CN109955849A - Method and device applied to open coal mine collision prevention of vehicle early warning - Google Patents
Method and device applied to open coal mine collision prevention of vehicle early warning Download PDFInfo
- Publication number
- CN109955849A CN109955849A CN201910302431.6A CN201910302431A CN109955849A CN 109955849 A CN109955849 A CN 109955849A CN 201910302431 A CN201910302431 A CN 201910302431A CN 109955849 A CN109955849 A CN 109955849A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving path
- current vehicle
- target
- coal mine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003245 coal Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000002265 prevention Effects 0.000 title claims abstract description 16
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000011897 real-time detection Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 21
- 238000005259 measurement Methods 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000005065 mining Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000035484 reaction time Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method and devices applied to open coal mine collision prevention of vehicle early warning, scheme includes: first, determine driving path of the vehicle in default open coal mine map, it filters out other vehicles for being not belonging to same driving path with current vehicle and obtains vehicle cluster, and then the determining and nearest front vehicles of current vehicle are target vehicle from vehicle cluster, and the spacing distance of real-time detection target vehicle and current vehicle, and the parameter information in acquisition current vehicle driving process, finally alarm is carried out according to spacing distance and parameter information again, to realize the anti-collision early warning of vehicle.Pass through this application, it on the one hand is automatically that vehicle plans optimal driving path according to the position where vehicle, on the other hand in vehicle travel process, anticollision monitoring is carried out to the vehicle on same driving path, accurately early warning can be carried out to different type dangerous situation, it is accurate in real time, it improves operating efficiency and has ensured the safety of operating personnel in mine.
Description
Technical field
The present invention relates to quarrying coal-mining technique field more particularly to a kind of sides applied to open coal mine collision prevention of vehicle early warning
Method and device.
Background technique
Coal mining can be divided into two kinds of mining methods of strip mining transformation and underground mining, due to strip mining transformation production efficiency and peace
Full performance is significantly better than that underground mining, and under the support of policy, the feature of enlargement, intensive exploitation is presented in open coal mine,
And then number of devices in pit is caused to increase substantially, the open coal mine of especially most widely used monobucket-truck production practice,
Operating equipment reaches several hundred simultaneously, and road conditions and sighting condition are poor, and large-scale mining equiment has very big operation
Blind area, the casualties occurred so as to cause opencut mostly occurs in the collision accident of equipment, to the bursting tube of opencut
Reason brings huge challenge.
With the continuous continuous improvement promoted and applied with the mine city level of IT application of digital mine technology, part
Large outdoors colliery has put into truck anti-collision early warning system.Currently, the early warning principle that existing truck anti-collision early warning system uses
It is too simple, it can not identify early warning type and warning level, invalid early warning occur when running especially under high-density equipment environment
Frequency is too high, seriously affects driver to the acquisition of effective information and timely responds to, and causes running effect bad.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide one kind to be applied to open coal mine collision prevention of vehicle
The method and device of early warning carries out more precisely early warning to different type dangerous situation to realize, has ensured operating personnel in mine
Safety.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the invention provides a kind of method applied to open coal mine collision prevention of vehicle early warning, it is described
Method comprises determining that driving path of each vehicle in default open coal mine map；Filtering is not belonging to same with current vehicle
Other described vehicles of driving path obtain vehicle cluster；It is determining nearest with the current vehicle distance from the vehicle cluster
Front vehicles be target vehicle；The spacing distance of target vehicle described in real-time detection and the current vehicle；Institute is obtained in real time
State the parameter information in current vehicle driving process；The parameter information includes but is not limited to, when two vehicle relative velocities, brake
Between, reaction time, road friction coefficient and climatic factor；Finally, carrying out alarm according to the spacing distance and parameter information.
Preferably, each vehicle of the determination includes: basis the step of presetting the driving path in open coal mine map
The initial position of each vehicle is that corresponding vehicle generates target driving path；The a plurality of target driving path is marked
In the default open coal mine map；The real time position of the vehicle is determined according to the positioning device on the vehicle, and is counted
The distance value of the real time position Yu a plurality of target driving path is calculated, if the distance value is less than threshold value, it is determined that described
Target driving path is the driving path of the vehicle.
Preferably, the determining and current vehicle from the vehicle cluster is target apart from nearest front vehicles
The step of vehicle includes: according to the reference position and the current vehicle chosen from the driving path of the current vehicle
Real time position determines reference vector；It is determined according to the real time position of other vehicles in the vehicle cluster and the reference position
Measure vector；The front relative to the current vehicle is determined according to the angle between the reference vector and the measurement vector
Vehicle；Selection is target vehicle apart from nearest front vehicles with the current vehicle.
Preferably, described the step of carrying out alarm according to the spacing distance and parameter information includes: the detection target
The driving direction of vehicle and current vehicle, if the driving direction is to go in the same direction, spacing distance described in direct basis is carried out
Alarm；If the driving direction is traveling in the same direction, calculate the alarm factor according to the parameter information, in the alarm factor and
The spacing distance, which meets, carries out alarm under preset condition.
Preferably, the method also includes: on the default open coal mine map comprising at least one Dangerous Area identify,
And prompted when detecting that vehicle enters Dangerous Area mark, the Dangerous Area mark includes blind area section, thing
Therefore the section that takes place frequently, the big section of vehicle density, zig zag section, multi-direction intersection.
Second aspect, the embodiment of the invention also provides a kind of device applied to open coal mine collision prevention of vehicle early warning, institutes
Stating device includes: processing module, and the processing module is used to determine traveling road of each vehicle in default open coal mine map
Diameter, other described vehicles that filtering is not belonging to same driving path with current vehicle obtain vehicle cluster, from the vehicle cluster
Middle determination is target vehicle apart from nearest front vehicles with the current vehicle；Transceiver module, the transceiver module is for real
When detect the spacing distance of the target vehicle Yu the current vehicle, obtain the ginseng in the current vehicle driving process in real time
Number information；The processing module is also used to carry out alarm according to the spacing distance and parameter information.
Preferably, the processing module is specifically used for: being the corresponding vehicle according to the initial position of each vehicle
Generate target driving path；By a plurality of target driving path mark in the default open coal mine map；According to institute
It states the positioning device on vehicle and determines the real time position of the vehicle, and calculate the real time position and a plurality of target driving
The distance value in path, if the distance value is less than threshold value, it is determined that the target driving path is the driving path of the vehicle.
Preferably, the processing module is specifically used for: according to the reference chosen from the driving path of the current vehicle
The real time position of position and the current vehicle determines reference vector；Real-time position according to other vehicles in the vehicle cluster
It sets and the reference position determines measurement vector；According to the reference vector and measurement vector between angle determine relative to
The front vehicles of the current vehicle；Selection is target vehicle apart from nearest front vehicles with the current vehicle.
Preferably, the processing module is specifically used for: the driving direction of the target vehicle and current vehicle is detected, if institute
Stating driving direction is to go in the same direction, then spacing distance described in direct basis carries out alarm；If the driving direction is to travel in the same direction,
Then calculate the alarm factor according to the parameter information, in the case where the alarm factor and the spacing distance meet preset condition into
Row alarm.
Preferably, the processing module is also used to: including at least one Dangerous Area on the default open coal mine map
Mark, and prompted when detecting that vehicle enters Dangerous Area mark, the Dangerous Area mark includes blind area road
Section, Frequent Accidents section, the big section of vehicle density, zig zag section, multi-direction intersection.
Compared with prior art, the beneficial effects of the present invention are: by the method and apparatus of this application, on the one hand according to vehicle
Position where is automatically that vehicle plans optimal driving path, on the other hand in vehicle travel process, to same a line
The vehicle sailed on path carries out anticollision monitoring, and accurately early warning can be carried out to different type dangerous situation, accurate in real time, improves operation
Efficiency and the safety for having ensured operating personnel in mine.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the method applied to open coal mine collision prevention of vehicle early warning of the present invention；
Fig. 2 be the present embodiments relate to a kind of screening technique schematic diagram；
Fig. 3 is a kind of the functional block diagram of the device applied to open coal mine collision prevention of vehicle early warning of the present invention.
In figure: 100, the device applied to open coal mine collision prevention of vehicle early warning；110, processing module；120, transceiver module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, is a kind of method applied to open coal mine collision prevention of vehicle early warning provided in an embodiment of the present invention
Flow diagram, this method comprises:
S110 determines driving path of each vehicle in default open coal mine map.
Specifically, being created in the actual conditions that default open coal mine map is foundation construction site in advance, Mei Geche
Positioning device, such as GPS or the Big Dipper positioning device are mounted on, and each positioning device is accessed by wireless network
Into open coal mine control system, the real time position of vehicle is shown on default open coal mine map, for being located in vehicle
Driver check.Under normal circumstances, vehicle (can unload the ground of cargo in decorateeing (place of shipment cargo) or unloading point
Point), and then system can be that corresponding vehicle generates target driving path according to the initial position of each vehicle, that is, in order to just
Optimal driving path is quickly found in each vehicle, is more quickly completed loading onto or unloading for cargo, system will be according to vehicle
Initial position calculate an optimal path, with complete nearby cargo transport work.Further, system will be by generation
A plurality of target driving path mark is shown on the car-mounted terminal of vehicle in default open coal mine map, for driving
Member checks, it is readily appreciated that, the target driving path of current vehicle will be differently shown.
It should be noted that the target driving path is the preferably driving path that system is vehicle planning, but in reality
In the driving process of border, driver can also change driving path according to actual needs, thus also to the true driving path of vehicle
It need to be further determined that.Its method of determination are as follows: the real time position of vehicle is determined according to the positioning device on vehicle, and calculating should
The distance value of real time position and a plurality of target driving path, if the distance value is less than threshold value, which can drive road according to target
The width of diameter is configured, and such as 10 meters, then the target driving path is then the actual travel path of the vehicle.It requires emphasis
It is that the target driving path may not be the target driving path that system is vehicle setting before, is also possible to for other vehicles
The target driving path of setting, i other words, current vehicle is closer apart from which target driving path, then this target drives road
Diameter is the actual travel path of vehicle.
Further, when vehicle is in intersection, it is likely to occur the physical location of vehicle at this time apart from a plurality of target
The distance value of driving path is respectively less than threshold value, and then will choose the corresponding target of the smallest distance value in multiple distance values and drive
Path is the actual travel path of vehicle.Or there are deviations, lead to not the real time position for effectively obtaining vehicle, this
When the target driving path determined in advance for vehicle will be determined as the actual travel path of vehicle.Since system is every target
Driving path is provided with unique number, therefore can distinguish through the above way and determine each vehicle in default open coal mine
Actual travel path in figure.
S120, other vehicles that filtering is not belonging to same driving path with current vehicle obtain vehicle cluster.
Specifically, since the driving path where each vehicle has number, if therefore the row of other vehicles and current vehicle
The number for sailing path is identical, then on same driving path, if the number of the driving path of other vehicles and current vehicle is not
Together, then on different driving paths.In order to avoid same level, the equipment wrong report of different operating square position or same work are flat
Disk closes on the wrong report in path, filters out other vehicles for being not belonging to same driving path with current vehicle and obtains vehicle cluster, should
Vehicle in vehicle cluster is all vehicles that same driving path is in current vehicle.In turn, just in vehicle cluster
Vehicle analysis and current vehicle risk of collision, considerably reduce analysis sample size, improve early warning timeliness.
S130, determining and current vehicle is target vehicle apart from nearest front vehicles from vehicle cluster.
Specifically, all other vehicles being on same driving path with current vehicle are contained in the vehicle cluster,
Other vehicles are likely to be in front of the current vehicle, it is also possible to are in current vehicle rear, only be needed to analyze herein to be in and work as
The risk of collision of vehicle and current vehicle in front of vehicle in front.Therefore it need to filter out to be in first from vehicle cluster and work as front truck
Vehicle in front of, specific practice are as follows:
It referring to figure 2., is a kind of screening technique schematic diagram provided in an embodiment of the present invention.Firstly, according to current vehicle
The real time position of the reference position and current vehicle chosen on driving path determines reference vector, which is A
(X1,Y1), for a bit randomly selected on the driving path of current vehicle, which is B (X2,Y2), and then formed
Reference vector be from A to B direction formed vectorSecondly, according to other in vehicle cluster
The real time position and reference position of vehicle determine measurement vector, if the real time position of other vehicles is C (Xc,Yc), then measure to
Amount isFinally, determining according to the angle between reference vector and measurement vector relative to working as front truck
Front vehicles, i.e., the reference vector and measurement vector between angle beWhen α > 0 cos, show
Angle is acute angle, and vehicle is that the front vehicles of current vehicle show that angle is obtuse angle when α < 0 cos at this time, and vehicle is to work as at this time
The front vehicle of vehicle in front, and then all front vehicles relative to current vehicle can be determined by angle.Such as by same
Calculation, it may be determined that the vehicle for being located at location of C and the position F out is front vehicle relative to current vehicle, be located at the position D and
The vehicle of the position E is the front vehicles relative to current vehicle.
In turn, after in determining the vehicle cluster relative to all front vehicles of current vehicle, system will basis
To the real-time positioning scenarios of vehicle, chosen from multiple front vehicles and current vehicle apart from nearest vehicle as target carriage
, and the risk of collision of the target vehicle and current vehicle is monitored, to further reduce analysis sample.
S140, the spacing distance of real-time detection target vehicle and current vehicle.
Specifically, system will real-time reception be installed on the location information that the positioning device on vehicle is sent back to, and by should
The spacing distance of location information detection target vehicle and current vehicle.
S150 obtains the parameter information in current vehicle driving process in real time.
Specifically, the system is also by the real-time various parameters information obtained in current vehicle driving process, the parameter information
Including but not limited to, the relative velocity before target vehicle and current vehicle, brake time of current vehicle, driver
Reaction time, road friction coefficient, climatic factor etc., the parameter information can be detected by sensor and be obtained, can also passed through
Other systems are associated with to obtain.
S160 carries out alarm according to spacing distance and parameter information.
Specifically, determining target vehicle and current vehicle according to the information for the positioning device detection installed on vehicle first
Driving direction, if target vehicle and current vehicle are to go in the same direction, the risk that foreseeable vehicle crashes is higher,
Then alarm, such as settable three-level early warning mechanism directly can be carried out according to spacing distance, as opened between 50~80 meters of two vehicle distance
Open three-level early warning mechanism, the distance of two vehicles be shown in car-mounted terminal, and broadcast to driver, when 30~50 meters of two vehicle distance it
Between, second level early warning mechanism is opened, when two vehicle distances are less than 30 meters, opens level-one early warning mechanism, it is readily appreciated that, the early warning mechanism
Number of levels and interval how many distance start carry out early warning can be configured according to actual needs.
If target vehicle travels in the same direction with current vehicle, target carriage can be determined according to the positioning device for being installed on vehicle
With the respective speed of current vehicle, if the speed of current vehicle is less than the speed of target vehicle, there is no risk of collision,
Without carrying out early warning, if the speed that the speed of current vehicle is greater than target vehicle needs to carry out pre- there may be risk of collision
It is alert.At this point, since the speed conditions of current vehicle and target vehicle may constantly change, if then simple according to interval at this time
Distance is alarmed, it is possible to create wrong report or frequent the case where alarming, perplexs so that driver is given to increase, therefore can be according to ginseng
Number information (such as two vehicle relative velocities, brake time, reaction time, road friction coefficient, climatic factor) COMPREHENSIVE CALCULATING goes out
The factor of alarming is warned when the alarm factor reaches certain numerical value and spacing distance also complies with the standard of three-level alarm mechanism
Report, to improve alarm accuracy.
In addition, this method further includes identifying on default open coal mine map comprising at least one Dangerous Area, and be
System detects to be prompted when vehicle enters Dangerous Area mark, such as can mark out blind area on default open coal mine map in advance
Location, Frequent Accidents location, the big section of vehicle density, zig zag section, multi-direction intersection section etc., when according on vehicle
When positioning device detects vehicle close to above-mentioned Dangerous Area, system is to send the car-mounted terminal of prompt information to vehicle with timely
The specific location and situation of driver's Dangerous Area are reminded, to avoid the generation of contingency.Further, this method may be used also
Fatigue driving early warning is carried out, such as when the driving path of a certain vehicle is straight line, vehicle is found by the position detection to vehicle
Travel route be variation curve, then may be that driver the case where fatigue driving occurs, then system can be in time to driving
Personnel remind.
The practical application scene of method provided in an embodiment of the present invention can be with are as follows:
System cooks up target driving path according to the initial position of vehicle, and then according to the physical location and target of vehicle
Driving path determines the actual travel path of vehicle.When vehicle when driving, preset vehicle according to actual travel path
It is scanned in range, such as neighbouring 80 meters of ranges, reminds driver in time when dangerous section.In addition, will also sieve
The front vehicles for travelling on same driving path with current vehicle are selected, and are monitored apart from nearest front vehicles and current vehicle
Spacing distance, and timely alarm is carried out, to improve the monitoring of the risk of collision under various classification dangerous situations.
It referring to figure 3., is a kind of device 100 applied to open coal mine collision prevention of vehicle early warning provided in an embodiment of the present invention
The functional block diagram, which includes processing module 110 and transceiver module 120.
Processing module 110, the processing module 110 are used to determine traveling road of each vehicle in default open coal mine map
Diameter, filtering are not belonging to other vehicles of same driving path with current vehicle and obtain vehicle cluster, determined from vehicle cluster with
Current vehicle is target vehicle apart from nearest front vehicles.
In embodiments of the present invention, S110, S120 and S130 can be executed by processing module 110.
Transceiver module 120, which is used for the spacing distance of real-time detection target vehicle and current vehicle, real
When obtain current vehicle driving process in parameter information.
In embodiments of the present invention, S140 and S150 can be executed by transceiver module 120.
Processing module 110 is also used to carry out alarm according to spacing distance and parameter information.
In embodiments of the present invention, S160 can be executed by processing module 110.
Due to having been described in the method part of open coal mine collision prevention of vehicle early warning, details are not described herein.
In conclusion a kind of method and dress applied to open coal mine collision prevention of vehicle early warning provided in an embodiment of the present invention
It sets, that is, the path that can provide optimization can monitor early warning in real time again, ensure that the efficient and operational security of operation.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of method applied to open coal mine collision prevention of vehicle early warning, which is characterized in that the described method includes:
Determine driving path of each vehicle in default open coal mine map；
Other described vehicles that filtering is not belonging to same driving path with current vehicle obtain vehicle cluster；
The determining and current vehicle is target vehicle apart from nearest front vehicles from the vehicle cluster；
The spacing distance of target vehicle described in real-time detection and the current vehicle；
The parameter information in the current vehicle driving process is obtained in real time；
Alarm is carried out according to the spacing distance and parameter information.
2. the method as described in claim 1, which is characterized in that each vehicle of determination is in default open coal mine map
The step of driving path includes:
It is that corresponding vehicle generates target driving path according to the initial position of each vehicle；
By a plurality of target driving path mark in the default open coal mine map；
The real time position of the vehicle is determined according to the positioning device on the vehicle, and calculates the real time position and a plurality of institute
The distance value of target driving path is stated, if the distance value is less than threshold value, it is determined that the target driving path is the vehicle
Driving path.
3. the method as described in claim 1, which is characterized in that the determining and current vehicle from the vehicle cluster
Include: for the step of target vehicle apart from nearest front vehicles
Real time position according to the reference position and the current vehicle chosen from the driving path of the current vehicle is true
Determine reference vector；
Measurement vector is determined according to the real time position of other vehicles in the vehicle cluster and the reference position；
The front vehicles relative to the current vehicle are determined according to the angle between the reference vector and the measurement vector；
Selection is target vehicle apart from nearest front vehicles with the current vehicle.
4. the method as described in claim 1, which is characterized in that described to carry out alarm according to the spacing distance and parameter information
The step of include:
The driving direction of the target vehicle and current vehicle is detected, if the driving direction is to go in the same direction, direct basis
The spacing distance carries out alarm；
If the driving direction is traveling in the same direction, calculate the alarm factor according to the parameter information, in the alarm factor and
The spacing distance, which meets, carries out alarm under preset condition.
5. the method as described in claim 1, which is characterized in that the method also includes:
It is identified on the default open coal mine map comprising at least one Dangerous Area, and is detecting vehicle into the danger
Section is prompted when identifying, Dangerous Area mark include blind area section, Frequent Accidents section, the big section of vehicle density,
Zig zag section, multi-direction intersection.
6. a kind of device applied to open coal mine collision prevention of vehicle early warning, which is characterized in that described device includes:
Processing module, the processing module are used to determine driving path of each vehicle in default open coal mine map, filtering
Other the described vehicles for being not belonging to same driving path with current vehicle obtain vehicle cluster, from the vehicle cluster determine with
The current vehicle is target vehicle apart from nearest front vehicles；
Transceiver module, spacing distance of the transceiver module for target vehicle and the current vehicle described in real-time detection are real
When obtain parameter information in the current vehicle driving process；
The processing module is also used to carry out alarm according to the spacing distance and parameter information.
7. device as claimed in claim 6, which is characterized in that the processing module is specifically used for:
It is that the corresponding vehicle generates target driving path according to the initial position of each vehicle；
By a plurality of target driving path mark in the default open coal mine map；
The real time position of the vehicle is determined according to the positioning device on the vehicle, and calculates the real time position and a plurality of institute
The distance value of target driving path is stated, if the distance value is less than threshold value, it is determined that the target driving path is the vehicle
Driving path.
8. device as claimed in claim 6, which is characterized in that the processing module is specifically used for:
Real time position according to the reference position and the current vehicle chosen from the driving path of the current vehicle is true
Determine reference vector；
Measurement vector is determined according to the real time position of other vehicles in the vehicle cluster and the reference position；
The front vehicles relative to the current vehicle are determined according to the angle between the reference vector and measurement vector；
Selection is target vehicle apart from nearest front vehicles with the current vehicle.
9. device as claimed in claim 6, which is characterized in that the processing module is specifically used for:
The driving direction of the target vehicle and current vehicle is detected, if the driving direction is to go in the same direction, direct basis
The spacing distance carries out alarm；
If the driving direction is traveling in the same direction, calculate the alarm factor according to the parameter information, in the alarm factor and
The spacing distance, which meets, carries out alarm under preset condition.
10. device as claimed in claim 6, which is characterized in that the processing module is also used to:
It is identified on the default open coal mine map comprising at least one Dangerous Area, and is detecting vehicle into the danger
Section is prompted when identifying, Dangerous Area mark include blind area section, Frequent Accidents section, the big section of vehicle density,
Zig zag section, multi-direction intersection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302431.6A CN109955849A (en) | 2019-04-16 | 2019-04-16 | Method and device applied to open coal mine collision prevention of vehicle early warning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302431.6A CN109955849A (en) | 2019-04-16 | 2019-04-16 | Method and device applied to open coal mine collision prevention of vehicle early warning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109955849A true CN109955849A (en) | 2019-07-02 |
Family
ID=67026216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910302431.6A Pending CN109955849A (en) | 2019-04-16 | 2019-04-16 | Method and device applied to open coal mine collision prevention of vehicle early warning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109955849A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965809A (en) * | 2017-03-06 | 2017-07-21 | 西华大学 | Curb parking safety prompting system |
| CN110985127A (en) * | 2019-12-24 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Mobile terminal working method and system of surface mine unmanned transportation system |
| CN111891135A (en) * | 2020-06-29 | 2020-11-06 | 东风商用车有限公司 | Multi-vehicle frequent alarm control method in blind area |
| CN112257889A (en) * | 2019-07-21 | 2021-01-22 | 长沙智能驾驶研究院有限公司 | Route planning method and device for ground moving object in intelligent construction site |
| CN113963562A (en) * | 2021-12-21 | 2022-01-21 | 北京慧拓无限科技有限公司 | Avoidance method and device for multiple vehicles in working area |
| CN114589615A (en) * | 2022-03-29 | 2022-06-07 | 北京烁科精微电子装备有限公司 | Anti-collision control method |
| CN115728790A (en) * | 2022-11-23 | 2023-03-03 | 北京中巅智能科技有限公司 | Distance early warning method for operating vehicle of opencast coal mine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030156015A1 (en) * | 2001-04-12 | 2003-08-21 | Hermann Winner | Method for recognising a change in lane of a vehicle |
| US20070265777A1 (en) * | 2006-05-15 | 2007-11-15 | Kohsuke Munakata | On-Vehicle Road Configuration Identifying Device |
| CN101299301A (en) * | 2007-05-04 | 2008-11-05 | 通用汽车环球科技运作公司 | Slow or stopped vehicle ahead advisor with digital map integration |
| US20120262284A1 (en) * | 2011-04-12 | 2012-10-18 | Conti Temic Microelectronic Gmbh | Method and System for Warning a Driver of a Vehicle About Potential Obstacles Behind the Vehicle |
| US20130141251A1 (en) * | 2010-08-23 | 2013-06-06 | Stephen James Sims | Vehicle safety warning and information system |
| CN104854639A (en) * | 2012-11-30 | 2015-08-19 | 丰田自动车株式会社 | Vehicle location estimation apparatus and vehicle location estimation method |
| CN107615355A (en) * | 2015-06-12 | 2018-01-19 | 日立建机株式会社 | Car-mounted device, vehicle collision prevention method |
| CN107640150A (en) * | 2017-09-13 | 2018-01-30 | 深圳市鑫汇达机械设计有限公司 | A kind of safe collision avoidance system |
-
2019
- 2019-04-16 CN CN201910302431.6A patent/CN109955849A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030156015A1 (en) * | 2001-04-12 | 2003-08-21 | Hermann Winner | Method for recognising a change in lane of a vehicle |
| US20070265777A1 (en) * | 2006-05-15 | 2007-11-15 | Kohsuke Munakata | On-Vehicle Road Configuration Identifying Device |
| CN101299301A (en) * | 2007-05-04 | 2008-11-05 | 通用汽车环球科技运作公司 | Slow or stopped vehicle ahead advisor with digital map integration |
| US20130141251A1 (en) * | 2010-08-23 | 2013-06-06 | Stephen James Sims | Vehicle safety warning and information system |
| US20120262284A1 (en) * | 2011-04-12 | 2012-10-18 | Conti Temic Microelectronic Gmbh | Method and System for Warning a Driver of a Vehicle About Potential Obstacles Behind the Vehicle |
| CN104854639A (en) * | 2012-11-30 | 2015-08-19 | 丰田自动车株式会社 | Vehicle location estimation apparatus and vehicle location estimation method |
| CN107615355A (en) * | 2015-06-12 | 2018-01-19 | 日立建机株式会社 | Car-mounted device, vehicle collision prevention method |
| CN107640150A (en) * | 2017-09-13 | 2018-01-30 | 深圳市鑫汇达机械设计有限公司 | A kind of safe collision avoidance system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965809A (en) * | 2017-03-06 | 2017-07-21 | 西华大学 | Curb parking safety prompting system |
| CN112257889A (en) * | 2019-07-21 | 2021-01-22 | 长沙智能驾驶研究院有限公司 | Route planning method and device for ground moving object in intelligent construction site |
| CN110985127A (en) * | 2019-12-24 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Mobile terminal working method and system of surface mine unmanned transportation system |
| CN111891135A (en) * | 2020-06-29 | 2020-11-06 | 东风商用车有限公司 | Multi-vehicle frequent alarm control method in blind area |
| CN111891135B (en) * | 2020-06-29 | 2022-06-03 | 东风商用车有限公司 | Multi-vehicle frequent alarm control method in blind area |
| CN113963562A (en) * | 2021-12-21 | 2022-01-21 | 北京慧拓无限科技有限公司 | Avoidance method and device for multiple vehicles in working area |
| CN114589615A (en) * | 2022-03-29 | 2022-06-07 | 北京烁科精微电子装备有限公司 | Anti-collision control method |
| CN115728790A (en) * | 2022-11-23 | 2023-03-03 | 北京中巅智能科技有限公司 | Distance early warning method for operating vehicle of opencast coal mine |
| CN115728790B (en) * | 2022-11-23 | 2023-09-26 | 虹桥中巅(北京)能源科技有限公司 | Open pit coal mine operation vehicle distance early warning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109955849A (en) | Method and device applied to open coal mine collision prevention of vehicle early warning | |
| AU2014249922B2 (en) | System, method, and apparatus to detect and report track structure defects | |
| CN110164130B (en) | Traffic incident detection method, device, equipment and storage medium | |
| CN103043057B (en) | Abnormal driving based on vehicle position information judges and warning system | |
| CN107331191A (en) | Abnormal driving vehicle localization method, Cloud Server and system | |
| CN100589143C (en) | Method and appaatus for judging the traveling state of a floating vehicle | |
| JP7222879B2 (en) | Transportation hazard early warning methods, devices, equipment and media | |
| CN105352439B (en) | Vehicle body parameter measuring system and method based on full raster structure | |
| CN108399743A (en) | A kind of vehicle on highway anomaly detection method based on GPS data | |
| CN106327862A (en) | Factory area vehicle driving safety alarm method and system based on GPS and GIS | |
| CN105279958A (en) | Fleet management system and method | |
| CN104192063B (en) | Vehicle safe driving caution system and corresponding alarming method for power | |
| CN101393690A (en) | Over-height vehicle monitoring and pre-warning facility system, monitoring and pre-warning method thereof | |
| CN104008648A (en) | Jam triggering point monitoring system and method based on radar tracking technology | |
| CN103985255B (en) | Radar tracking technology is utilized precisely to judge the system and method for runway exception parking | |
| CN113936465B (en) | Traffic event detection method and device | |
| CN107543726A (en) | A kind of method of testing and device of unmanned vehicle Ride Control System manipulation precision | |
| CN106019283A (en) | Automobile blind area detecting method, device and system | |
| CN111016903A (en) | System and method for guaranteeing driving safety of automatic driving vehicle in rainy days | |
| CN106548630A (en) | A kind of detection method and device of driving behavior | |
| CN109343064A (en) | A kind of mine truck detection system for obstacle and detection method | |
| CN105882630A (en) | Vehicle braking method and device, and vehicle | |
| CN114735018A (en) | Single-radar-based front most-dangerous target vehicle screening and judging method | |
| CN108922245A (en) | A kind of bad section method for early warning of highway sighting distance and system | |
| CN107561552A (en) | Anti-collision method and device for underground mine trackless equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190702 |