CN115394105A - Road right dynamic control method based on multiple scenes of strip mine - Google Patents
Road right dynamic control method based on multiple scenes of strip mine Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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Abstract
The invention relates to the technical field of road right distribution and collision avoidance of unmanned vehicles in strip mines, and provides a road right dynamic control method based on multiple scenes in strip mines. The method for dynamically managing and controlling the road right comprises the following steps: each unmanned vehicle transmits the GPS position information of the unmanned vehicle to the cloud control platform in real time; the cloud control platform sends the GPS position information to the road right calculation unit; according to the GPS position information, the road right calculation unit calculates the safety buffer area of each unmanned vehicle according to the indication of the road right control unit and the type of the working area scene, and a road right distribution strategy is formulated; and assigning a road right to each unmanned vehicle based on the road right assignment strategy. The invention adopts various safe buffer area algorithms, is flexible, adapts to each scene, and has high automation degree and high operation efficiency.
Description
Technical Field
The invention relates to the technical field of road right distribution and collision avoidance of unmanned vehicles in strip mines, in particular to a dynamic road right management and control method based on multiple scenes in strip mines.
Background
For vehicles, the right-of-way control and distribution of rail vehicles, such as high-speed rails, subways and trackless vehicles, such as social vehicles for public roads, can be involved. The road right distribution scene has road right distribution of intersections and road right distribution of expressways. The road right distribution method scene comprises traffic signals and road marks.
With the development of technologies such as internet, automatic driving and the like, vehicle and road collaborative schemes such as cloud platform control and V2X enter the road right management and control and collision avoidance in the traffic field.
CN202010410938.6 provides a road right distribution and control method based on an unmanned system of a surface mine. In the method, vehicles in the open-pit mine area realize automatic driving by tracking a preset track related to a specific task, and report self positions and receive external information in real time through a vehicle-mounted GPS and bidirectional communication hardware. In addition, the current position of the vehicle is continuously monitored and correlated with potentially dangerous locations along the way in order to take corrective action by implementing an appropriate, predetermined control strategy.
Although the traditional rail road right control technology is mature, a large amount of infrastructure construction is needed, and the site of an unmanned area of a mining area is changed along with operation due to the fact that the working site is changeable and is basically not suitable.
The social vehicles on the public road are driven by people and have self-collision avoidance awareness, but the social vehicles on the public road are unmanned based on a mining area, so the social vehicles on the public road also have adaptability.
For the traffic signal lamps and road signs of the road right distribution means, in a mining scene, all roads are basically rolled out along with unmanned operation, have no signs and great randomness, and change greatly in timeliness, so that the traffic signal lamps and the road signs are not practical to set.
Disclosure of Invention
In view of the above, the invention provides a dynamic road right management and control method based on multiple scenes of an open-pit mine, so as to solve the problems that in the prior art, in a mining area scene, due to the fact that all roads have no identification and great randomness, the timeliness changes greatly, and the traffic signal lamp and road identification are not practical to set.
The invention provides a road right dynamic control method based on multiple scenes of an open-pit mine, which comprises the following steps:
s1, each unmanned vehicle transmits own GPS position information to a cloud control platform in real time;
s2, the cloud control platform sends the GPS position information to a road right calculation unit;
s3, according to the GPS position information, the road right calculation unit calculates the safety buffer area of each unmanned vehicle according to the type of the working area scene and the indication of the road right control unit, and a road right distribution strategy is formulated;
and S4, acquiring a road right based on the road right distribution strategy, and correspondingly distributing the road right to each unmanned vehicle, wherein the road right is distributed to a safe buffer area of the unmanned vehicle within a set time by the road right calculation unit, and other vehicles are not allowed to occupy the safe buffer area within the set time.
Further, the GPS location information in S1 includes: longitude, latitude, and speed.
Further, the S3 further includes:
and if the pre-driving route of the unmanned vehicle is known, when a safe buffer area is calculated, the pre-driving route is considered into the calculated safe buffer area according to the GPS position information.
Further, the types of the working area scene in S3 include: single car factor, multiple car factor and site factor.
Further, when the type of the working area scene is a single-vehicle factor in S3, the making of the road right distribution strategy specifically includes:
if the pre-driving route of the unmanned vehicle is a straight line, distributing the right of way by using a rectangular safety buffer area; if the unmanned vehicle is in an area with higher traffic density, vehicles are arranged at the front and the rear, and in order to prevent front and rear collision, the rounded safety buffer area is used for distributing the right of way;
and if the unmanned vehicle needs to prevent the collision of the coming vehicle in all directions, the road right is distributed by using the circular safe buffer area.
Further, when the type of the working area scene is a multi-vehicle factor in S3, the making of the road right distribution strategy specifically includes:
calculating whether the vehicle and all other vehicle safety buffer areas are possible to collide or not in a time period from the current moment to a future moment according to the current speed and the pre-driving route of the unmanned vehicle;
if the vehicle with the higher priority gives the right of way, the right of way calculation unit preferentially distributes the right of way to the vehicle with the higher priority, and the vehicle with the lower priority needs to wait until the vehicle with the higher priority gives the right of way to enter;
if not, the road right calculation unit obtains the road right to the unmanned vehicle from the current time to the place which can be reached in a certain time period in the future.
Further, when the type of the working area scene is a site factor in S3, the making of the road right distribution policy specifically includes:
if the stopping position of the unmanned vehicle is intersected with the driving path through a gland, the road right is switched to an exclusive mode of entering a working area, and when the vehicle leaves the working area, other vehicles can enter the working area;
if the parking of the unmanned vehicle does not conflict with the driving-in path but does not have the condition of driving-in and driving-out simultaneously, the road right is switched to one-way entering or one-way driving-out;
if the field in the working area scene is wide, the parking position, the driving-in route and the driving-out route are not in conflict, and the road right is switched to allow multiple vehicles to enter and exit.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts various safe buffer area algorithms to be flexible and adapt to the requirements of each scene;
2. the method adopts the integral road right optimization road right contention strategy of the cloud control platform;
3. the invention can be adaptive to various scenes and adjust the road right strategy;
4. the invention has high automation degree, can realize less human intervention and greatly improve the operation efficiency.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the embodiment or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a method for dynamically managing and controlling road right based on multiple scenes of a strip mine, provided by the invention;
FIG. 2a is a schematic diagram of a rectangular safety buffer area provided by the present invention, FIG. 2b is a schematic diagram of a rectangular safety buffer area provided by the present invention with rounded corners, and FIG. 2c is a schematic diagram of a circular safety buffer area provided by the present invention;
FIG. 3 is a schematic diagram of a road authority dynamic management and control platform provided in the present invention;
fig. 4 is a schematic diagram of a multi-scenario dynamic road right allocation strategy provided by the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The following describes a road right dynamic control method based on multiple scenes of an open-pit mine in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a road right dynamic control method based on multiple scenes of an open-pit mine, provided by the invention.
As shown in fig. 1, the method for dynamically managing and controlling road right includes:
s1, each unmanned vehicle transmits own GPS position information to a cloud control platform in real time;
the GPS position information in the S1 comprises: longitude, latitude, and speed.
S2, the cloud control platform sends the GPS position information to a road right calculation unit;
fig. 2a is a schematic view of a rectangular safety buffer area provided by the present invention, fig. 2b is a schematic view of a rounded rectangular safety buffer area provided by the present invention, and fig. 2c is a schematic view of a circular safety buffer area provided by the present invention.
Fig. 3 is a schematic diagram of a road right dynamic management and control platform provided by the present invention.
S3, according to the GPS position information, the road right calculation unit calculates the safety buffer area of each unmanned vehicle according to the indication of the road right control unit and the type of the working area scene, and a road right distribution strategy is formulated;
and S3, when the type of the working area scene is a single-vehicle factor, the step of formulating the road right distribution strategy specifically comprises the following steps:
if the pre-driving route of the unmanned vehicle is a straight line, the rectangular safety buffer area is used for distributing the right of the road;
if the unmanned vehicle is in an area with higher traffic density, vehicles are arranged at the front and the rear, and in order to prevent front and rear collision, the rounded safety buffer area is used for distributing road right;
if the unmanned vehicle needs to prevent the collision of the coming vehicle in all directions, the circular safe buffer area is used for distributing the right of way.
Under the strategy, the vehicle can be allowed to exit only after all the entering vehicles stop, or a new vehicle can be allowed to enter only after all the entering vehicles exit.
And S3, when the type of the working area scene is a multi-vehicle factor, making a road right distribution strategy comprises the following steps:
calculating whether the vehicle and all other vehicle safety buffer areas are possible to collide or not in a time period from the current moment to a future moment according to the current speed and the pre-driving route of the unmanned vehicle;
if so, the road right calculation unit preferentially distributes the road right to the vehicle with high priority, and the vehicle with low priority needs to wait until the vehicle with high priority gives the road right out and then enters the vehicle;
if not, the road right calculation unit obtains the road right to the unmanned vehicle from the current time to the place which can be reached in a certain time period in the future.
If the field in the operation scene is wide, the parking position, the driving-in route and the driving-out route are not in conflict, and the road right is switched to the multi-vehicle access.
Under the strategy, a plurality of vehicles are allowed to enter and a plurality of vehicles are allowed to exit simultaneously.
Fig. 4 is a schematic diagram of a multi-scenario dynamic road right allocation strategy provided by the present invention.
In S3, when the type of the working area scene is a site factor, the making of the road right distribution strategy specifically comprises the following steps:
if the stopping position of the unmanned vehicle is intersected with the driving path through the gland, the right of way is switched to an exclusive mode of entering a working area, and when the vehicle leaves the working area, other vehicles can enter the working area;
if the parking of the unmanned vehicle does not conflict with the driving-in path but does not have the condition of driving-in and driving-out simultaneously, the road right is switched to one-way driving-in or one-way driving-out;
if the field in the working area scene is wide, the parking position, the driving-in route and the driving-out route are not in conflict, and the road right is switched to allow multiple vehicles to enter and exit.
The working area is continuously evolved along with the operation, and the road right management and control system can carry out road right distribution of different strategies according to the current working area condition.
The dynamic strategy allocation of the road right is based on whether the parking position, the outgoing path, the incoming path and the safe buffer area of the vehicle are intersected in space or not, and different strategies are adjusted according to different intersection conditions.
S3, further comprising:
if the pre-driving route of the unmanned vehicle is known, when the safe buffer area is calculated, the pre-driving route is considered in the calculated safe buffer area according to the GPS position information.
And S4, acquiring a road right based on a road right distribution strategy, and correspondingly distributing the road right to each unmanned vehicle, wherein the road right is distributed to a safety buffer area of the unmanned vehicle within a set moment by the road right calculation unit, and other vehicles are not allowed to occupy the safety buffer area within the set moment.
The operation of the dynamic road right management and control system requires the deployment of a cloud road right calculation center in the unmanned system. Each unmanned vehicle uploads longitude, latitude and speed of the unmanned vehicle to a road right calculation center through a network, the road right calculation center has longitude and latitude and speed information of all vehicles, and according to comprehensive factors, each automatic driving vehicle is issued to areas where the places are safe after the time T, and the safe places are road rights calculation road rights and distribution road rights of the vehicle. The other vehicles are not allowed to occupy within the set time.
Whether the collision can occur is determined by calculating whether the safe buffer areas of the vehicles intersect and are determined after a set period of time.
For example, a car a and a car B may collide in a safe buffer area to avoid danger, because the right of way of the car B can only be sent out of the possible collision area, the right of way is allocated to the car a, and the car B can only wait.
The method adopts the overall road right optimization road right contending strategy of the cloud control platform, can be self-adaptive to various scenes, and has high automation degree and greatly improved operation efficiency.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (7)
1. A road right dynamic control method based on multiple scenes of a strip mine is characterized by comprising the following steps:
s1, each unmanned vehicle transmits own GPS position information to a cloud control platform in real time;
s2, the cloud control platform sends the GPS position information to a road right calculation unit;
s3, according to the GPS position information, the road right calculating unit calculates the safety buffer area of each unmanned vehicle according to the indication of the road right control unit and the type of a working area scene, and a road right distribution strategy is formulated;
and S4, acquiring a road right based on the road right distribution strategy, and correspondingly distributing the road right to each unmanned vehicle, wherein the road right is distributed to a safety buffer area of the unmanned vehicle within a set moment by the road right calculation unit, and other vehicles are not allowed to occupy the safety buffer area within the set moment.
2. The method according to claim 1, wherein the GPS location information in S1 includes: longitude, latitude, and speed.
3. The method according to claim 1, wherein the S3 further includes:
and if the pre-driving route of the unmanned vehicle is known, when a safe buffer area is calculated, the pre-driving route is considered into the calculated safe buffer area according to the GPS position information.
4. The method according to claim 3, wherein the type of the working area scenario in S3 includes: single car factor, multiple car factor and site factor.
5. The method according to claim 4, wherein, when the type of the working area scene in S3 is a single vehicle factor, the formulating a road right distribution policy specifically includes:
if the pre-driving route of the unmanned vehicle is a straight line, distributing the right of way by using a rectangular safety buffer area;
if the unmanned vehicle is in an area with higher traffic density, vehicles are arranged at the front and the rear, and in order to prevent front and rear collision, the rounded safety buffer area is used for distributing the right of way;
and if the unmanned vehicle needs to prevent the collision of the coming vehicle in all directions, the road right is distributed by using the circular safe buffer area.
6. The method according to claim 4, wherein, when the type of the working area scene in S3 is a multi-vehicle factor, the formulating a road right allocation policy specifically includes:
calculating whether the vehicle and all other vehicle safety buffer areas are possible to collide or not in a time period from the current moment to a future moment according to the current speed and the pre-driving route of the unmanned vehicle;
if the vehicle has the right of way, the right of way calculation unit preferentially distributes the right of way to the vehicle with high priority, and the vehicle with low priority needs to wait until the vehicle with high priority gives the right of way and then enters the vehicle;
if not, the road right calculation unit obtains the road right to the unmanned vehicle from the current time to the place which can be reached in a certain time period in the future.
7. The method according to claim 4, wherein, when the type of the working area scene in S3 is a site factor, the formulating a road right distribution policy specifically includes:
if the stopping position of the unmanned vehicle is intersected with the driving path through the gland, the right of way is switched to an exclusive mode for entering a working area, and when the vehicle leaves the working area, other vehicles can enter the working area;
if the parking of the unmanned vehicle does not conflict with the driving-in path but does not have the condition of driving-in and driving-out simultaneously, the road right is switched to one-way driving-in or one-way driving-out;
if the field in the working area scene is wide, the parking position, the driving-in route and the driving-out route are not in conflict, and the road right is switched to allow multiple vehicles to enter and exit.
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| CN115394105B (en) | 2024-08-02 |
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