CN115686017A - Unmanned mining vehicle, control method and device thereof, and storage medium - Google Patents
Unmanned mining vehicle, control method and device thereof, and storage medium Download PDFInfo
- Publication number
- CN115686017A CN115686017A CN202211361622.8A CN202211361622A CN115686017A CN 115686017 A CN115686017 A CN 115686017A CN 202211361622 A CN202211361622 A CN 202211361622A CN 115686017 A CN115686017 A CN 115686017A
- Authority
- CN
- China
- Prior art keywords
- point
- preview
- steering angle
- vehicle
- unmanned mining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005065 mining Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000005457 optimization Methods 0.000 claims description 14
- 230000000295 complement effect Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 19
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The disclosure provides an unmanned mining vehicle, a control method and device thereof and a storage medium, and relates to the field of engineering machinery. The method comprises the following steps: calculating a target steering angle of the unmanned mining vehicle based on the first preview point; calculating at least one of a lateral error between the unmanned mining vehicle and the planned path and an angle error between a wheel steering angle and a vehicle body steering angle of the unmanned mining vehicle; and optimizing the target steering angle based on at least one of the lateral error and the angular error. The method compensates the target steering angle, corrects the running track of the vehicle, and can effectively improve the transverse error of the running process of the vehicle and the control precision during parking, so that the running track of the vehicle is consistent with the planned route, and the running safety of the vehicle is improved.
Description
Technical Field
The disclosure relates to the field of engineering machinery, in particular to an unmanned mining vehicle, a control method and a control device thereof, and a storage medium.
Background
With the rapid development of technologies such as big data, automatic control and internet of things in the industrial field, the mining industry has entered the era of smart mines, and unmanned mining trucks have come into operation. Particularly in an open-pit mine with a severe environment, the requirement on the unmanned mining truck is more urgent, and the safe, continuous and stable operation of the unmanned mining truck is more important.
Unmanned mining trucks are controlled differently than other autonomous vehicles because unmanned mining trucks travel along a planned route that is formed by a plurality of connected waypoints that include information such as a target speed, a heading, etc. for the unmanned mining truck at that point. The driving track of the unmanned mining truck is consistent with the planned route in an ideal state, but due to the problems that the unmanned mining truck is huge, the mine road condition is complex, time delay exists in algorithm instructions and bottom layer execution, and the like, certain errors exist in the actual driving track and the planned route of the unmanned mining truck.
Disclosure of Invention
One technical problem to be solved by the present disclosure is to provide an unmanned mining vehicle, and a control method, apparatus, and storage medium thereof, capable of correcting a vehicle travel trajectory so that the travel trajectory is consistent with a planned route.
According to an aspect of the disclosure, a control method of an unmanned mining vehicle is provided, comprising: calculating a target steering angle of the unmanned mining vehicle based on the first preview point; calculating at least one of a lateral error between the unmanned mining vehicle and the planned path, and an angle error between a wheel steering angle and a vehicle body steering angle of the unmanned mining vehicle; and optimizing the target steering angle based on at least one of the lateral error and the angular error.
In some embodiments, a second preview point is determined based on the preview distance; judging whether the second preview point is a gear switching point or a stop point; if the second preview point is a gear switching point or a stop point, the preview point is determined again through optimizing the preview mode, and the re-determined preview point is used as a first preview point; and if the second preview point is not the gear switching point or the stop point, taking the second preview point as the first preview point.
In some embodiments, the re-determining the preview point by optimizing the preview mode includes: if the second preview point is a gear switching point, re-determining the preview point on an extension line of a course complementary angle between the gear switching point and the next node; and if the second preview point is the stop point, re-determining the preview point on the course extension line of the stop point.
In some embodiments, optimizing the target steering angle based on at least one of the lateral error and the angular error comprises: the target steering angle is positively compensated according to the transverse error, and the target steering angle is reversely compensated according to the current vehicle speed; and compensating the target steering angle in a forward direction according to the angle error.
In some embodiments, the preview distance is determined based on a planned gear for the current road segment and the current vehicle speed.
In some embodiments, the pre-range increases with increasing vehicle speed within a predetermined range while the unmanned mining vehicle is moving forward; and when the unmanned mining vehicle backs, the pre-aiming distance is kept unchanged.
In some embodiments, the planned path information, current vehicle speed, wheel steering angle, body steering angle, and positioning data are obtained in real time.
In some embodiments, planning the path information comprises: the index and coordinate information of each planned point on the planned path, and the target speed, planned gear and heading angle of the unmanned mining vehicle at each planned point.
According to another aspect of the present disclosure, there is also provided a control apparatus of an unmanned mining vehicle, comprising: a preview optimization module configured to calculate a target steering angle of the unmanned mining vehicle based on a first preview point; and an error compensation module configured to calculate at least one of a lateral error between the unmanned mining vehicle and the planned path and an angular error between a wheel steering angle and a body steering angle of the unmanned mining vehicle, and optimize the target steering angle based on the at least one of the lateral error and the angular error.
In some embodiments, the preview optimization module is further configured to determine a second preview point based on the preview distance; judging whether the second preview point is a gear switching point or a stop point; if the second preview point is a gear switching point or a stop point, the preview point is determined again through optimizing the preview mode, and the re-determined preview point is used as a first preview point; and if the second preview point is not the gear switching point or the stop point, taking the second preview point as the first preview point.
In some embodiments, the preview optimization module is further configured to, if the second preview point is the gear shift point, re-determine the preview point on an extension of the gear shift point and the course complementary angle of the next node; and if the second preview point is the stop point, re-determining the preview point on the course extension line of the stop point.
In some embodiments, the error compensation module is configured to compensate the target steering angle in a forward direction based on the lateral error and in a reverse direction based on the current vehicle speed; and compensating the target steering angle in a forward direction according to the angle error.
In some embodiments, the preview optimization module is further configured to determine the preview distance based on the planned gear and the current vehicle speed for the current road segment.
In some embodiments, the pre-range increases with increasing vehicle speed within a predetermined range while the unmanned mining vehicle is moving forward; and when the unmanned mining vehicle backs, the pre-aiming distance is kept unchanged.
In some embodiments, the data acquisition module is configured to obtain the planned path information, the current vehicle speed, the wheel steering angle, the body steering angle, and the positioning data in real time.
In some embodiments, planning the path information comprises: the index and coordinate information of each planned point on the planned path, and the target speed, planned gear and heading angle of the unmanned mining vehicle at each planned point.
According to another aspect of the present disclosure, there is also provided a control apparatus of an unmanned mining vehicle, comprising: a memory; and a processor coupled to the memory, the processor configured to perform the method of controlling an unmanned mining vehicle as described above based on instructions stored in the memory.
According to another aspect of the present disclosure, there is also provided an unmanned mining vehicle comprising: the control device of the unmanned mining vehicle.
According to another aspect of the present disclosure, there is also provided a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method of controlling an unmanned mining vehicle.
According to the method and the device, the target steering angle is compensated by utilizing the transverse error between the unmanned mining vehicle and the planned path and the angle error between the wheel steering angle and the vehicle body steering angle of the unmanned mining vehicle, the running track of the vehicle is corrected, the transverse error in the running process of the vehicle and the control precision during parking can be effectively improved, the running track of the vehicle is consistent with the planned route, and the running safety of the vehicle is improved.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
FIG. 1 is a schematic flow diagram of some embodiments of a control method of an unmanned mining vehicle of the present disclosure;
fig. 2 is a schematic diagram of some embodiments of lateral and angular errors of an unmanned mining vehicle of the present disclosure.
FIG. 3 is a schematic flow chart diagram of still other embodiments of a control method for an unmanned mining vehicle according to the present disclosure;
FIG. 4 is a schematic view of some embodiments of a driving special spot preview mode of an unmanned mining vehicle of the present disclosure;
FIG. 5 is a schematic flow chart diagram of still other embodiments of a control method for an unmanned mining vehicle according to the present disclosure;
FIG. 6 is a schematic structural diagram of some embodiments of a control apparatus for an unmanned mining vehicle according to the present disclosure;
FIG. 7 is a schematic structural diagram of still further embodiments of a control apparatus for an unmanned mining vehicle according to the present disclosure; and
fig. 8 is a schematic structural diagram of further embodiments of a control apparatus for an unmanned mining vehicle according to the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
The safety and continuity of unmanned mining trucks are affected by lateral errors of the unmanned mining trucks during driving, and lateral errors and course errors of the unmanned mining trucks during parking at a parking point. According to the control method, the target steering angle of the unmanned mining truck is corrected in real time, namely the running track and the parking posture of the vehicle are adjusted, so that the error is effectively reduced, the control precision is improved, and the stable and continuous running of the unmanned mining truck is ensured.
Fig. 1 is a schematic flow diagram of some embodiments of a control method of an unmanned mining vehicle of the present disclosure.
At step 110, a target steering angle of the unmanned mining vehicle is calculated based on the first preview point.
In some embodiments, the unmanned mining vehicle is an unmanned mining truck, abbreviated as unmanned mining card.
In some embodiments, the first preview point is determined based on the preview distance.
At step 120, at least one of a lateral error between the unmanned mining vehicle and the planned path, and an angular error between a wheel steering angle and a body steering angle of the unmanned mining vehicle is calculated.
In some embodiments, the lateral error is calculated by coordinate transformation in a cartesian coordinate system based on coordinate information of the planned path and coordinate information of the actual location of the vehicle.
In some embodiments, the vehicle body steering angle is detected through the vehicle-mounted inertial navigation system, the wheel steering angle can be obtained through the vehicle bottom layer, and the error between the wheel steering angle and the vehicle body steering angle is solved to obtain the angle error.
As shown in FIG. 2, point A is the planned path point closest to the unmanned mining vehicle, points L1 and L2 are the heading directions of the points, and point O is the control center of the vehicle, and the lateral error of the vehicle at this time is d. And alpha is the difference value between the real steering angle L3 of the vehicle obtained by the current inertial navigation system and the current bottom layer steering angle L4 of the vehicle, namely the angle error.
At step 130, a target steering angle is optimized based on at least one of the lateral error and the angular error.
In some embodiments, the target steering angle is compensated in a forward direction according to the lateral error, and the target steering angle is compensated in a reverse direction according to the current vehicle speed; and compensating the target steering angle in a forward direction according to the angle error.
For example, when the target steering angle is compensated, the compensation value is in direct proportion to the transverse error and in inverse proportion to the speed, and the compensation system takes a value according to an actual test, wherein the size of the transverse error compensation value needs to be limited within a certain range, so that the stability of the corrected steering angle of the unmanned mining vehicle is ensured.
For another example, when the target steering angle is compensated, the compensation value is in direct proportion to the angle error, and the compensation system takes a value according to an actual test, wherein the size of the angle error compensation value needs to be limited within a certain range, so that the large fluctuation of the wheel steering caused by the overlarge compensation value is avoided.
In the embodiment, the target steering angle is compensated by using the transverse error between the unmanned mining vehicle and the planned path and the angle error between the wheel steering angle and the vehicle body steering angle of the unmanned mining vehicle, the running track of the vehicle is corrected, the transverse error in the running process of the vehicle and the control precision during parking can be effectively improved, and the vehicle can run safely, continuously and stably.
Fig. 3 is a flow chart schematic of still other embodiments of a method of controlling an unmanned mining vehicle of the present disclosure.
At step 310, a second preview point is determined based on the preview distance.
In some embodiments, the pre-aim distance is determined based on a planned gear of the current road segment and a current vehicle speed.
When the unmanned mining truck is moving forward, the preview distance increases with increasing vehicle speed within a predetermined range. When the vehicle speed is small or large, the preview distance is not smaller or larger than a certain value, but is limited within a certain range. While the vehicle may be in danger of rolling if the speed is high and the preview distance is small while moving forward, in this embodiment, the preview distance increases with increasing vehicle speed to overcome this problem.
When the unmanned mining truck backs, the pre-aiming distance is kept unchanged. When the vehicle backs up, the speed is not large generally, so the pre-aiming distance is not changed.
In step 320, it is determined whether the second preview point is a gear shift point or a stop point, if yes, step 330 is executed, otherwise, step 340 is executed.
In some embodiments, when the unmanned mining truck moves forward or backward, a preview point is searched along a planned path according to a preview distance from a position where the unmanned mining truck is located, and when special point locations exist within the preview distance, such as a herringbone gear switching point and a parking point, a preview mode needs to be adjusted in time.
As shown in fig. 4, the gear at point a is a forward gear, and AB is a forward traveling direction; point B is the point of completing gear shift, namely, the forward gear is switched into the reverse gear; the gear at point C is the reverse gear, and BC is the reverse direction of travel. L1 is a heading extension line of a point B, L2 is a heading extension line of a point C, and L3 is an extension line of a heading complementary angle passing through the point B and the point C.
In step 330, the preview point is re-determined by optimizing the preview mode, so that the re-determined preview point is taken as the first preview point.
In some embodiments, if the second preview point is the gear shift point, the preview point is determined again on the extension line of the heading complementary angle of the gear shift point and the next node; and if the second preview point is the stop point, re-determining the preview point on the course extension line of the stop point.
For example, as shown in fig. 4, when the unmanned mining truck advances from point a to approach point B, the pre-aiming point is found along the planned path according to the pre-aiming distance, and when the pre-aiming distance is smaller than the distance from the vehicle to point B, the pre-aiming point falls on the planned path before point B; once the home-distance is greater than the distance from the vehicle to point B, the home-point is not on L1, but is instead selected to be along the direction of the arrow at L3. Namely, a pre-aiming point is not searched along a planned path, but the pre-aiming point is searched on an extension line of a complementary angle of a course angle of a first reverse gear position behind a gear switching point, and a required course angle value of the pre-aiming point is the complementary angle of the course angle of the first reverse gear position behind the gear switching point. Therefore, the vehicle is more favorable for adjusting the posture of the vehicle body when the vehicle parks at the point B, and the transverse error can be better controlled during subsequent backing.
For another example, as shown in fig. 4, when the unmanned mining truck moves forward or backward to approach point D, once the preview distance is greater than the distance from the vehicle to point D, the preview point may be found along the arrow direction of the extension line of the heading angle of point D, and the navigation of the preview point should be consistent with the heading angle and the stopping point, so that the heading error of the vehicle when the vehicle stops is smaller, the posture of the vehicle body is corrected, and the vehicle loading or unloading is facilitated.
In step 340, the second preview point is taken as the first preview point.
In the embodiment, in order to enable the vehicle to safely and stably run, when the acquired path contains gear switching points or parking points, different pre-aiming modes are adopted to determine the pre-aiming points, so that the vehicle can correct the running track of the vehicle in real time at a large turning position of the planned path, the transverse error is reduced, the posture of the vehicle is adjusted at the gear switching points and the parking points, and the parking accuracy is improved.
Fig. 5 is a flow chart diagram of still other embodiments of a control method of an unmanned mining vehicle of the present disclosure.
In step 510, the planned path information, the current vehicle speed, the wheel steering angle, the body steering angle, and the positioning data are obtained in real time.
In some embodiments, data, such as time, waypoint information, mine card coordinates, mine card speed, heading angle, gear position and the like, is recorded once in each sampling period through the data acquisition module, and data interaction with the algorithm control module is completed.
The planning path information includes: the index and coordinate information of each planned point on the planned path, the target speed, the planned gear, the course angle and the like of the unmanned mining vehicle at each planned point. The current speed, the steering angle of the wheels and the like can be determined through information fed back by the bottom layer of the vehicle. Through the hardware sensor that vehicle outside was equipped with, for example inertial navigation system, speed sensor etc. can obtain automobile body steering data and locating data, the positional information etc. of current vehicle of locating data record.
In step 520, a pre-aiming distance is determined based on the planned gear of the current road segment and the current vehicle speed.
The pre-aiming distance of the vehicle in the forward moving process is increased along with the increase of the speed in a certain range, and the pre-aiming distance in the backward moving process is kept constant.
At step 530, a second preview point is determined based on the preview distance.
In step 540, it is determined whether the second preview point is a gear shift point or a stop point, if yes, step 550 is executed, otherwise, step 560 is executed.
In step 550, a new preview point is found, and the newly determined preview point is taken as the first preview point.
In some embodiments, as shown in fig. 4, once the preview point encounters the "herringbone" shift switching point, that is, when the forward gear is switched to the reverse gear, the next preview point will fall on the extension line of the complementary angle of the first reverse node heading, so as to ensure that the error between the parking heading angle and the heading angle of the switching point is minimized, and avoid the increase of the lateral error when the vehicle is reversed due to incorrect parking posture; when the preview point is a stop point, the subsequent preview point falls on the course extension line of the stop node, so that the stop precision of the vehicle is improved. In some embodiments, the data such as the pre-aiming distance, the pre-aiming point information, etc. is uploaded to the data acquisition module.
At step 560, a preview point is found along the planned path, and the preview point is taken as the first preview point.
At step 570, a target steering angle of the unmanned mining vehicle is calculated based on the first preview point.
In step 580, the lateral error and the angular error are calculated.
In some embodiments, the calculated lateral error and the calculated angular error are uploaded to a data acquisition module.
In step 590, the lateral error and the angular error are used as compensation to optimize the target steering angle of the vehicle.
Before the angle information is issued to the vehicle bottom layer controller, two compensation optimization methods are adopted, namely, the steering angle is compensated and optimized according to the angle error, and the steering angle is compensated and controlled according to the transverse error and the vehicle speed, so that the vehicle running path can be more matched with the planned path.
In the embodiment, when the target steering angle of the unmanned mining vehicle is calculated, the transverse error compensation and the angle error compensation are added, so that the transverse error is effectively reduced, the parking precision is improved, the safe, stable and continuous operation of the unmanned mining vehicle is effectively ensured, the safety and the reliability of the mining dump truck are improved, and the potential safety hazard is further eliminated. In addition, when the vehicle runs, the preview points are gear switching points and parking points, different preview modes are adopted, the posture of the vehicle is favorably controlled, the parking precision is improved, and the controllability of loading and unloading is enhanced.
Fig. 6 is a schematic block diagram of some embodiments of a control arrangement for an unmanned mining vehicle, the control arrangement being a controller, including a preview optimization module 610 and an error compensation module 620, according to the present disclosure.
The preview optimization module 610 is configured to calculate a target steering angle for the unmanned mining vehicle based on the first preview point.
In some embodiments, the preview optimization module 610 is further configured to determine a second preview point based on the preview distance; judging whether the second preview point is a gear switching point or a stop point; if the second preview point is a gear switching point or a stop point, the preview point is determined again through optimizing the preview mode, and the re-determined preview point is used as a first preview point; and if the second preview point is not the gear switching point or the stop point, taking the second preview point as the first preview point.
For example, if the second preview point is a gear shift point, the preview point is determined again on the extension line of the heading complementary angle between the gear shift point and the next node; and if the second preview point is the stop point, re-determining the preview point on the course extension line of the stop point.
In some embodiments, the preview optimization module 610 is further configured to determine a preview distance based on the planned gear for the current road segment and the current vehicle speed. When the unmanned mining vehicle advances, the pre-aiming distance is increased along with the increase of the vehicle speed in a preset range; and when the unmanned mining vehicle backs, the pre-aiming distance is kept unchanged.
In some embodiments, as shown in fig. 7, the control apparatus further includes a data acquisition module 710 configured to acquire the planned path information, the current vehicle speed, the wheel steering angle, the body steering angle, and the positioning data in real time. The planning path information includes: the index and coordinate information of each planned point on the planned path, and the target speed, planned gear and heading angle of the unmanned mining vehicle at each planned point.
In some embodiments, the preview optimization module 610 uploads data such as the preview distance, the preview point information, etc. to the data collection module 620.
The error compensation module 620 is configured to calculate at least one of a lateral error between the unmanned mining vehicle and the planned path, and an angular error between a wheel steering angle and a body steering angle of the unmanned mining vehicle, and optimize the target steering angle based on the at least one of the lateral error and the angular error.
In some embodiments, the error compensation module 620 is configured to compensate the target steering angle in a forward direction based on the lateral error and in a reverse direction based on the current vehicle speed; and compensating the target steering angle in a forward direction according to the angle error.
For example, when the target steering angle is compensated, the compensation value is in direct proportion to the transverse error and in inverse proportion to the speed, and the compensation system takes a value according to an actual test, wherein the size of the transverse error compensation value needs to be limited within a certain range, so that the stability of the corrected steering angle of the unmanned mining vehicle is ensured.
For another example, when the target steering angle is compensated, the compensation value is in direct proportion to the angle error, and the compensation system takes a value according to an actual test, wherein the size of the angle error compensation value needs to be limited within a certain range, so that the large fluctuation of the wheel steering caused by the overlarge compensation value is avoided.
In some embodiments, the error compensation module 620 uploads the calculated lateral error and angular error to the data acquisition module 710.
In the embodiment, the driving track of the vehicle can be corrected in real time at a large turning position of a planned path, the transverse error is reduced, the posture of the vehicle is adjusted at a gear switching point and a parking point, the parking precision is improved, fault parking caused by overlarge transverse error is effectively avoided, loading and unloading failure caused by the fact that the vehicle body is not right and far away from the parking point when the vehicle is at the parking point is effectively avoided, and the purpose of safe, continuous and stable running of the vehicle is achieved.
Fig. 8 is a schematic block diagram of another embodiment of a control arrangement for an unmanned mining vehicle, the control arrangement 800 including a memory 810 and a processor 820, in accordance with the present disclosure. Wherein: the memory 810 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory 810 is used to store the instructions in the above embodiments. Processor 820 is coupled to memory 810 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 820 is configured to execute instructions stored in the memory.
In some embodiments, processor 820 is coupled to memory 810 through a BUS BUS 830. The control device 800 may also be coupled to an external storage device 850 via a storage interface 840 for facilitating retrieval of external data, and may also be coupled to a network or another computer system (not shown) via a network interface 860, which will not be described in detail herein.
In the embodiment, the data instructions are stored in the memory, and the instructions are processed by the processor, so that the consistency of the driving track and the planned route of the unmanned mining vehicle is improved, and the stable and continuous running of the vehicle is ensured.
In further embodiments of the present disclosure, there is also protected an unmanned mining vehicle comprising the control apparatus of the above-described embodiments.
In further embodiments, a computer-readable storage medium has stored thereon computer program instructions which, when executed by a processor, implement the steps of the method in the above embodiments. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Thus far, the present disclosure has been described in detail. Some details well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. Those skilled in the art can now fully appreciate how to implement the teachings disclosed herein, in view of the foregoing description.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (19)
1. A method of controlling an unmanned mining vehicle, comprising:
calculating a target steering angle of the unmanned mining vehicle based on a first preview point;
calculating at least one of a lateral error between the unmanned mining vehicle and a planned path and an angle error between a wheel steering angle and a body steering angle of the unmanned mining vehicle; and
optimizing the target steering angle based on at least one of the lateral error and the angular error.
2. The control method according to claim 1, further comprising:
determining a second preview point according to the preview distance;
judging whether the second preview point is a gear switching point or a stop point;
if the second preview point is a gear switching point or a stop point, re-determining the preview point by optimizing a preview mode so as to take the re-determined preview point as the first preview point; and
and if the second preview point is not a gear switching point or a stop point, taking the second preview point as the first preview point.
3. The control method according to claim 2, wherein the re-determining the preview point by optimizing the preview manner includes:
if the second preview point is a gear switching point, re-determining the preview point on an extension line of a course complementary angle between the gear switching point and the next node; and
and if the second preview point is a stop point, re-determining the preview point on the course extension line of the stop point.
4. The control method according to claim 1, wherein optimizing the target steering angle based on at least one of the lateral error and the angular error includes:
the target steering angle is compensated according to the transverse error in the forward direction, and the target steering angle is compensated according to the current vehicle speed in the reverse direction; and
and positively compensating the target steering angle according to the angle error.
5. The control method according to claim 2, further comprising:
and determining the pre-aiming distance according to the planned gear of the current road section and the current vehicle speed.
6. The control method according to claim 5,
when the unmanned mining vehicle advances, the preview distance increases with increasing vehicle speed within a predetermined range; and
when the unmanned mining vehicle backs, the pre-aiming distance is kept unchanged.
7. The control method according to any one of claims 1 to 6, further comprising:
and acquiring the planned path information, the current vehicle speed, the wheel steering angle, the vehicle body steering angle and the positioning data in real time.
8. The control method according to claim 7,
the planned path information includes: the index and coordinate information of each planned point on the planned path, and the target speed, planned gear and heading angle of the unmanned mining vehicle at each planned point.
9. A control apparatus for an unmanned mining vehicle, comprising:
a preview optimization module configured to calculate a target steering angle of the unmanned mining vehicle based on a first preview point; and
an error compensation module configured to calculate at least one of a lateral error between the unmanned mining vehicle and a planned path and an angular error between a wheel steering angle and a body steering angle of the unmanned mining vehicle, the target steering angle optimized based on the at least one of the lateral error and the angular error.
10. The control device according to claim 9,
the preview optimization module is further configured to determine a second preview point according to a preview distance; judging whether the second preview point is a gear switching point or a stop point; if the second preview point is a gear switching point or a stop point, re-determining the preview point by optimizing a preview mode so as to take the re-determined preview point as the first preview point; and if the second preview point is not a gear switching point or a stop point, taking the second preview point as the first preview point.
11. The control device according to claim 10,
the preview optimization module is further configured to re-determine a preview point on an extension line of a heading complementary angle of the gear shift point and a next node if the second preview point is a gear shift point; and if the second preview point is a stop point, re-determining the preview point on the course extension line of the stop point.
12. The control device according to claim 9,
the error compensation module is configured to compensate the target steering angle in a forward direction according to the transverse error and in a reverse direction according to a current vehicle speed; and compensating the target steering angle in a forward direction according to the angle error.
13. The control device according to claim 10,
the preview optimization module is further configured to determine the preview distance based on a planned gear of a current road segment and a current vehicle speed.
14. The control device according to claim 13,
when the unmanned mining vehicle advances, the preview distance increases with increasing vehicle speed within a predetermined range; and
when the unmanned mining vehicle backs, the pre-aiming distance is kept unchanged.
15. The control device according to any one of claims 9 to 14, further comprising:
the data acquisition module is configured to acquire planned path information, a current vehicle speed, a wheel steering angle, a vehicle body steering angle and positioning data in real time.
16. The control device according to claim 15,
the planned path information includes: the index and coordinate information of each planned point on the planned path, and the target speed, planned gear and course angle of the unmanned mining vehicle at each planned point.
17. A control apparatus for an unmanned mining vehicle, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of controlling the unmanned mining vehicle of any of claims 1-8 based on instructions stored in the memory.
18. An unmanned mining vehicle comprising:
the control apparatus for an unmanned mining vehicle of any one of claims 9 to 17.
19. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of controlling an unmanned mining vehicle of any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211361622.8A CN115686017A (en) | 2022-11-02 | 2022-11-02 | Unmanned mining vehicle, control method and device thereof, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211361622.8A CN115686017A (en) | 2022-11-02 | 2022-11-02 | Unmanned mining vehicle, control method and device thereof, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115686017A true CN115686017A (en) | 2023-02-03 |
Family
ID=85047520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211361622.8A Pending CN115686017A (en) | 2022-11-02 | 2022-11-02 | Unmanned mining vehicle, control method and device thereof, and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115686017A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115891977A (en) * | 2023-02-22 | 2023-04-04 | 北京易控智驾科技有限公司 | Method and device for controlling understeer of unmanned mining vehicle, electronic equipment and storage medium |
| CN116443013A (en) * | 2023-06-16 | 2023-07-18 | 北京易控智驾科技有限公司 | Reversing control system, method, equipment and medium of unmanned vehicle |
-
2022
- 2022-11-02 CN CN202211361622.8A patent/CN115686017A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115891977A (en) * | 2023-02-22 | 2023-04-04 | 北京易控智驾科技有限公司 | Method and device for controlling understeer of unmanned mining vehicle, electronic equipment and storage medium |
| CN116443013A (en) * | 2023-06-16 | 2023-07-18 | 北京易控智驾科技有限公司 | Reversing control system, method, equipment and medium of unmanned vehicle |
| CN116443013B (en) * | 2023-06-16 | 2023-08-15 | 北京易控智驾科技有限公司 | Reversing control system, method, equipment and medium of unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115686017A (en) | Unmanned mining vehicle, control method and device thereof, and storage medium | |
| US10248128B2 (en) | Haulage vehicle and travel control system for the same | |
| US10281921B2 (en) | Autonomous parking of vehicles in perpendicular parking spots | |
| CN110361013B (en) | Path planning system and method for vehicle model | |
| US9834251B2 (en) | Method for steering a vehicle | |
| US20190027042A1 (en) | Parking support system, parking support method and program | |
| US20170123430A1 (en) | In-path target selection during lane change | |
| CN101868397B (en) | Method and device for planning a path when parking a vehicle | |
| CN111026133A (en) | Path planning method, vehicle and computer readable medium | |
| JPWO2017064981A1 (en) | Vehicle control device | |
| US5781870A (en) | Vehicle steering angle control device | |
| US20230073027A1 (en) | Vehicle control system and method, computer device, medium, and vehicle | |
| CN111634331B (en) | Steering control method, device and system for automatic driving vehicle | |
| CN115116220B (en) | Unmanned multi-vehicle cooperative control method for mining area loading and unloading scene | |
| CN113504782A (en) | Obstacle collision prevention method, device and system and moving tool | |
| CN115683140B (en) | Method, system, equipment and medium for planning over-bending vehicle speed of passenger parking tracking | |
| CN116443049A (en) | Anti-collision method and device for automatic driving vehicle | |
| WO2022168733A1 (en) | Center of gravity determination device and method | |
| CN115848404A (en) | Articulated vehicle control method and articulated vehicle | |
| CN115097826A (en) | Vehicle turning track planning method and device | |
| CN114475574A (en) | Preview point determination method, vehicle control method and vehicle control system | |
| CN116964539A (en) | System, method and work vehicle | |
| JP2006092424A (en) | Track following control method and apparatus | |
| JP5848989B2 (en) | Automatic conveyance vehicle and control method of automatic conveyance vehicle | |
| EP4223616A1 (en) | Methods and systems for lateral control of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |