CN111824180A - Unmanned mine car automatic driving control system with fusion obstacle avoidance function - Google Patents
Unmanned mine car automatic driving control system with fusion obstacle avoidance function Download PDFInfo
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- CN111824180A CN111824180A CN202010606203.0A CN202010606203A CN111824180A CN 111824180 A CN111824180 A CN 111824180A CN 202010606203 A CN202010606203 A CN 202010606203A CN 111824180 A CN111824180 A CN 111824180A
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention discloses an unmanned mine car automatic driving control system with a fusion obstacle avoidance function, which realizes unmanned operation of a mine car under the scheduling of a scheduling system, and comprises a vehicle-mounted computing platform, a millimeter wave radar, a laser radar, a video collector and a vehicle control device, wherein the millimeter wave radar, the laser radar, the video collector and the vehicle control device are in communication connection with the vehicle-mounted computing platform; the millimeter wave radar is arranged around the unmanned mine car and used for generating millimeter wave signals containing obstacle information; the laser radars are arranged at the front part and the rear part of the unmanned mine car and are used for generating original point cloud data; the video collector is arranged at the front part of the unmanned mine car and used for generating video information; the vehicle-mounted computing platform acquires millimeter wave signals, original point cloud data and video information and determines a driving adjustment strategy of the unmanned mine car; when a preset condition is satisfied, the vehicle control device executes a driving adjustment strategy.
Description
Technical Field
The invention relates to the field of automatic driving of mine cars, in particular to an unmanned mine car automatic driving control system with a function of fusing obstacle avoidance.
Background
The working environment of the mine car is severe, rain, snow and haze weather often appear, and the obstacles are many.
The unmanned system in the prior art is mainly designed according to the characteristics of a passenger car and is difficult to be directly applied to a mine car.
Disclosure of Invention
In order to solve the technical problems, the invention provides an unmanned mine car automatic driving control system with a function of integrating obstacle avoidance.
In order to solve the technical problems, the invention adopts the following technical scheme:
an unmanned mine car automatic driving control system with a fusion obstacle avoidance function realizes unmanned operation of a mine car under the scheduling of a scheduling system, and comprises a vehicle-mounted computing platform, a millimeter wave radar, a laser radar, a video collector and a vehicle control device, wherein the millimeter wave radar, the laser radar, the video collector and the vehicle control device are in communication connection with the vehicle-mounted computing platform;
the millimeter wave radar is arranged around the unmanned mine car and used for generating millimeter wave signals containing obstacle information;
the laser radars are arranged at the front part and the rear part of the unmanned mine car and are used for generating original point cloud data;
the video collector is arranged at the front part of the unmanned mine car and used for generating video information;
the vehicle-mounted computing platform acquires millimeter wave signals, original point cloud data and video information and determines a driving adjustment strategy of the unmanned mine car;
when a preset condition is satisfied, the vehicle control device executes a driving adjustment strategy.
Further, the vehicle control device comprises a combined inertial navigation system, a steering controller and a speed controller, wherein the combined inertial navigation system comprises a GPS module and an IMU module.
Further, the speed controller includes a throttle, a VCU for receiving the driving adjustment strategy and changing an opening degree of the throttle according to the driving adjustment strategy, and a braking device for decelerating the unmanned mining vehicle according to the driving adjustment strategy.
Further, the millimeter wave radars are respectively arranged at the front part, the rear part, the left part and the right part of the unmanned mine car.
Further, the lidar includes a 32-line lidar disposed at a front portion of the unmanned mining vehicle and a 16-line lidar disposed at a rear portion of the unmanned mining vehicle.
Further, the system also comprises a 4G gateway in communication connection with the dispatching system, wherein the 4G gateway is in communication connection with the vehicle-mounted computing platform.
Compared with the prior art, the invention has the beneficial technical effects that:
1. the invention utilizes the advantages of the millimeter wave radar, the laser radar and the monocular camera, and utilizes the existing fusion algorithm to perform fusion calculation on the obstacle information of the millimeter wave radar, the original point cloud data of the laser radar and the video information of the monocular camera, thereby adapting to the identification of the obstacle in severe environment with lower cost and ensuring the normal operation of the mine car.
2. The automatic driving control system completes transportation operation under the unified scheduling of the scheduling system, can reasonably plan a route, a queuing sequence and fault maintenance priority, and improves the overall operation efficiency.
Drawings
FIG. 1 is a block diagram showing the components of the present invention.
Detailed Description
A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in FIG. 1, the unmanned mine car automatic driving control system with the function of fusion obstacle avoidance realizes the unmanned operation of the mine car under the scheduling of the scheduling system, and comprises a vehicle-mounted computing platform, and a millimeter wave radar, a laser radar, a video collector and a vehicle control device which are in communication connection with the vehicle-mounted computing platform;
the millimeter wave radar is arranged around the unmanned mine car and used for generating millimeter wave signals containing obstacle information;
the laser radars are arranged at the front part and the rear part of the unmanned mine car and are used for generating original point cloud data;
the video collector is arranged at the front part of the unmanned mine car and used for generating video information;
the vehicle-mounted computing platform acquires millimeter wave signals, original point cloud data and video information and determines a driving adjustment strategy of the unmanned mine car;
when a preset condition is satisfied, the vehicle control device executes a driving adjustment strategy.
Meeting the preset conditions means that the vehicle-mounted computing platform receives a scheduling instruction, encounters obstacles when the mine car runs, deviates from a planned route and other conditions needing to change the running state of the vehicle.
The automatic driving control system further comprises a switch, and the switch is in communication connection with the vehicle-mounted computing platform through the industrial Ethernet.
As shown in FIG. 1, the vehicle control device comprises a combined inertial navigation system, a steering controller and a speed controller, wherein the combined inertial navigation system comprises a GPS module and an IMU module.
The combined inertial navigation system, the steering controller and the speed controller are respectively connected with a vehicle gateway through a CAN bus, and the vehicle gateway is connected with the switch through an industrial Ethernet.
The combined inertial navigation is equipment integrating a GPS (global positioning system) and an IMU (inertial measurement unit), and can provide accurate positioning for an automatic driving control system.
The steering controller is used for controlling the direction of the mine car, the vehicle-mounted computing platform sends steering signals to the steering controller through the switchboard and the vehicle gateway, and the steering controller changes the movement direction of the mine car.
As shown in FIG. 1, the speed controller includes a throttle, a VCU for receiving a driving adjustment strategy and varying the throttle opening in accordance with the driving adjustment strategy, and a braking device for decelerating the unmanned mining vehicle in accordance with the driving adjustment strategy.
The VCU is a vehicle control unit of the mine car and is used for coordinating and controlling a vehicle power system, the vehicle-mounted computing platform sends a speed signal and an acceleration signal to the VCU through the switchboard and the vehicle gateway, and the VCU adjusts the opening degree of an accelerator through the proportional valve so as to change the speed and the acceleration of the mine car.
The braking device is a line control speed reducer, the vehicle-mounted computing platform sends a braking signal to the line control speed reducer through the switch and the vehicle gateway, and the line control speed reducer brakes the mine car.
The driving adjustment strategy comprises a steering signal, an acceleration signal and a brake signal.
As shown in FIG. 1, the millimeter wave radars are arranged at the front, rear, left, and right portions of the unmanned mine vehicle, respectively.
The number of the millimeter wave radars is 6, the front part and the rear part of the mine car are respectively provided with one millimeter wave radar, and the left part and the right part of the mine car are respectively provided with two millimeter wave radars.
The millimeter wave radar is connected with the sensor gateway through the CAN bus respectively, the sensor gateway is connected with the switch through the industrial Ethernet, and then detected obstacle information is sent to the vehicle-mounted computing platform, and the vehicle-mounted computing platform processes the obstacle information by using the existing millimeter wave correlation algorithm, such as the Euclidean clustering algorithm and the extended Kalman filtering algorithm.
The millimeter wave radar has the advantages that the cost is low, rain and fog days are not affected, and the distance detection of the obstacle is more accurate; the method has the defects of more interference from the outside and easy generation of false alarm of the barrier.
As shown in FIG. 1, the lidar includes a 32-line lidar disposed at the front of the unmanned mining vehicle and a 16-line lidar disposed at the rear of the unmanned mining vehicle.
The number of the laser radars is three, two of the 32-line laser radars are arranged in front of the mine car, and one of the 16-line laser radars is arranged behind the mine car.
The laser radar is connected with the switch through an industrial Ethernet respectively, and then sends the original point cloud data to the vehicle-mounted computing platform; the vehicle-mounted computing platform can utilize the existing laser radar correlation algorithm, such as the Euclidean clustering algorithm, to perform obstacle detection, ground cutting and vehicle body cutting, and establish a grid map.
The Euclidean clustering algorithm is an important classification method in multivariate statistics and is commonly used for point cloud data segmentation and other works in the field of mapping.
Compared with a single-line laser radar, the multi-line laser radar has modeling and environment sensing capabilities and positioning enhancement capabilities, wherein the modeling and environment sensing capabilities refer to that a 3D model of the surrounding environment of the mine car can be scanned through the multi-line laser radar, and the surrounding vehicles and obstacles can be easily detected by comparing the change of the environment of the previous frame with the change of the environment of the next frame; the positioning enhancement capability refers to the synchronous map building capability of the vehicle, and the positioning accuracy of the vehicle can be enhanced by comparing the global map obtained in real time with the feature objects in the high-accuracy map.
The laser radar has the advantages that the laser radar can generate three-dimensional position information, the position, the size, the appearance and the system of an object can be quickly determined, the detection distance is longer, the precision is higher, the laser radar has the defects of high price and incapability of working under extreme conditions such as rain, snow, haze and the like.
The video collector is a monocular camera which is arranged in a cab of the mine car, video information collected by the monocular camera enters the vehicle-mounted computing platform through conversion from USB (universal serial bus) to LVDS (low voltage differential signaling), the monocular camera has the advantages of low cost, support for class identification of deep learning and relatively mature technology, and the monocular camera has the disadvantages that the monocular camera is difficult to acquire accurate three-dimensional information, inaccurate in distance test to obstacles and relatively large in limitation of ambient light.
The invention utilizes the advantages of the millimeter wave radar, the laser radar and the monocular camera and the existing fusion algorithm, such as Hungary algorithm and Kalman filtering algorithm, to perform fusion calculation on the obstacle information of the millimeter wave radar, the original point cloud data of the laser radar and the video information of the monocular camera, so as to identify the obstacle in severe environment with low cost and ensure normal operation of the mine car.
As shown in fig. 1, the system further comprises a 4G gateway in communication connection with the scheduling system, wherein the 4G gateway is in communication connection with the vehicle-mounted computing platform.
The vehicle-mounted computing platform sends the driving information of the automatic driving control system to the dispatching system through the 4G gateway, the dispatching system sends the dispatching instruction to the vehicle-mounted computing platform through the 4G gateway, and then the dispatching operation of the unmanned mine car is achieved through the vehicle control device.
The vehicle-mounted computing platform is connected with the display through an HDMI line and used for displaying relevant driving information.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. An unmanned mine car automatic driving control system with a fusion obstacle avoidance function realizes unmanned operation of a mine car under the scheduling of a scheduling system, and is characterized by comprising a vehicle-mounted computing platform, a millimeter wave radar, a laser radar, a video collector and a vehicle control device, wherein the millimeter wave radar, the laser radar, the video collector and the vehicle control device are in communication connection with the vehicle-mounted computing platform;
the millimeter wave radar is arranged around the unmanned mine car and used for generating millimeter wave signals containing obstacle information;
the laser radars are arranged at the front part and the rear part of the unmanned mine car and are used for generating original point cloud data;
the video collector is arranged at the front part of the unmanned mine car and used for generating video information;
the vehicle-mounted computing platform acquires millimeter wave signals, original point cloud data and video information and determines a driving adjustment strategy of the unmanned mine car;
when a preset condition is satisfied, the vehicle control device executes a driving adjustment strategy.
2. The unmanned mine car automatic driving control system with the function of fusion obstacle avoidance according to claim 1, characterized in that: the vehicle control device comprises a combined inertial navigation system, a steering controller and a speed controller, wherein the combined inertial navigation system comprises a GPS module and an IMU module.
3. The unmanned mine car automatic driving control system with the function of fusion obstacle avoidance according to claim 2, characterized in that: the speed controller comprises an accelerator, a VCU for receiving a driving adjustment strategy and changing the opening degree of the accelerator according to the driving adjustment strategy, and a braking device for decelerating the unmanned mine car according to the driving adjustment strategy.
4. The unmanned mine car automatic driving control system with the function of fusion obstacle avoidance according to claim 1, characterized in that: the millimeter wave radar is respectively arranged at the front part, the rear part, the left part and the right part of the unmanned mine car.
5. The unmanned mine car automatic driving control system with the function of fusion obstacle avoidance according to claim 1, characterized in that: the lidar includes a 32-line lidar disposed at the front of the unmanned mining vehicle and a 16-line lidar disposed at the rear of the unmanned mining vehicle.
6. The unmanned mine car automatic driving control system with the function of fusion obstacle avoidance according to claim 1, characterized in that: the system further comprises a 4G gateway in communication connection with the dispatching system, and the 4G gateway is in communication connection with the vehicle-mounted computing platform.
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| CN112644517A (en) * | 2020-12-29 | 2021-04-13 | 北京宸控科技有限公司 | Automatic driving algorithm for underground vehicle |
| CN112758031A (en) * | 2021-01-19 | 2021-05-07 | 中国第一汽车股份有限公司 | Vehicle control system, vehicle control method, device, equipment and medium |
| CN112947496A (en) * | 2021-05-05 | 2021-06-11 | 中国矿业大学 | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof |
| CN114265394A (en) * | 2022-02-28 | 2022-04-01 | 徐州徐工重型车辆有限公司 | Wire control system for construction machine and construction machine |
| CN114291114A (en) * | 2022-01-05 | 2022-04-08 | 天地科技股份有限公司 | Vehicle control system and method |
| CN114475650A (en) * | 2021-12-01 | 2022-05-13 | 中铁十九局集团矿业投资有限公司北京信息技术分公司 | Vehicle driving behavior determination method, device, equipment and medium |
| CN114578345A (en) * | 2022-01-28 | 2022-06-03 | 南京司凯奇汽车科技有限公司 | Unmanned mine card obstacle detection system |
| CN115981337A (en) * | 2023-01-18 | 2023-04-18 | 中国矿业大学 | Underground unmanned vehicle decision making system and method based on multi-source information |
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