CN114383598A - Tunnel construction operation vehicle and automatic driving system thereof - Google Patents

Tunnel construction operation vehicle and automatic driving system thereof Download PDF

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Publication number
CN114383598A
CN114383598A CN202210049110.1A CN202210049110A CN114383598A CN 114383598 A CN114383598 A CN 114383598A CN 202210049110 A CN202210049110 A CN 202210049110A CN 114383598 A CN114383598 A CN 114383598A
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module
information
positioning
ideal
sensing
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CN114383598B (en
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刘飞香
秦念稳
肖正航
邓泽
向宙
刘加妮
黎胜根
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China Railway Construction Heavy Industry Group Co Ltd
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China Railway Construction Heavy Industry Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
    • G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a tunnel construction operation vehicle and an automatic driving system thereof, wherein the automatic driving system comprises a multi-sensing redundant unit, the multi-sensing redundant unit comprises an environment application module, a preprocessing module, a sensing coordinate processing module, a feature extraction module and a fusion processing module, the environment sampling module is used for acquiring physical information of a sensed construction environment or an obstacle in a multi-dimensional mode, the preprocessing module is used for analyzing and converting the physical information into ideal physical information, the coordinate conversion module is used for uniformly converting each sampling coordinate in the ideal physical information into a vehicle body coordinate system, the feature extraction module is used for extracting feature information of the ideal physical information, and the fusion processing module is used for controlling a corresponding execution component to execute corresponding actions according to a sensing environment instruction generated after each feature information is fused. The system can sense the surrounding information in multiple dimensions, can process the acquired physical information more comprehensively in sequence, avoids errors caused by incomplete information, and has higher safety of the whole vehicle.

Description

Tunnel construction operation vehicle and automatic driving system thereof
Technical Field
The invention relates to the field of tunnel construction equipment, in particular to a tunnel construction operation vehicle and an automatic driving system thereof.
Background
For solving the construction progress that traditional tunnel construction mode exists slow, the quality is difficult to the management and control, the safe risk is high scheduling problem, the construction operation adopts tunnel construction operation car auxiliary construction more now, and this car is often used for in the processes such as tunnel advance operation, excavation operation, supporting and structure operation, can effectively promote tunnel efficiency of construction and quality, can reduce construction safety risk again.
The existing tunnel construction operation vehicle can adopt a remote driving and remote control operation mode in order to avoid constructors from entering a tunnel under high-risk geological conditions, but the remote operation mode has higher requirements on drivers and networks.
Therefore, the operation vehicle driving system can be upgraded to have an automatic driving function, and the operation vehicle can automatically perform path planning and automatic driving so as to further improve the safety.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a tunnel construction work vehicle and an automatic driving system thereof, in which a multi-sensing redundant unit can sense surrounding information in multiple dimensions, obtain more comprehensive information, and process the obtained physical information more comprehensively in sequence, so that a generated sensing environment command is more reliable, more stable and more comprehensive, and the safety of the whole vehicle is improved.
The automatic driving system of the tunnel construction operation vehicle provided by the invention comprises a multi-sensing redundant unit, wherein the multi-sensing redundant unit comprises:
the environment sampling module is used for obtaining the physical information of the perceived construction environment or the barrier in multiple dimensions;
the preprocessing module is used for analyzing and converting the physical information into ideal physical information;
the coordinate conversion module is used for uniformly converting each sampling coordinate in the ideal physical information into a vehicle body coordinate system;
the characteristic extraction module is used for extracting the characteristic information of the ideal physical information;
and the fusion processing module is used for controlling the corresponding execution part to execute corresponding actions by the perception environment instruction generated after the characteristic information is fused.
Preferably, the environment sampling module comprises a long-range laser radar, a short-range laser radar, a millimeter wave radar, an ultrasonic radar and a camera.
Preferably, still include the multi-sensor and fuse the positioning unit, the multi-sensor fuses the positioning unit and includes:
the positioning sampling module is used for acquiring the current positioning information of the vehicle body;
the positioning preprocessing module is used for analyzing and converting the current positioning information into ideal positioning information;
the positioning coordinate conversion module is used for uniformly converting all positioning coordinates in the ideal positioning information into a vehicle body coordinate system;
the map generation module is used for constructing a topological map and a point cloud characteristic map according to the received ideal positioning information;
and the fusion positioning module is used for fusing each topological map and each point cloud characteristic map to obtain an ideal level map and controlling the corresponding walking component to walk along the ideal level map.
Preferably, the positioning sampling module comprises:
the outer-hole positioning module is used for positioning the vehicle body outside the hole;
and the in-hole positioning module is used for positioning the vehicle body in the hole.
Preferably, the multi-sensing redundant unit and the multi-sensing fusion positioning unit each further include:
the time module is used for collecting and recording the sensing time of the connected modules;
and the support module is used for synchronizing the time of each connected module according to the signal fed back by the time module.
Preferably, the system further comprises a path planning unit, wherein the path planning unit comprises:
the map importing module is used for importing an ideal level map;
the planning preprocessing module is used for processing the perception information input by the multi-sensing redundancy unit and the multi-sensing fusion positioning unit to acquire an ideal planning strategy;
the planning path module is used for generating an ideal planning path by calling a corresponding ideal planning strategy after selecting a corresponding ideal steering mode according to the imported ideal level map;
and the path post-processing module is used for optimizing the spliced ideal planning paths to form ideal labeling paths.
Preferably, the method further comprises the following steps:
the data analysis module is used for acquiring the current state information of the vehicle body according to the information fed back by the multi-sensing redundancy unit, the multi-sensing fusion positioning unit and the path planning unit;
the transverse control module is used for calculating the current rotation angle of a steering wheel of the vehicle body according to the current state information;
and the longitudinal control module is used for controlling the vehicle body to run at an ideal acceleration according to the input current speed error.
Preferably, the method further comprises the following steps:
the driving mode selection module is used for controlling the vehicle body to enter a corresponding driving mode according to a signal fed back by the driving selection button;
and the execution control module is used for controlling the execution component to execute corresponding actions according to the driving mode.
Preferably, the method further comprises the following steps:
the hydraulic flow sensing module is used for sensing the current flow of the oil way;
and the power matching module is used for adjusting the opening of the accelerator according to the current flow until the opening is matched with the current flow, and adjusting the current rotating speed of the engine to be the matched preset rotating speed.
The tunnel construction operation vehicle provided by the invention comprises the automatic driving system.
Compared with the background technology, the automatic driving system of the tunnel construction operation vehicle comprises a multi-sensing redundant unit, wherein the multi-sensing redundant unit comprises an environment application module, a preprocessing module, a sensing coordinate processing module, a feature extraction module and a fusion processing module, the environment sampling module is used for obtaining physical information of sensed construction environments or obstacles in multiple dimensions, the preprocessing module is used for analyzing and converting the physical information into ideal physical information, the coordinate conversion module is used for uniformly converting sampling coordinates in the ideal physical information into a vehicle body coordinate system, the feature extraction module is used for extracting feature information of the ideal physical information, and finally the fusion processing module is used for controlling corresponding execution parts to execute corresponding actions according to sensing environment instructions generated after the feature information is fused.
Therefore, the multi-perception redundancy unit can perceive the surrounding information in multiple dimensions, the obtained information is increased in dimensions and is more comprehensive, and all the modules can process the obtained physical information more comprehensively in sequence, so that the finally generated perception environment instruction is more reliable, more stable and more comprehensive, insensitive reaction or false operation of the tunnel construction operation vehicle caused by insufficient obtained information or unreasonable information processing is avoided, the safety risk is reduced, and the safety of the whole vehicle is higher.
The tunnel construction operation vehicle provided by the invention comprises an automatic driving system and has the same beneficial effects.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a layout diagram of units of an automatic driving system of a tunnel construction work vehicle according to an embodiment of the present invention;
fig. 2 is a communication state diagram of communication modules of the automatic driving system of the tunnel construction work vehicle outside and inside a hole according to an embodiment of the present invention.
The reference numbers are as follows:
the vehicle body 1, the long-range laser radar 2, the short-range laser radar 3, the ultrasonic radar 4, the camera 5, the RKT antenna 6, the UWB tag 7, the satellite communication module 8, the UWB module 9, and the laser SLAM module 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.
Referring to fig. 1 and 2, fig. 1 is a layout diagram of units of an automatic driving system of a tunnel construction vehicle according to an embodiment of the present invention; fig. 2 is a communication state diagram of an automatic driving system of a tunnel construction work vehicle outside and inside a tunnel according to an embodiment of the present invention.
The embodiment of the invention discloses an automatic driving system of a tunnel construction operation vehicle, which comprises a multi-sensing redundant unit, can sense construction environments or obstacles from multiple dimensions, provides multi-level environment information or obstacle information for a vehicle body 1 in long, narrow, dark, dust and other severe construction environments, and has higher control accuracy and safer whole vehicle.
The multi-sensing redundant unit comprises an environment sampling module, a preprocessing module, a coordinate conversion module, a feature extraction module and a fusion processing module.
The environment sampling module comprises a plurality of sensors which are carried on different parts of the vehicle body 1 and is used for obtaining the physical information of the sensed construction environment or the obstacles in a multi-dimensional mode, wherein the physical information in the text can be information of weather conditions, dust content, illumination conditions and the like of the construction environment, and can also be information of positions, volumes, distances and the like of the obstacles.
The environment sampling module specifically comprises a long-distance laser radar 2, a short-distance laser radar 3, a millimeter wave radar, an ultrasonic radar 4 and a camera 5, wherein the long-distance laser radar can be arranged at the top of a vehicle, the head of the vehicle, the tail of the vehicle and the like, and is used for sensing three-dimensional information of a long-distance environment in a construction environment. The short-distance laser radar can be arranged at the head of the vehicle and the tail of the vehicle and used for sensing a close-distance dense environment or obstacles and realizing close-distance blind repair. The millimeter wave radar can be arranged at the vehicle head and the vehicle tail, is used for compensating the problem that the long-distance laser radar and the short-distance laser radar cannot sense the poor environment such as rain fog and dust, and can also be used for supplementing and detecting the construction environment or obstacles, so that the physical information of sensing carries more types of sensing information, the sensing is more sensitive, and the control is more accurate. The ultrasonic radar 4 is mainly arranged at the bottom of the vehicle and used for sensing road conditions and obstacles at the bottom of the vehicle so as to realize anti-collision of the bottom of the vehicle. The cameras 5 are arranged on the vehicle head and the vehicle roof, can sense the color, the type, the relative position and the volume of the obstacles in the construction environment, and compensate the defects of the laser radars. The environment sampling module not only meets the multi-dimensional sensing requirement by increasing the types and multi-dimensional setting of the sensors, but also enables the information carried by the physical information to be more comprehensive, the sensing to be sensitive, and the response speed block is favorable for improving the safety of the whole vehicle.
The preprocessing module is used for analyzing the physical information and converting the analyzed physical information into ideal physical information, and specifically, carrying out format analysis, data conversion, dryness removal and other processing on the numerical information and the image information of the physical information.
And the coordinate conversion module is used for uniformly converting each sampling coordinate in the ideal physical information into a vehicle body coordinate system, namely uniformly converting each sensor coordinate of the environment sampling module into the vehicle body coordinate system.
The feature extraction module is used for extracting feature information of ideal physical information, and specifically, feature extraction is respectively carried out on each sensor of the environment sampling module. The characteristic information may be distance, image, volume, color or light, etc.
The fusion processing module is used for generating a perception environment instruction after fusing the characteristic information, and then controlling the corresponding execution component to execute corresponding actions by using the perception environment instruction, for example, controlling the steering wheel angle of the vehicle body 1 to realize obstacle avoidance, or reducing the rotating speed of the transmitter to prevent the vehicle body 1 from bumping and colliding by decelerating and the like.
The multi-sensing redundancy unit further comprises a time module and a support module, wherein the time module is used for collecting and recording sensing time of each module of the environment sampling module, the preprocessing module, the coordinate conversion module, the feature extraction module and the fusion processing module, and the support module is used for synchronizing time of each module connected with the time module according to signals fed back by the time module, so that the response speed is prevented from being reduced due to non-uniform sensing time, timely response action of an execution component is facilitated, and driving is safer.
The automatic driving system also comprises a multi-sensing fusion positioning unit, so that the vehicle body 1 can realize high-frequency and high-precision positioning outside the hole, in the hole and in the transition region.
The multi-sensing fusion positioning unit comprises a positioning sampling module, a positioning preprocessing module, a positioning coordinate conversion module, a map matching module and a fusion positioning module, wherein the positioning sampling module is used for acquiring the current positioning information of the vehicle body 1. The current positioning information includes coordinate values of the sensors provided on the vehicle body 1. Specifically, the positioning sampling module comprises an out-of-hole positioning module and an in-hole positioning module, the out-of-hole positioning module is used for positioning the vehicle body 1 outside the hole, and the out-of-hole positioning module adopts inertial-time Kinematic (RTK) to perform absolute positioning so as to realize centimeter-level high-precision positioning. The in-hole positioning module is used for positioning the vehicle body 1 in a hole, the in-hole positioning module adopts Ultra Wide Band (UWB) and laser SLAM (Simultaneous Localization and Mapping, synchronous positioning and Mapping technology) to fuse IMU (Inertial Measurement Unit) for absolute positioning, the laser SLAM is subjected to rear-end optimization through UWB positioning data, a hierarchical map is constructed, a topological map and an associated point cloud characteristic map are established, so that the vehicle body 1 can be roughly positioned through the topological map, and then accurate matching positioning is completed according to the point cloud characteristic map, so that the positioning accuracy of the vehicle body 1 in the tunnel is improved, and the tunnel positioning module is suitable for a tunnel with a complex and special construction environment.
Wherein, the roof is equipped with RKT antenna 6, and the location module in the hole includes UWB basic station and locates the UWB label 7 of roof, and UWB label 7 feeds back the information that detects to the UWB basic station in real time.
The positioning preprocessing module can analyze the format of the information fed back by each laser radar and IMU and remove noise such as motion distortion, and can also analyze the format of the tag data fed back by UWB and smooth filtering, so that the current positioning information can be analyzed and converted into ideal positioning information.
And the positioning coordinate conversion module is used for uniformly converting all the positioning coordinates in the ideal positioning information into a vehicle body coordinate system. The map generation module can construct a topological map and a point cloud feature map according to the received ideal positioning information, so that the point cloud feature map can be retrieved in the topological map, and the corresponding point cloud feature map is provided for the laser SLAM module 10 to match and position. The fusion positioning module can fuse sensor data of the environment sampling module and the positioning sampling module, fuse topological maps and cloud feature maps of all points, realize matching positioning of the maps, obtain an ideal level map in the way, and control corresponding walking parts to walk along the ideal level map, so that the vehicle body 1 can realize coarse positioning and fine positioning.
In addition, the multi-sensing fusion positioning unit also comprises a time module and a support module, wherein the time module is used for collecting and recording the sensing time of each module of the positioning sampling module, the positioning preprocessing module, the positioning coordinate conversion module, the map generation module and the fusion positioning module, and the support module is used for synchronizing the time of each module connected with the time module according to the signal fed back by the time module, so that the corresponding execution component can timely react to the action, and the driving is safer.
The automatic driving system also comprises a path planning unit which adopts a two-stage global planner to give starting points to the structured road and the unstructured road, to carry out element level planning to the advancing tasks of a plurality of intermediate points and end points, to evaluate element planning results by combining road traffic states, given speed and width limits of a map and the like, to generate a path and to provide conditions for collision detection and curve regression smoothing finally. In addition, the path planning unit can selectively call the front wheels and the rear wheels according to the speed, the type and the road condition of the barrier, thereby realizing a splayed or crab-shaped steering planning strategy, simultaneously evaluating the path and the dynamic constraint, generating a planned path which gives consideration to the safety and the efficiency of the vehicle, reducing the re-planning steps and providing the real-time performance of the system.
The path planning unit comprises a map importing module, a planning preprocessing module, a path planning module and a path post-processing module,
the map importing module is used for importing a high-precision ideal level map, and the ideal level map comprises road characteristics of two areas, namely a structured road and an unstructured road. The planning preprocessing module is used for processing the perception information input by the multi-sensing redundancy unit and the multi-sensing fusion positioning unit, the processing includes judging the relation between the barrier and the self-body, planning strategies input by new planning and the like, and therefore an ideal planning strategy can be obtained. The planning path module selects a corresponding ideal steering mode according to the imported ideal level map, and generates an ideal planning path by calling a corresponding ideal planning strategy, so that different planning strategies can be called for the structured road and the unstructured road, and a path meeting decision rules and safety is generated. The path post-processing module is used for optimizing the spliced ideal planned paths to form ideal labeled paths, and specifically, the path post-processing module firstly splices and smoothes planned tracks, calls an optimal dynamic optimization model, optimizes vehicle driving paths and states accordingly, and forms safe, stable and efficient ideal labeled paths. The ideal labeled path generally includes information such as an ideal traveling track and a target traveling state of the vehicle.
The automatic driving system also comprises a data analysis module, a transverse control module and a longitudinal control module, wherein the data analysis module is used for receiving information fed back by the multi-sensing redundant unit, the multi-sensing fusion positioning unit and the path planning unit, carrying out data analysis on the received information and obtaining current state information of the vehicle body 1, and the current state information comprises path planning information, positioning information, steering mode information, wheel corner information and the like of the vehicle body 1. The transverse control module calculates the current rotation angle of the steering wheel of the vehicle body 1 by utilizing a transverse closed-loop control algorithm according to the path planning information, the positioning information, the steering mode information and the wheel rotation angle information fed back by the current state information, so that the vehicle body 1 can meet the requirements of ideal position and posture in the driving process. The longitudinal control module obtains a speed error between the target vehicle speed information and the current vehicle speed information according to the positioning information, the target vehicle speed information and the current vehicle speed information fed back by the current state information, and then calculates control information such as a driving motor gear, a gearbox gear, an accelerator pedal opening, a brake pedal scale, a hand brake state and the like by utilizing a longitudinal control algorithm according to the obtained speed error, so that the vehicle body 1 is controlled to run at an ideal acceleration, and the vehicle body 1 is driven along an ideal track at an ideal speed at a corresponding expected position and posture.
The invention also comprises a driving mode selection module and an execution control module, wherein the vehicle body 1 is provided with a driving selection button, when the driving selection button is triggered, the driving mode selection module controls the vehicle body 1 to enter a corresponding driving mode according to a signal fed back by the driving selection button, and the vehicle body 1 has three modes of local driving, remote driving and automatic driving. When the vehicle enters a corresponding driving mode, the execution control module controls the steering oil cylinder, the brake oil cylinder, the hand brake oil cylinder and the gear oil cylinder of the vehicle body 1 to stretch, and then automatically controls execution components such as a steering wheel, a gear, a brake, a hand brake and an accelerator to execute corresponding actions.
The automatic driving system also comprises a drive-by-wire chassis unit which is mainly controlled by hydraulic pressure and comprises a drive-by-wire, a drive-by-wire steering, a drive-by-wire engine, a drive-by-wire gear and a safety system, wherein the gear of a gearbox, the gear of a motor and the steering modes of a front axle and a rear axle are controlled by a hydraulic reversing valve, so that the vehicle body 1 can realize the modes of front wheel steering, rear wheel steering, splayed steering or crab steering and the like under different driving modes.
When the vehicle body 1 enters a local driving mode, the hydraulic steering gear controls the steering oil cylinder to realize steering, the electronic accelerator controls the rotating speed of the engine to realize speed regulation, the hydraulic power-assisted brake pedal controls the brake to realize braking, and the electronic hand brake controls the hand brake oil cylinder to realize manual braking.
When the vehicle body 1 enters a remote driving mode or an automatic driving mode, the hydraulic reversing valve switches the steering oil way to be controlled by the proportional valve, and the proportional valve is used for stretching the steering oil cylinder to realize automatic steering. The brake oil circuit is controlled by a proportional valve and a brake pedal at the same time, and automatic braking is realized according to instructions such as the fed-back obstacle distance information and the like. The electronic throttle and the electronic hand brake are switched to the instruction mode, and the hand brake can be automatically started according to the position information of the barrier. However, it should be noted that, regardless of the driving mode, the braking of the cab needs to be always constant and effective, so as to ensure the driving safety.
The automatic driving system also comprises a hydraulic flow sensing module and a power matching module, wherein the hydraulic flow sensing module is used for sensing the current flow of the oil way, the power matching module automatically adjusts the opening degree of the accelerator according to the current flow until the opening degree of the accelerator is matched with the current flow of the oil way, and then the rotating speed of the engine is calculated by using a power matching algorithm until the current rotating speed of the engine is adjusted to the matched preset rotating speed.
The automatic driving system also comprises a communication module, which enables the multi-sensing redundant unit, the multi-sensing fusion positioning unit, the path planning unit, the line control chassis unit and other units to realize the receiving and sending of information, a satellite communication module 8 is adopted outside the tunnel, and a combined communication module formed by combining a UWB module 9 and a laser SLAM module 10 is adopted in the tunnel for communication.
The invention also discloses a tunnel construction operation vehicle which comprises the automatic driving system and has the same beneficial effects.
The tunnel construction operation vehicle and the automatic driving system thereof provided by the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. An autopilot system of a tunnel construction vehicle, comprising a multi-perception redundant unit, the multi-perception redundant unit comprising:
the environment sampling module is used for obtaining the physical information of the perceived construction environment or the barrier in multiple dimensions;
the preprocessing module is used for analyzing and converting the physical information into ideal physical information;
the coordinate conversion module is used for uniformly converting each sampling coordinate in the ideal physical information into a vehicle body coordinate system;
the characteristic extraction module is used for extracting the characteristic information of the ideal physical information;
and the fusion processing module is used for controlling the corresponding execution part to execute corresponding actions by the perception environment instruction generated after the characteristic information is fused.
2. The autopilot system of a tunnel construction work vehicle according to claim 1, characterized in that the environment sampling module comprises a long-range lidar (2), a short-range lidar (3), a millimeter-wave radar, an ultrasonic radar (4) and a camera (5).
3. The automatic driving system of a tunnel construction work vehicle according to any one of claims 1 to 3, further comprising a multi-sensor fusion positioning unit, the multi-sensor fusion positioning unit comprising:
the positioning sampling module is used for acquiring current original positioning information of the vehicle body (1);
the positioning preprocessing module is used for analyzing and converting the current original positioning information into ideal positioning information;
the positioning coordinate conversion module is used for uniformly converting all positioning coordinates in the ideal positioning information into the vehicle body coordinate system;
the map matching module is used for receiving the topological map and the point cloud characteristic map, retrieving the sub-map and providing the corresponding sub-point cloud characteristic map for the matching and positioning of the laser SLAM module;
and the fusion positioning module is used for fusing each topological map and each point cloud characteristic map to obtain an ideal level map and controlling the corresponding walking component to walk along the ideal level map.
4. The autopilot system of a tunnel construction vehicle of claim 3 wherein the positioning sampling module includes:
the out-of-tunnel positioning module is used for positioning the vehicle body (1) outside a tunnel;
and the in-hole positioning module is used for positioning the vehicle body (1) in a hole.
5. The autopilot system of a tunnel construction vehicle of claim 4 wherein the multi-sensory redundant unit and the multi-sensory fusion locating unit each further comprise:
the time module is used for collecting and recording the sensing time of the connected modules;
and the support module is used for synchronizing the time of each connected module according to the signal fed back by the time module.
6. The automatic driving system of a tunnel construction work vehicle according to claim 4, further comprising a path planning unit including:
the map importing module is used for importing the ideal level map;
the planning preprocessing module is used for processing the perception information input by the multi-sensing redundancy unit and the multi-sensing fusion positioning unit to acquire an ideal planning strategy;
the planning path module is used for generating an ideal planning path by calling the corresponding ideal planning strategy after selecting the corresponding ideal steering mode according to the imported ideal hierarchical map;
and the path post-processing module is used for optimizing and splicing the connected ideal planning paths to form ideal labeling paths.
7. The automated driving system of a tunnel construction work vehicle according to claim 7, further comprising:
the data analysis module is used for acquiring the current state information of the vehicle body (1) according to the information fed back by the multi-sensing redundancy unit, the multi-sensing fusion positioning unit and the path planning unit;
the transverse control module is used for calculating the current rotation angle of a steering wheel of the vehicle body (1) according to the current state information;
and the longitudinal control module is used for controlling the vehicle body (1) to run at an ideal acceleration according to the input current speed error.
8. The automated driving system of a tunnel construction work vehicle according to claim 7, further comprising:
the driving mode selection module is used for controlling the vehicle body (1) to enter a corresponding driving mode according to a signal fed back by the driving selection button;
and the execution control module is used for controlling the execution component to execute corresponding actions according to the driving mode.
9. The automated driving system of a tunnel construction work vehicle according to claim 8, further comprising:
the hydraulic flow sensing module is used for sensing the current flow of the oil way;
and the power matching module is used for adjusting the opening of the accelerator according to the current flow until the current flow is matched with the current flow, and adjusting the current rotating speed of the engine to be the matched preset rotating speed.
10. A tunnel construction work vehicle characterized by comprising the automatic driving system according to any one of claims 1 to 9.
CN202210049110.1A 2022-01-17 2022-01-17 Tunnel construction operation car and automatic driving system thereof Active CN114383598B (en)

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