath and altitude information, calculate the first longitude and latitude difference and the present bit of the current location point Yu first sampled point
Set the first height above sea level difference a little with first sampled point；
Based on the first longitude and latitude difference and the first height above sea level difference, the estimation gradient of first driving path is calculated
Value.
4. according to the method described in claim 2, it is characterized in that, described be based on the latitude and longitude information and altitude information, really
The estimation value of slope of first driving path includes: calmly
The latitude and longitude information of the second sampled point and third sampled point based on predetermined period adjacent in front of the current location point and
Altitude information calculates the second longitude and latitude difference and second sampling of second sampled point and the third sampled point
Second height above sea level difference of point and the third sampled point；
Based on the second longitude and latitude difference and the second height above sea level difference, the estimation gradient of first driving path is calculated
Value.
5. the method according to claim 3 or 4, which is characterized in that described in front of the mining automatic driving vehicle
When driving path includes climb and fall section, determine that the control strategy of the mining automatic driving vehicle includes:
Starting point and first sampled point or the third sampled point based on the climb and fall section, calculate the climb and fall area
The actual grade value of section；
It is true based on the actual grade value when driving path in front of the mining automatic driving vehicle includes climb and fall section
The control strategy of the fixed mining automatic driving vehicle.
6. according to the method described in claim 5, it is characterized in that, described be based on the first location information and the second
Confidence breath, determines whether the driving path in front of the mining automatic driving vehicle includes climb and fall section further include:
Based on the first location information and the second location information, the second driving path is determined from the planning path,
Second driving path is that the mining automatic driving vehicle is travelled to the straight road before the climb and fall section；
When the driving path in front of the mining automatic driving vehicle includes climb and fall section, it is based on the actual grade
Value determines the control strategy of the mining automatic driving vehicle, comprising:
Obtain first travel speed of the mining automatic driving vehicle on second driving path；
Based on the actual grade value, the mining automatic driving vehicle is obtained in the second traveling speed of the climb and fall section
Degree；
Length based on first travel speed, second travel speed and second driving path, calculates the mine
The acceleration needed to the climb and fall section is travelled with automatic driving vehicle；
Based on the acceleration and vehicle parameter, calculates the mining automatic driving vehicle and needed on second driving path
The first torque；
Based on first torque, the first turnning circle of the motor of the mining automatic driving vehicle is calculated, wherein the control
System strategy includes first turnning circle.
7. method according to claim 5 or 6, which is characterized in that described in front of the mining automatic driving vehicle
When driving path includes climb and fall section, the mining automatic driving car is determined based on the actual grade value of the climb and fall section
Control strategy, further includes:
Vehicle parameter based on the actual grade value and the mining automatic driving vehicle calculates the mining automatic driving car
The climb and fall section safety traffic need the second torque；
Based on second torque, the second turnning circle of the motor of the mining automatic driving vehicle is calculated, wherein the control
System strategy includes second turnning circle.
8. a kind of control device of mining automatic driving vehicle characterized by comprising
Obtain module, for the mining automatic driving vehicle according to planning path when driving, obtain it is described it is mining nobody drive
The first location information of the current location point of vehicle is sailed, and is located at the first location information in the planning path for obtaining
The second location information of at least one sampled point in front；
Determination module determines described mining unmanned for being based on the first location information and the second location information
Whether the driving path of vehicle front includes climb and fall section；
The determination module is also used to the driving path in front of the mining automatic driving vehicle when including climb and fall section, really
Surely it is directed to the control strategy of the climb and fall section；
Control module controls the mining automatic driving vehicle traveling for being based on the control strategy.
9. device according to claim 8, which is characterized in that the first location information and the second location information packet
Include latitude and longitude information and altitude information；
The determination module is specifically used for:
The first driving path is determined from the planning path, wherein the first driving path includes at least one sampled point；
Based on the latitude and longitude information and altitude information, the estimation value of slope of first driving path is determined；
When the estimation value of slope is greater than given threshold, determine that first driving path includes climb and fall section.
10. device according to claim 9, which is characterized in that the determination module is specifically used for:
The longitude and latitude of the first sampled point based on the current location point and apart from current location point interval predetermined period is believed
Breath and altitude information, calculate the first longitude and latitude difference and the present bit of the current location point Yu first sampled point
Set the first height above sea level difference a little with first sampled point.Based on the first longitude and latitude difference and the first height above sea level difference,
Calculate the estimation value of slope of first driving path.
11. device according to claim 9, which is characterized in that the determination module is specifically used for:
The latitude and longitude information of the second sampled point and third sampled point based on predetermined period adjacent in front of the current location point and
Altitude information calculates the second longitude and latitude difference and second sampling of second sampled point and the third sampled point
Second height above sea level difference of point and the third sampled point；Based on the second longitude and latitude difference and the second height above sea level difference, meter
Calculate the estimation value of slope of first driving path.
12. device described in 0 or 11 according to claim 1, which is characterized in that the determination module is specifically also used to:
Starting point and first sampled point or the third sampled point based on the climb and fall section, calculate the climb and fall area
The actual grade value of section；
It is true based on the actual grade value when driving path in front of the mining automatic driving vehicle includes climb and fall section
The control strategy of the fixed mining automatic driving vehicle.
13. device according to claim 12, which is characterized in that the determination module is specifically also used to:
Based on the first location information and the second location information, the second driving path is determined from the planning path,
Second driving path is that the mining automatic driving vehicle is travelled to the straight road before the climb and fall section；
Obtain first travel speed of the mining automatic driving vehicle on second driving path；
Based on the actual grade value, the mining automatic driving vehicle is obtained in the second traveling speed of the climb and fall section
Degree；
Length based on first travel speed, second travel speed and second driving path, calculates the mine
The acceleration needed to the climb and fall section is travelled with automatic driving vehicle；
Based on the acceleration and vehicle parameter, calculates the mining automatic driving vehicle and needed on second driving path
The first torque；
Based on first torque, the first turnning circle of the motor of the mining automatic driving vehicle is calculated, wherein the control
System strategy includes first turnning circle.
14. device according to claim 12 or 13, which is characterized in that the determination module is specifically also used to:
Vehicle parameter based on the actual grade value and the mining automatic driving vehicle calculates the mining automatic driving car
The climb and fall section safety traffic need the second torque；
Based on second torque, the second turnning circle of the motor of the mining automatic driving vehicle is calculated, wherein the control
System strategy includes second turnning circle.
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| CN111762160B (en) * | 2019-03-15 | 2021-11-23 | 广州汽车集团股份有限公司 | Automatic driving method and system for pre-accelerating uphill |
| CN112160839A (en) * | 2020-09-07 | 2021-01-01 | 山东科技大学 | Intelligent auxiliary speed limiting device for reducing tail gas emission of mine fuel vehicle |
| CN112141080A (en) * | 2020-09-08 | 2020-12-29 | 北京踏歌智行科技有限公司 | Anti-rollover control method for transport vehicle in mining area |
| CN112078585A (en) * | 2020-09-23 | 2020-12-15 | 北京易控智驾科技有限公司 | Unmanned longitudinal motion control mode switching method, device, equipment and medium |
| CN112078585B (en) * | 2020-09-23 | 2022-03-18 | 北京易控智驾科技有限公司 | Unmanned longitudinal motion control mode switching method, device, equipment and medium |
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Application publication date: 20181225 |