CN113189580A - Auxiliary driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB (ultra wide band) tag - Google Patents
Auxiliary driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB (ultra wide band) tag Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention belongs to the technical field of trackless rubber-tyred vehicles, and particularly relates to a trackless rubber-tyred vehicle auxiliary driving method based on a millimeter wave radar and a UWB (ultra Wide band) tag, which comprises the following steps: s1, mounting the millimeter wave radar and the auxiliary driving device to the trackless rubber-tyred vehicle; s2, establishing a millimeter wave radar coordinate system by taking millimeter waves as poles; establishing a trackless rubber-tyred vehicle coordinate system by taking the position of the trackless rubber-tyred vehicle as an origin; s3, the auxiliary driving device is communicated with the dispatching center server through a network to obtain related data; s4, the driving assisting device acquires the scanning data of the vehicle-mounted millimeter wave radar; s5, fusing the analysis data by the auxiliary driving device, and constructing a surrounding environment map of the trackless rubber-tyred vehicle; and S6, calculating the distance between the trackless rubber-tyred vehicle and the obstacle in real time by the auxiliary driving device. The trackless rubber-tyred vehicle auxiliary driving method based on the millimeter wave radar and the UWB labels overcomes the defect that a coal mine tunnel environment is difficult to receive GPS signals and cannot be accurately positioned.
Description
Technical Field
The invention belongs to the technical field of trackless rubber-tyred vehicles, and particularly relates to a trackless rubber-tyred vehicle auxiliary driving method based on a millimeter wave radar and a UWB (ultra Wide band) tag.
Background
Millimeter wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. Usually, the millimeter wave is in the frequency domain of 30 to 300GHz (with a wavelength of 1 to 10 mm). Millimeter-wave radar has some of the advantages of both microwave and photoelectric radar because the wavelength of millimeter-wave waves is intermediate between microwave and centimeter waves.
An Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not use a sinusoidal carrier but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and thus, the occupied frequency spectrum range is Wide.
The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.
The trackless rubber-tyred car includes packing box and locomotive, one side of locomotive is equipped with the driver's cabin, the front portion and the rear portion of driver's cabin are equipped with copilot seat and main driver's seat respectively relatively, be equipped with operation control platform between main, the copilot seat, be equipped with the panel board on the left side wall that is close to main driver's seat in the driver's cabin. The trackless rubber-tyred vehicle produced by our company adopts a one-room two-seat structure to solve the problem that the vehicle can run in two directions without turning around in the mine tunnel operation, and the length of the vehicle body is shortened, so that the vehicle becomes small and flexible; meanwhile, the operation control structure is simplified, repeated setting is reduced, and the system cost is reduced; the cab is more in line with the ergonomic layout and more convenient to operate.
Because the trackless rubber-tyred car in the pit of colliery has the advantages such as the transportation is nimble high-efficient, transportation function is powerful, tunnel adaptability is stronger, the cost of transportation is lower for trackless rubber-tyred car's effect in the auxiliary transportation system is more and more important, has played crucial effect to the high-efficient production of colliery safety.
The prior Chinese patent with the publication number of CN109542097A discloses an infrared top tracking underground unmanned trackless rubber-tyred vehicle and a driving control method thereof, wherein the underground unmanned trackless rubber-tyred vehicle comprises a sensing system, a control system, an execution system and a vehicle body, a plurality of groups of sensors in the sensing system are electrically connected with a PLC in the control system, the PLC is electrically connected with a VCU of a vehicle control unit, and the VCU is respectively electrically connected with a motor, a steering motor and a hydraulic oil pump in the execution system in the vehicle through a driving circuit. The invention installs radar laser sensor on the head of the vehicle, installs infrared sensor on the roof of the vehicle, installs ultrasonic sensor on the two sides of the vehicle and the tail of the vehicle, installs speed sensor on the rear driving wheel, reasonably arranges the position of the sensors on the vehicle, uses the signal feedback to obtain the surrounding environment information, and executes the proper driving mode according to the established driving control strategy. The unmanned whole vehicle system is safe and efficient, can effectively reduce the labor intensity of underground workers, and improves the efficiency and the safety of an underground auxiliary transportation system. .
The above prior art solutions have the following drawbacks: the technical schemes used by radar products, laser products and infrared products have certain disadvantages in coal mine application. The reversing radar based on infrared distance measurement is affected by the absorption of infrared light by a coal wall, the distance measurement effect is not ideal, and false alarm often occurs; the reversing alarm device based on the ultrasonic radar is not beneficial to the safety design of a trackless rubber-tyred vehicle because the piezoelectric ceramics can generate ultrasonic waves only by high-voltage power supply; the performance of the laser radar is greatly influenced in the underground high-dust and high-humidity environment.
Disclosure of Invention
The invention aims to provide a trackless rubber-tyred vehicle auxiliary driving method based on a millimeter wave radar and a UWB (ultra wide band) tag, which aims to solve the technical problems that false alarm or influence is easy to occur when radar products, laser products and infrared products in the prior art are used and safety design is not facilitated, and the purposes of sensing the surrounding environment of a vehicle by fusing UWB positioning and millimeter wave radar data and overcoming the defects that a single UWB positioning position is overlarge in granularity and a single millimeter wave radar is interfered by electromagnetism are achieved.
In order to solve the technical problem, the invention provides 1. a trackless rubber-tyred vehicle auxiliary driving method based on millimeter wave radar and UWB tags, which is characterized by comprising the following steps:
s1, mounting the UWB tag, the millimeter wave radar and the auxiliary driving device to the trackless rubber-tyred vehicle;
s2, establishing a millimeter wave radar coordinate system by taking millimeter waves as poles; establishing a trackless rubber-tyred vehicle coordinate system by taking the position of the trackless rubber-tyred vehicle as an origin;
s3, the auxiliary driving device is communicated with the dispatching center server through a network to obtain related data;
s4, the driving assisting device acquires the scanning data of the vehicle-mounted millimeter wave radar;
s5, fusing and analyzing data by the auxiliary driving device, and constructing a surrounding environment map of the trackless rubber-tyred vehicle;
s6, the auxiliary driving device calculates the distance between the trackless rubber-tyred vehicle and the obstacle in real time, and when the distance is smaller than a set safety threshold, the driver is warned to avoid the obstacle through the warning device.
Further, in S1:
the UWB tag is installed at a vehicle center position; the auxiliary driving device is arranged in the area near the instrument panel of the trackless rubber-tyred vehicle; the millimeter wave radar is installed in the front and the rear of the vehicle, and the number of the auxiliary driving devices is a plurality, so that the width of the whole roadway is covered.
Further, in S3:
the dispatching center server is communicated with the UWB positioning base stations, acquires the position information of all UWB tags within the detection range of the UWB base stations, and determines the position of each tag in a roadway according to the ID of the tag;
the position represents the travel distance from the position of the label to the specified starting point; the travel distance is calculated according to the information of the UWB base station closest to the position point of the tag in the roadway;
the distance represents the distance from the origin of the central line of the road junction to the central line point of the roadway corresponding to the position of the label along the central line of the roadway;
the auxiliary driving device acquires the data of the position information of all UWB tags within a set radius range by taking the trackless rubber-tyred vehicle as a center from a server.
Further, in S4:
the millimeter wave radars are arranged in front of and behind the trackless rubber-tyred vehicle, the number of the millimeter wave radars is several, and the millimeter wave radars are suitable for covering the detection range of the millimeter wave radars in the whole roadway width range;
the auxiliary driving device reads the scanning data of the millimeter wave radar through the CAN bus;
the scan data includes dynamic targets and static targets within a detection range.
Further, in S5:
the fusion analysis is suitable for calculating the distances between all targets in a set range around the trackless rubber-tyred vehicle and the trackless rubber-tyred vehicle, and comprises the following calculation steps:
a1: screening a dynamic target and a static target in the driving direction from the scanning data according to the driving direction of the trackless rubber-tyred vehicle, and putting the dynamic target and the static target into a monitoring set;
a2: calculating the travel distance between a target in the screening and monitoring set and the trackless rubber-tyred vehicle in real time;
a3: when the travel distance between any target in the set and the trackless rubber-tyred vehicle is smaller than the detection range of the millimeter wave radar, starting the millimeter wave radar in the driving direction for detection;
a4: for a target with a UWB tag, a mode of fusing coordinate calculation and a radar distance detection result is adopted, and if one of the two judgment modes reaches an alarm condition, an alarm is prompted;
a5: and for the target without the UWB label, detecting whether the travel distance between the target and the trackless rubber-tyred vehicle is smaller than a safety threshold value in a millimeter wave radar detection mode.
Further, all the targets comprise all miners or vehicles with UWB tags in the front-back range of the trackless rubber-tyred vehicle and targets without tags.
Further, in S6:
the alarm reminder includes:
t1: detecting the distance between the head and the tail of the vehicle and the wall of the roadway by a millimeter wave radar in the running process of the vehicle, and sending an alarm by an alarm when the distance is smaller than the safety standard;
t2: in the running process of the trackless rubber-tyred vehicle, the device calculates the distance between a dynamic target of a UWB positioning tag in the surrounding area of the trackless rubber-tyred vehicle and the trackless rubber-tyred vehicle in real time, simultaneously scans the dynamic target in the moving direction by using a millimeter wave radar, and gives an alarm by an alarm when the distance between the trackless rubber-tyred vehicle and the target is smaller than a safety threshold;
t3: in the running process of the trackless rubber-tyred vehicle, for target obstacles which are not provided with UWB positioning tags and are around the trackless rubber-tyred vehicle, the distance from the obstacles to the trackless rubber-tyred vehicle is mainly detected by millimeter wave radar data, and when the distance is smaller than a safety threshold value, an alarm is given out through an alarm;
t4: in the running process of the trackless rubber-tyred vehicle, when electromagnetic wave signals interfere radar signals in the environment, the weight of UWB positioning data is increased, the distance between pedestrians or vehicles with UWB labels and the trackless rubber-tyred vehicle is detected, and when the distance is smaller than a safety threshold value, an alarm is given out through an alarm.
The invention has the beneficial effects that:
(1) because the millimeter wave radar has the advantages of light weight, small volume, high spatial resolution, large range finding range, high precision and capability of penetrating fog, smoke and dust without being influenced by severe weather environment, the invention adopts the millimeter wave radar to fuse the UWB detection sensing environment, and is convenient for realizing the intrinsic safety design while accurately detecting.
(2) The invention adopts UWB wireless positioning technology to position miners and vehicles, and overcomes the defect that the coal mine tunnel environment is difficult to receive GPS signals and cannot be accurately positioned.
(3) The invention integrates UWB positioning and millimeter wave radar detection, assists a driver to sense the surrounding environment, avoids potential safety hazard brought by a visual blind area, and overcomes the defect that single UWB positioning can only aim at a moving target with a label and single millimeter wave radar detection cannot be used for observing the whole situation.
(4) The device can update the origin of the vehicle coordinate system in real time according to the position and the speed of the vehicle, and avoids vehicle positioning failure caused by network communication interruption.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a millimeter wave radar coordinate system of the trackless rubber-tyred vehicle assistant driving method based on the millimeter wave radar and the UWB tag.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1, a trackless rubber-tyred vehicle assistant driving method based on millimeter wave radar and UWB tags includes the following steps: s1, installing the UWB tag, the millimeter wave radar and the auxiliary driving device to the trackless rubber-tyred vehicle, wherein the auxiliary driving device is installed in the area near the instrument panel of the trackless rubber-tyred vehicle, so that a user can operate and drive the trackless rubber-tyred vehicle conveniently. Meanwhile, the UWB tag is installed at the center position of the vehicle; the auxiliary driving device is arranged in the area near the instrument panel of the trackless rubber-tyred vehicle; the millimeter wave radar is installed in vehicle the place ahead and rear, and the installation number is different according to the motorcycle type to cover whole tunnel width as the principle. In this embodiment, the millimeter wave radar is located at a distance of more than 80 cm from the ground, so as to ensure that the millimeter wave radar is not easy to touch the ground and has enough space for detection.
S2, establishing a millimeter wave radar coordinate system by taking millimeter waves as poles; and establishing a coordinate system of the trackless rubber-tyred vehicle by taking the position of the trackless rubber-tyred vehicle as an origin.
And S3, the driving assisting device is communicated with the dispatching center server through the network to acquire UWB label related data of the trackless rubber-tyred vehicle and other vehicles within the peripheral set range. The dispatching center server is communicated with a plurality of UWB positioning base stations, acquires the position information of all UWB tags in the detection range of the UWB base stations, and determines the position of each tag in a roadway according to the ID of the tag; the position of the label is the travel distance from the position point of the label to the specified starting point; and the travel distance is calculated according to the information of the UWB base station closest to the position point of the tag in the roadway. The distance is the distance from the origin of the central line of the road junction along the central line of the roadway to the central line point of the roadway corresponding to the position of the label.
And S4, the driving assisting device acquires the scanning data of the vehicle-mounted millimeter wave radar. Wherein the millimeter wave radar is installed in trackless rubber-tyred car the place ahead and rear, and the installation quantity is a plurality of, is suitable for the detection range of millimeter wave radar to cover whole tunnel. In the embodiment, the driving assistance device reads the scanning data of the millimeter wave radar through the CAN bus; the scanning data includes dynamic targets and static targets in the detection range.
And S5, fusing the analysis data by the auxiliary driving device, and constructing a surrounding environment map of the trackless rubber-tyred vehicle.
In the embodiment, all the targets comprise miners or vehicles with UWB labels and targets without labels in the front and rear ranges of the trackless rubber-tyred vehicle. The fusion analysis was calculated as follows:
a1: screening a dynamic target and a static target in the driving direction from the scanning data according to the driving direction of the trackless rubber-tyred vehicle, and putting the dynamic target and the static target into a monitoring set; a2: calculating the travel distance between the target in the screening monitoring set and the trackless rubber-tyred vehicle in real time; a3: when the stroke distance between any target in the set and the trackless rubber-tyred vehicle is smaller than the detection stroke distance of the millimeter wave radar, starting the millimeter wave radar in the driving direction for detection; a4: for a target with a UWB tag, a mode of fusing coordinate calculation and a radar distance detection result is adopted, and if one of the two judgment modes reaches an alarm condition, an alarm is prompted; a5: and for the target without the UWB label, detecting whether the travel distance between the target and the trackless rubber-tyred vehicle is smaller than a safety threshold value in a millimeter wave radar detection mode.
S6, the auxiliary driving device calculates the distance between the trackless rubber-tyred vehicle and the obstacle in real time, and when the distance is smaller than a set safety threshold value, the driver is warned to avoid the obstacle through the warning device.
In this embodiment, the alarm reminder includes: t1: detecting the distance between the head and the tail of the vehicle and the wall of the roadway by a millimeter wave radar in the running process of the vehicle, and sending an alarm by an alarm when the distance is smaller than the safety standard; t2: in the running process of the trackless rubber-tyred vehicle, the device calculates the distance between a dynamic target of a UWB positioning tag in the surrounding area of the trackless rubber-tyred vehicle and the trackless rubber-tyred vehicle in real time, simultaneously scans the dynamic target in the moving direction by using a millimeter wave radar, and sends out an alarm through an alarm when the distance between the trackless rubber-tyred vehicle and the target is smaller than a safety threshold; t3: in the running process of the trackless rubber-tyred vehicle, for target obstacles which are not provided with UWB positioning tags and are around the trackless rubber-tyred vehicle, millimeter wave radar data is mainly adopted to detect the distance from the obstacles to the trackless rubber-tyred vehicle, and when the distance is smaller than a safety threshold value, an alarm is given out through an alarm; t4: in the trackless rubber-tyred car process of traveling, when electromagnetic wave signal has disturbed radar signal in the environment, improve the weight of UWB location data, detect the pedestrian or the distance of vehicle and trackless rubber-tyred car that have the UWB label, when the distance is less than the safety threshold, send out the police dispatch newspaper through the siren.
In summary, the following steps:
(1) because the millimeter wave radar has the advantages of light weight, small volume, high spatial resolution, large range finding range, high precision and capability of penetrating fog, smoke and dust without being influenced by severe weather environment, the invention adopts the millimeter wave radar to fuse the UWB detection sensing environment, and is convenient for realizing the intrinsic safety design while accurately detecting.
(2) The invention adopts UWB wireless positioning technology to position miners and vehicles, and overcomes the defect that the coal mine tunnel environment is difficult to receive GPS signals and cannot be accurately positioned.
(3) The invention integrates UWB positioning and millimeter wave radar detection, assists a driver to sense the surrounding environment, avoids potential safety hazard brought by a visual blind area, and overcomes the defect that single UWB positioning can only aim at a moving target with a label and single millimeter wave radar detection cannot be used for observing the whole situation.
(4) The device can update the origin of the vehicle coordinate system in real time according to the position and the speed of the vehicle, and avoids vehicle positioning failure caused by network communication interruption.
All the components selected in the present application are general standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimental methods.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. A trackless rubber-tyred vehicle assistant driving method based on millimeter wave radar and UWB labels is characterized by comprising the following steps:
s1, mounting the UWB tag, the millimeter wave radar and the auxiliary driving device to the trackless rubber-tyred vehicle;
s2, establishing a millimeter wave radar coordinate system by taking millimeter waves as poles; establishing a trackless rubber-tyred vehicle coordinate system by taking the position of the trackless rubber-tyred vehicle as an origin;
s3, the auxiliary driving device is communicated with the dispatching center server through a network to obtain related data;
s4, the driving assisting device acquires the scanning data of the vehicle-mounted millimeter wave radar;
s5, fusing and analyzing data by the auxiliary driving device, and constructing a surrounding environment map of the trackless rubber-tyred vehicle;
s6, the auxiliary driving device calculates the distance between the trackless rubber-tyred vehicle and the obstacle in real time, and when the distance is smaller than a set safety threshold, the driver is warned to avoid the obstacle through the warning device.
2. The assistant driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB tags of claim 1,
in S1:
the UWB tag is installed at a vehicle center position; the auxiliary driving device is arranged in the area near the instrument panel of the trackless rubber-tyred vehicle; the millimeter wave radar is installed in the front and the rear of the vehicle, and the number of the auxiliary driving devices is a plurality, so that the width of the whole roadway is covered.
3. The assistant driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB tags of claim 2,
in S3:
the dispatching center server is communicated with the UWB positioning base stations, acquires the position information of all UWB tags within the detection range of the UWB base stations, and determines the position of each tag in a roadway according to the ID of the tag;
the position represents the travel distance from the position of the label to the specified starting point; the travel distance is calculated according to the information of the UWB base station closest to the position point of the tag in the roadway;
the distance represents the distance from the origin of the central line of the road junction to the central line point of the roadway corresponding to the position of the label along the central line of the roadway;
the auxiliary driving device acquires the data of the position information of all UWB tags within a set radius range by taking the trackless rubber-tyred vehicle as a center from a server.
4. The assistant driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB tags of claim 3,
in S4:
the millimeter wave radars are arranged in front of and behind the trackless rubber-tyred vehicle, the number of the millimeter wave radars is several, and the millimeter wave radars are suitable for covering the detection range of the millimeter wave radars in the whole roadway width range;
the auxiliary driving device reads the scanning data of the millimeter wave radar through the CAN bus;
the scan data includes dynamic targets and static targets within a detection range.
5. The assistant driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB tags of claim 4,
in S5:
the fusion analysis is suitable for calculating the distances between all targets in a set range around the trackless rubber-tyred vehicle and the trackless rubber-tyred vehicle, and comprises the following calculation steps:
a1: screening a dynamic target and a static target in the driving direction from the scanning data according to the driving direction of the trackless rubber-tyred vehicle, and putting the dynamic target and the static target into a monitoring set;
a2: calculating the travel distance between a target in the screening and monitoring set and the trackless rubber-tyred vehicle in real time;
a3: when the travel distance between any target in the set and the trackless rubber-tyred vehicle is smaller than the detection range of the millimeter wave radar, starting the millimeter wave radar in the driving direction for detection;
a4: for a target with a UWB tag, a mode of fusing coordinate calculation and a radar distance detection result is adopted, and if one of the two judgment modes reaches an alarm condition, an alarm is prompted;
a5: and for the target without the UWB label, detecting whether the travel distance between the target and the trackless rubber-tyred vehicle is smaller than a safety threshold value in a millimeter wave radar detection mode.
6. The assistant driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB tags of claim 5,
all the targets comprise all miners or vehicles with UWB tags in the front-back range of the trackless rubber-tyred vehicle and targets without tags.
7. The assistant driving method of trackless rubber-tyred vehicle based on millimeter wave radar and UWB tags of claim 1,
in S6:
the alarm reminder includes:
t1: detecting the distance between the head and the tail of the vehicle and the wall of the roadway by a millimeter wave radar in the running process of the vehicle, and sending an alarm by an alarm when the distance is smaller than the safety standard;
t2: in the running process of the trackless rubber-tyred vehicle, the device calculates the distance between a dynamic target of a UWB positioning tag in the surrounding area of the trackless rubber-tyred vehicle and the trackless rubber-tyred vehicle in real time, simultaneously scans the dynamic target in the moving direction by using a millimeter wave radar, and gives an alarm by an alarm when the distance between the trackless rubber-tyred vehicle and the target is smaller than a safety threshold;
t3: in the running process of the trackless rubber-tyred vehicle, for target obstacles which are not provided with UWB positioning tags and are around the trackless rubber-tyred vehicle, the distance from the obstacles to the trackless rubber-tyred vehicle is mainly detected by millimeter wave radar data, and when the distance is smaller than a safety threshold value, an alarm is given out through an alarm;
t4: in the running process of the trackless rubber-tyred vehicle, when electromagnetic wave signals interfere radar signals in the environment, the weight of UWB positioning data is increased, the distance between pedestrians or vehicles with UWB labels and the trackless rubber-tyred vehicle is detected, and when the distance is smaller than a safety threshold value, an alarm is given out through an alarm.
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