CN111026122B - Speed planning method, device and system for unmanned vehicle - Google Patents
Speed planning method, device and system for unmanned vehicle Download PDFInfo
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- CN111026122B CN111026122B CN201911347175.9A CN201911347175A CN111026122B CN 111026122 B CN111026122 B CN 111026122B CN 201911347175 A CN201911347175 A CN 201911347175A CN 111026122 B CN111026122 B CN 111026122B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a speed planning method, a device and a system of an unmanned vehicle, wherein the planning method comprises the following steps: acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and running speed of the front obstacle of the mining truck; obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file; calculating to obtain a driving error coefficient according to the position information and the target track; and according to the speed planning value of the current position, the decision action signal, the distance information of the front barrier, the running speed of the front barrier and the running error coefficient, combining the positioning error coefficient to carry out local speed planning to obtain the current speed expected value of the mining truck. Ultimately forming the speed output of the unmanned vehicle.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, relates to a speed planning method, a device and a system of an unmanned vehicle, and particularly relates to a speed planning method and a system of the unmanned vehicle in an unmanned transportation system of a surface mine.
Background
The open-pit mine is far away, the environment is severe, the aging trend of drivers for operation of transport vehicles in mining areas is obvious, safety accidents caused by negligence of the transport drivers are frequent, the economic burden of the mining areas in the aspects of production safety, personnel investment and the like is increased day by day in the future, and an unmanned open-pit mine transportation solution starts to be completely exposed under the push of urgent needs of the mining areas and the development of modern science and technology.
The general flatness of the surface mine road is not high, more broken stones and concave-convex ground exist, the road type is complex, and a ramp, an intersection vehicle-collecting road section, a wet-skid road section, a dangerous driving road section and the like exist, wherein the ramp is the most common road type of the surface mine operation road. The unmanned mining truck runs on a slope with low flatness, and if the unmanned mining truck is not driven stably and at an unreasonable speed, materials are thrown, normal running of other vehicles is influenced, and safety accidents can be caused seriously. Therefore, the rational speed planning and control of unmanned mining trucks on surface mine roads is a technical problem that requires great attention.
Chinese patent publication No. CN109827586A discloses a vehicle speed planning method, apparatus, device and computer readable medium, which plans a plurality of displacement trajectories of a vehicle; generating a plurality of speed tracks according to the plurality of displacement tracks; respectively calculating a loss value corresponding to each speed track; and selecting the speed track with the lowest loss value.
The prior art has the following defects: the method adopted by CN109827586A emphasizes the local planning of the speed of the bicycle, and is only suitable for the constraint of the minimum loss condition for the planning rule, and is poor in applicability to the conditions that the driving habit needs to be changed and the planning rule needs to be changed. In addition, the predictability of special road conditions, such as the planning of early deceleration at traffic intersections and ramps, is poor, and the rationality and the predictive capability of speed planning are not realized by combining a high-precision map.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a speed planning method, a device and a system of an unmanned vehicle.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method of speed planning for an unmanned vehicle, comprising:
acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and the running speed of the front obstacle of the mining truck;
obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file;
calculating to obtain a driving error coefficient according to the position information and the target track;
and according to the speed planning value of the current position, the decision action signal, the distance information of the front obstacle, the running speed of the front obstacle, the running error coefficient and the positioning error coefficient, carrying out local speed planning to obtain the current speed expected value of the mining truck.
The generation method of the global trajectory planning file comprises the following steps:
(1) extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
(2) dividing the structured road into a plurality of road sections according to road factors;
(3) setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise a driving-in speed, a suggested speed, a limiting speed and a driving-out speed;
(4) performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
(5) according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all the road sections to form an overall speed planning curve of the structured driving road;
(6) and interpolating the global speed planning curve according to the intervals of the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transport system of the surface mine.
In some embodiments, the structured road is divided into segments according to road factors, including:
the road factors comprise single lanes, double lanes, ramps, speed limitation and road surfaces, and the structured road is divided into a plurality of road sections according to the principles of single-double lane separation, ramp separation, traffic section separation, special section separation and longest road section value (60 meters) separation of the road; the longest road section value is selected to be 60 meters;
when the special road section is divided, transition areas with certain lengths are additionally divided at the front end and the rear end of the actual road section respectively and are used as the transition areas of the speed planning, namely the special road section comprises the transition areas at the two ends and the intermediate actual road section, and the preferable length of the transition area at each end is 10% of the length of the actual road section;
the special section includes: a traffic road section, a wet road section, a bumpy road section, a ramp road section, a single lane road section; the non-special road section comprises the following steps: a two-lane road segment.
In some embodiments, the suggested speed, the inbound speed, the outbound speed for the road segment are set according to a speed limit configuration for the road segment; the method comprises the following steps: the suggested speed value and the limit speed value in each road section have a set proportional relation;
the driving-in speed and the driving-out speed of the non-special road section are equal to the suggested speed;
the special road section is in a direct proportional relation that coefficients are not equal to 1 among the driving-in speed, the driving-out speed and the suggested speed;
the road section is provided with an uphill road section, the driving-in speed and the suggested speed have a direct proportional relation with the coefficient more than 1, and the driving-out speed and the suggested speed have a direct proportional relation with the coefficient less than 1;
the road section has a downhill road section, the driving-in speed and the suggested speed have a direct proportional relation with the coefficient less than 1, and the driving-out speed and the suggested speed have a direct proportional relation with the coefficient less than 1;
preferably, the coefficient less than 1 is a coefficient value of 0.5-1, and the coefficient greater than 1 is a coefficient value of 1-1.5.
In some embodiments, the performing the parameter verification and alignment according to the set road segment configuration parameters includes: and checking whether the driving-in speed and the driving-out speed of the adjacent road sections are equal, if not, aligning the driving-in speed and the driving-out speed of the adjacent road sections according to a parameter alignment principle.
The parameter alignment principle comprises: the adjacent road sections have special road sections, the driving-in speed and the driving-out speed of the special road sections are used as target parameters for alignment, and the alignment priority is as follows from high to low: traffic road section, wet road section, bumpy road section, ramp road section, single lane road section, and double lane road section.
According to the speed planning method of the unmanned vehicle, the global track planning file is generated by a server device through global speed planning of the unmanned vehicle in a mining area based on a map system, and the server device is in communication connection with the unmanned vehicle and sends the global track planning file to the unmanned vehicle.
In some embodiments, calculating a driving error coefficient according to the position information and the target trajectory includes: and calculating the transverse deviation and the course deviation of the position information and the target track, and synthesizing the transverse deviation and the course deviation to obtain a driving error coefficient.
In a second aspect, there is provided a speed planning apparatus for an unmanned vehicle, comprising:
a data acquisition module to: acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and the running speed of the front obstacle of the mining truck;
a velocity plan value determination module to: obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file;
the calculation module is used for calculating a driving error coefficient according to the position information and the target track;
a planning module to: and according to the speed planning value of the current position, the decision action signal, the distance information of the front obstacle, the running speed of the front obstacle, the running error coefficient and the positioning error coefficient, carrying out local speed planning to obtain the current speed expected value of the mining truck.
In a third aspect, a global trajectory plan file generation apparatus (server apparatus) is provided, including:
a road extraction module to: extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
a segment division module to: dividing the structured road into a plurality of road sections according to road factors;
a road segment parameter configuration module to: setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise an entrance speed, a suggested speed, a limit speed and an exit speed;
a parameter alignment module to: performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
a speed plan curve module to: according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all the road sections to form an overall speed planning curve of the structured driving road;
a file generation module to: and interpolating the global speed planning curve according to the intervals of the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transport system of the surface mine.
And the global track planning file generation device (the server device) is in communication connection with the unmanned vehicle, and sends the global track planning file to the unmanned vehicle. The unmanned vehicle comprises a speed planning apparatus for the unmanned vehicle.
Has the advantages that: according to the speed planning method, the speed planning device and the speed planning system of the unmanned vehicle, the global speed planning of the vehicle is added into the high-precision map, the map-level global speed planning is provided for vehicle speed control of the unmanned system of the open-pit mine, and the speed output of the unmanned vehicle is finally formed by combining the global speed planning and data calculation of other subsystems. Has the following advantages:
(1) providing global speed planning for unmanned vehicles of an unmanned transportation system of a surface mine;
(2) the speed limit of all running vehicles in an operation area is required to be changed due to special reasons such as weather, water sprinkling and the like in an open mine, so that the problem of real-time change of global speed planning of unmanned vehicles is mainly solved, and the production safety and the operation efficiency are improved;
(3) the method provides reasonable overall speed planning for the ramp road section, the traffic road section and the safe road section, improves the running stability and safety of the unmanned vehicle on the special road section, and ensures the reasonability of the local speed planning of the unmanned vehicle to a certain extent.
Drawings
FIG. 1 is a schematic view of an unmanned surface mine transportation system according to an embodiment;
FIG. 2 is a schematic illustration of example road segment division;
FIG. 3 is a flow chart of an embodiment unmanned vehicle speed planning.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
A method of speed planning for an unmanned vehicle, comprising:
acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and the running speed of the front obstacle of the mining truck;
obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file;
calculating to obtain a driving error coefficient according to the position information and the target track; calculating the transverse deviation and the course deviation of the position information and the target track, and synthesizing the transverse deviation and the course deviation to obtain a driving error coefficient;
and according to the speed planning value of the current position, the decision action signal, the distance information of the front barrier, the running speed of the front barrier and the running error coefficient, combining the positioning error coefficient to carry out local speed planning to obtain the current speed expected value of the mining truck.
The global track planning file is generated by a server device through global speed planning of unmanned vehicles in a mining area based on a map system, the server device is in communication connection with the unmanned vehicles, and the global track planning file is sent to the unmanned vehicles.
The method for generating the global trajectory planning file comprises the following steps:
(1) extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
(2) dividing the structured road into a plurality of road sections according to road factors;
(3) setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise a driving-in speed, a suggested speed, a limiting speed and a driving-out speed;
(4) performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
(5) according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all the road sections to form an overall speed planning curve of the structured driving road;
(6) and interpolating the global speed planning curve according to the distance between the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transportation system of the surface mine.
In some embodiments, in step (2), the structured road is divided into a plurality of road segments according to road factors, including:
the road factors comprise single lanes, double lanes, ramps, speed limitation and road surfaces, and the structured road is divided into a plurality of road sections according to the principles of single-double lane separation, ramp separation, traffic section separation, special section separation and longest road section value (60 meters) separation of the road; the longest road section value is selected to be 60 meters;
when the special road section is divided, transition areas with certain lengths are additionally divided at the front end and the rear end of the actual road section respectively and are used as the transition areas of the speed planning, namely the special road section comprises the transition areas at the two ends and the intermediate actual road section, and the preferable length of the transition area at each end is 10% of the length of the actual road section;
the special road section includes: a traffic road section, a wet road section, a bumpy road section, a ramp road section, a single lane road section; the non-special road sections comprise: a two-lane road segment.
In some embodiments, in step (3), the suggested speed, the entry speed, and the exit speed of the road segment are set according to the speed limit configuration of the road segment; the method comprises the following steps: the suggested speed value and the limit speed value in each road section have a set proportional relation; preferably, the suggested speed value is 0.8 times the maximum limit speed value;
the driving-in speed and the driving-out speed of the non-special road section are equal to the suggested speed;
the special road section is in a direct proportional relation that coefficients are not equal to 1 among the driving-in speed, the driving-out speed and the suggested speed;
the road section has an uphill road section, the driving-in speed and the suggested speed have a direct proportional relation with the coefficient larger than 1, and the driving-out speed and the suggested speed have a direct proportional relation with the coefficient smaller than 1;
the road section has a downhill road section, the driving-in speed and the suggested speed have a direct proportional relation with the coefficient less than 1, and the driving-out speed and the suggested speed have a direct proportional relation with the coefficient less than 1;
preferably, the coefficient less than 1 is a coefficient value of 0.5-1, and the coefficient greater than 1 is a coefficient value of 1-1.5.
In some embodiments, in step (4), performing parameter verification and alignment according to the set road segment configuration parameters includes: and checking whether the driving-in speed and the driving-out speed of the adjacent road sections are equal, and if not, aligning the driving-in speed and the driving-out speed of the adjacent road sections according to the parameter alignment principle.
The parameter alignment principle comprises: the adjacent road sections have special road sections, the driving-in speed and the driving-out speed of the special road sections are used as target parameters for alignment, and the alignment priority is from high to low as follows: traffic road section, wet road section, bumpy road section, ramp road section, single lane road section, and double lane road section.
Example 2
As shown in fig. 1, a speed planning apparatus for an unmanned vehicle includes:
a data acquisition module to: acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and the running speed of the front obstacle of the mining truck;
a velocity plan value determination module to: obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file;
the calculation module is used for calculating to obtain a driving error coefficient according to the position information and the target track;
a planning module to: and according to the speed planning value of the current position, the decision action signal, the distance information of the front barrier, the running speed of the front barrier and the running error coefficient, combining the positioning error coefficient to carry out local speed planning to obtain the current speed expected value of the mining truck.
Example 3
A global trajectory plan file generation apparatus (server apparatus) comprising:
a road extraction module to: extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
a segment division module to: dividing the structured road into a plurality of road sections according to road factors;
a road segment parameter configuration module to: setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise a driving-in speed, a suggested speed, a limiting speed and a driving-out speed;
a parameter alignment module to: performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
a speed plan curve module to: according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all road sections to form a global speed planning curve of the structured driving road;
a file generation module to: and interpolating the global speed planning curve according to the intervals of the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transport system of the surface mine.
Example 4
The unmanned transportation system for the surface mine comprises a global track planning file generation device (server device) and an unmanned vehicle, wherein the global track planning file generation device (server device) is in communication connection with the unmanned vehicle and sends the global track planning file to the unmanned vehicle. Unmanned vehicles include unmanned mining trucks.
An unmanned transportation system for a surface mine comprises a server device, a wireless communication device and at least one unmanned vehicle.
The server device is a control center service platform of the unmanned system of the surface mine, and performs information interaction with manned or unmanned vehicles in the mining area through the wireless communication device. Here, the main operation of the server device is to generate a global speed plan of the unmanned vehicle in the mine area based on the map system, and to transmit the generated global speed plan file to the relevant control-side device through the wireless communication device.
The wireless communication device is a device for providing a wireless communication network for a computing device involved in the system, and mainly realizes remote data interaction among devices, and the communication mode can be, but is not limited to wifi, 4G and 5G communication.
The unmanned vehicle is an execution device for unmanned transportation in a mining area, can perform data interaction with a control center of an unmanned system of a surface mine through a wireless communication device, and realizes unmanned driving, operation control and the like of the operation vehicle according to an interaction result.
In order to obtain a good network status, the wireless communication devices must be reasonably located in the open pit area so that the wireless signal coverage is good in the unmanned and unmanned control center areas of the entire open pit mine.
The invention provides a speed planning method for an unmanned vehicle in an unmanned transportation system of a surface mine, which comprises the following basic steps of:
(1) and planning a road map.
The operator of the server device divides the map-structured road of the surface mine into several segments according to road factors (single lane, double lane, ramp, speed limit, road surface, etc.) by operating the map service system of the server device. It should be noted that, when a special road segment is divided, the lengths of the front end and the rear end of the road segment are larger than those of the special area of the actual road, and the special area is used as a speed plan of the transition area. Each road segment maintains a set of speed planning parameters including, but not limited to, an incoming speed, a suggested speed, a speed limit, an outgoing speed, etc., and the server device maintains speed-related parameters for these road segments via a map parameter profile.
(2) Parameter alignment
And the server device automatically checks and aligns parameters according to the road section configuration parameters input by an operator. The server device checks whether the driving-in speed and the driving-out speed of the adjacent road sections are equal, and if not, the driving-in speed and the driving-out speed of the adjacent road sections are aligned according to the following parameter alignment principle.
Parameter alignment principle: the adjacent road sections have special road sections such as a ramp type, a single lane type, a bumpy road section, a wet road section and the like, the driving-in speed and the driving-out speed of the special road sections are used as target parameters for alignment, and the alignment priority is as follows from high to low in sequence: a traffic road section, a wet road section, a bumpy road section, a ramp road section, a single lane road section and a double lane road section; the road section is provided with an uphill road section, the driving-in speed and the suggested speed have a direct proportional relation with the coefficient more than 1, and the driving-out speed and the suggested speed have a direct proportional relation with the coefficient less than 1; the road section has a downhill road section, the driving speed and the suggested speed have a direct proportional relation with the coefficient less than 1, and the driving speed and the suggested speed have a direct proportional relation with the coefficient less than 1; the entrance speed and the exit speed of the non-special road section are equal to the suggested speed.
(3) And planning the speed in the road section.
The proposed speed value and the limit speed value within each road section have a fixed proportional relationship. After the operator finishes the tasks in the step 1 and the step 2, clicking a speed planning button of the road section, and automatically drawing a curve of the relation between the position and the speed by using a curvature-limited cubic spline interpolation rule according to the parameters of the driving-in speed, the suggested speed, the limited speed, the driving-out speed and the like by the system, wherein the curvature of the curve at the endpoint is 0, and the first-order and second-order derivatives of the curve are continuous. Because the speed planning curves at the end points of the road sections have equal curvature and the first-order second-order derivative is continuous, the speed planning curves of all the road sections are spliced to form the overall speed planning of the surface mine road, and the speed planning curves are smooth, continuous in curvature and continuous in curvature change rate.
(4) And generating a track planning file.
And the server device interpolates the generated global speed planning curve according to the distance between the points planned by the unmanned global path, inserts the global speed planning value into the point attribute planned by the global path, and further generates a global track planning file in the unmanned transportation system of the surface mine.
(5) And (4) local speed planning.
The server device sends a global track planning file of the surface mine unmanned transportation system to the unmanned vehicle through the wireless communication device, the unmanned vehicle extracts a global speed plan according to the received global track planning file and performs local speed planning according to the output of other control modules including but not limited to a decision module, a sensing module, a safety module and the like, and therefore the current speed expected value of the unmanned mining truck is finally output.
(6) Global velocity plan update
And when the server device needs to update the global speed plan of the unmanned vehicle in the surface mine unmanned transport system, an operator modifies the planning coefficient of the global speed plan by operating the human-computer interface system of the server device, and repeats the steps from the step 3 to the step 5 to complete the global speed plan update of the unmanned vehicle in the surface mine unmanned transport system.
In some embodiments, the surface mine unmanned transportation system, as shown in fig. 1, comprises at least a plurality of loading areas, a plurality of unloading areas, a surface mine dispatching control monitoring center, a plurality of unmanned vehicles and a wireless network communication device. The detailed steps are as follows:
step 1: the equipment for installing the server side, the wireless communication side and the unmanned vehicle side, in the embodiment, specifically, the map server device selects a PER740XD server of DELL, the wireless communication device selects a 4G-LTE network communication equipment, and the unmanned vehicle selects an unmanned mining truck.
Step 2: and an operator of the map server imports the high-precision map file of the surface mine through a man-machine operation interface, and extracts the structured driving road of the unmanned mining truck according to the operation plan of the surface mine. In the road planning interface, the structured road is divided into a plurality of road sections according to the principles of single-double road separation, ramp separation, traffic section separation, special section separation and longest section value (60 meters is used here) separation of the road. Special attention is needed to divide the special road section, and the front end and the rear end of the road section need to be divided by 10% in length additionally to be used as an excessive area for speed planning. The road segment division is schematically shown in fig. 2.
And 3, step 3: and entering a speed planning attribute setting interface of the road section, and planning the speed planning attribute of the road section. The maximum limit speed of each road section is manually set, an automatic speed attribute setting command is clicked, the system automatically sets the recommended speed of the road section to be 0.8 times of the maximum limit speed of each road section, and the default entrance speed and the default exit speed are equal to the recommended speed. Further systems align the entry and exit speeds of the individual road sections according to the following alignment principle.
Alignment principle: the adjacent road sections have special road sections such as a ramp type, a single lane type, a bumpy road section, a wet road section and the like, the driving-in speed and the driving-out speed of the special road sections are used as target parameters for alignment, and the alignment priority is as follows from high to low in sequence: a traffic road section, a wet road section, a bumpy road section, a ramp road section, a single lane road section and a double lane road section; the road section has an uphill road section, the driving-in speed and the suggested speed have a direct proportional relation with a coefficient larger than 1 (1.1 is used in the example), and the driving-out speed and the suggested speed have a direct proportional relation with a coefficient smaller than 1 (0.9 is used in the example); the road section has a downhill road section, the driving speed and the suggested speed have a direct proportional relation with a coefficient smaller than 1 (0.9 is used in the example), and the driving speed and the suggested speed have a direct proportional relation with a coefficient smaller than 1 (0.9 is used in the example); the driving-in speed and the driving-out speed of the non-special road section are equal to the suggested speed.
And 4, step 4: and generating a global speed plan. After the step 3 is completed, the server device automatically generates a speed plan graph of each link in one graph, and the operator confirms that the speed plan attribute parameter setting of each link is completed. If the setting is confirmed to be completed, the system automatically marks out a curve of the relation between the position and the speed by using a cubic spline interpolation rule of curvature limitation according to parameters such as the driving-in speed, the suggested speed, the speed limitation, the driving-out speed and the like, the curvature of the curve at the endpoint is 0, and the first-order second-order derivative of the curve is continuous. Because the speed planning curves at the end points of the road sections have equal curvature and the first-order second-order derivatives are continuous, the speed planning curves of all the road sections are spliced to form the overall speed plan of the surface mine road, and the speed planning curves are smooth, continuous in curvature and continuous in curvature change rate.
And 5: and generating a global track planning file. The system carries out cubic polynomial interpolation on the generated global speed planning curve according to the distance between points planned by the unmanned global path, inserts a global speed planning value into the point attribute planned by the global path, and further generates a global track planning file in the unmanned transportation system of the surface mine.
Step 6: the server sends the global trajectory planning file to a control terminal system of the unmanned mining truck through a wireless communication network. A control terminal system of the unmanned mining truck calculates and plans the local speed of self-running by extracting a global track planning file and combining the output of a self-decision system, a sensing system and a safety system and outputs the local speed to a control system.
And 7: when the factors influencing the running speed of the unmanned mining truck such as weather change, sprinkling water by a sprinkler, broken stones on the road surface and the like appear, a server operator operates the server device, changes the speed coefficient of the global path planning or the speed planning coefficient of the local road section, and repeats the steps 3 to 5 to realize the global speed updating of the unmanned transportation system of the surface mine. The global velocity planning flow diagram is shown in fig. 3.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. A method of speed planning for an unmanned vehicle, comprising:
acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and running speed of the front obstacle of the mining truck;
obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file;
calculating to obtain a driving error coefficient according to the position information and the target track;
according to the speed planning value of the current position, the decision action signal, the distance information of the front obstacle, the running speed of the front obstacle, the running error coefficient and the positioning error coefficient, local speed planning is carried out to obtain the current speed expected value of the mining truck;
the method for generating the global trajectory planning file comprises the following steps:
(1) extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
(2) dividing the structured road into a plurality of road sections according to road factors;
(3) setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise an entrance speed, a suggested speed, a limit speed and an exit speed;
(4) performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
(5) according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all the road sections to form an overall speed planning curve of the structured driving road;
(6) and interpolating the global speed planning curve according to the distance between the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transportation system of the surface mine.
2. The method for speed planning of an unmanned vehicle according to claim 1,
dividing the structured road into a plurality of road sections according to road factors, wherein the road sections comprise:
the road factors comprise single lanes, double lanes, ramps, speed limitation and road surfaces, and the structured road is divided into a plurality of road sections according to the principles of single-double lane separation, ramp separation, traffic section separation, special section separation and longest section value separation of the road;
when a special road section is divided, transition areas with certain lengths are additionally divided at the front end and the rear end of the actual road section respectively and are used as the transition areas of the speed planning, namely the special road section comprises the transition areas at the two ends and the middle actual road section;
the special section includes: a traffic road section, a wet road section, a bumpy road section, a ramp road section, a single lane road section; the non-special road sections comprise: a two-lane road segment.
3. The speed planning method for an unmanned vehicle according to claim 1, wherein the recommended speed, the entry speed, and the exit speed of the link are set according to a speed limit configuration of the link; the method comprises the following steps: the suggested speed value and the limit speed value in each road section have a set proportional relation;
the driving-in speed and the driving-out speed of the non-special road section are equal to the suggested speed;
the special road section is in a direct proportional relation that coefficients are not equal to 1 among the driving-in speed, the driving-out speed and the suggested speed;
the road section is provided with an uphill road section, the driving-in speed and the suggested speed have a direct proportional relation with the coefficient more than 1, and the driving-out speed and the suggested speed have a direct proportional relation with the coefficient less than 1;
the road section has a downhill road section, the driving speed and the suggested speed have a direct proportional relation with the coefficient less than 1, and the driving speed and the suggested speed have a direct proportional relation with the coefficient less than 1;
the coefficient is less than 1, the coefficient value is 0.5-1, and the coefficient is more than 1, the coefficient value is 1-1.5.
4. The method for speed planning of an unmanned vehicle according to claim 1,
the parameter verification and alignment are carried out according to the set road section configuration parameters, and the method comprises the following steps: and checking whether the driving-in speed and the driving-out speed of the adjacent road sections are equal, if not, aligning the driving-in speed and the driving-out speed of the adjacent road sections according to a parameter alignment principle.
5. The method for speed planning of an unmanned vehicle according to claim 4,
the parameter alignment principle comprises: the adjacent road sections have special road sections, the driving-in speed and the driving-out speed of the special road sections are used as target parameters for alignment, and the alignment priority is from high to low as follows: traffic road section, wet road section, bumpy road section, ramp road section, single lane road section, and double lane road section.
6. The unmanned vehicle speed planning method of claim 1, wherein the global trajectory planning file is generated by a server device based on a map system for global speed planning of the unmanned vehicle in the mine, and the server device is in communication connection with the unmanned vehicle and sends the global trajectory planning file to the unmanned vehicle.
7. A speed planning apparatus for an unmanned vehicle, comprising:
a data acquisition module to: acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and running speed of the front obstacle of the mining truck;
a velocity plan value determination module to: obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file;
the calculation module is used for calculating a driving error coefficient according to the position information and the target track;
a planning module to: according to the speed planning value of the current position, the decision action signal, the distance information of the front obstacle, the running speed of the front obstacle, the running error coefficient and the positioning error coefficient, local speed planning is carried out to obtain the current speed expected value of the mining truck;
the method for generating the global trajectory planning file comprises the following steps:
(1) extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
(2) dividing the structured road into a plurality of road sections according to road factors;
(3) setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise a driving-in speed, a suggested speed, a limiting speed and a driving-out speed;
(4) performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
(5) according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all the road sections to form an overall speed planning curve of the structured driving road;
(6) and interpolating the global speed planning curve according to the distance between the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transportation system of the surface mine.
8. A global trajectory plan file generation apparatus, comprising:
a road extraction module to: extracting a structured driving road of the unmanned mining truck according to the operation plan of the surface mine based on a map system;
a segment division module to: dividing the structured road into a plurality of road sections according to road factors;
a road segment parameter configuration module to: setting a suggested speed, an entering speed and an exiting speed of the road section according to the speed limit configuration of the road section; each road section corresponds to a group of speed planning parameters, and the speed planning parameters comprise a driving-in speed, a suggested speed, a limiting speed and a driving-out speed;
a parameter alignment module to: performing parameter verification and alignment according to the set road section configuration parameters to align the driving-in speed and the driving-out speed parameter values of the adjacent road sections;
a speed planning curve module to: according to the aligned speed of the road section, the suggested speed, the limited speed and the running-out speed, a road section speed planning curve of a position and speed relation is drawn by using a cubic spline interpolation rule of curvature limitation, the curvature of the curve at the end point of the road section is 0, and the first-order second-order derivative of the curve is continuous; splicing the speed planning curves of all road sections to form a global speed planning curve of the structured driving road;
a file generation module to: and interpolating the global speed planning curve according to the intervals of the points planned by the unmanned global path, inserting the global speed planning value into the point attribute planned by the global path, and generating a global track planning file in the unmanned transport system of the surface mine.
9. An unmanned transportation system for a surface mine, comprising the global trajectory plan file generation device of claim 8 and an unmanned vehicle, the global trajectory plan file generation device being in communication with the unmanned vehicle to transmit the global trajectory plan file to the unmanned vehicle; the unmanned vehicle comprising a speed planning apparatus for the unmanned vehicle of claim 7.
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| CN113581019B (en) * | 2021-08-11 | 2023-04-11 | 佛山仙湖实验室 | Energy management method for hybrid drive unmanned mining truck |
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