CN116714404A - Unmanned mining truck body posture all-road-condition control system and method based on reference model - Google Patents
Unmanned mining truck body posture all-road-condition control system and method based on reference model Download PDFInfo
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- CN116714404A CN116714404A CN202310635890.2A CN202310635890A CN116714404A CN 116714404 A CN116714404 A CN 116714404A CN 202310635890 A CN202310635890 A CN 202310635890A CN 116714404 A CN116714404 A CN 116714404A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0155—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit pneumatic unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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Abstract
The invention discloses an unmanned mining truck body posture all-road-condition control system and method based on a reference model, wherein the reference model module outputs unmanned mining truck body pitch angle and vehicle body side inclination angle change conditions in a future period in advance according to continuous road surface unevenness information reconstructed by a road condition recognition module and discrete turning instructions/discrete driving instructions/discrete braking instructions/discrete turning and driving instructions intermittently formed by a driving behavior decision module; the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module actuator to output corresponding displacement to eliminate errors and restrain the change of the attitude of the unmanned mining truck body when the unmanned mining truck passes through a future continuous uneven road surface and discrete road conditions according to errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck in a future period of time which are output in advance by the reference model module. The invention can ensure the stability of the unmanned mining truck all-road-condition vehicle body posture.
Description
Technical Field
The invention relates to the technical field of ground vehicle body attitude control, in particular to an unmanned mining truck body attitude full road condition control system and method based on a reference model.
Background
In recent years, unmanned technologies integrating modern sensing, 5G communication, automatic control and other technologies are accelerated, advanced application of information technologies such as artificial intelligence, big data, cloud computing and the like in the automobile industry is promoted, and positive and profound effects are produced on convenience and safety of human travel and cargo transportation efficiency and cost. However, it is undeniable that the application of the unmanned technology on the structured road still faces many challenges, such as the high-precision sensor and the high-performance processor technology adapting to the complex working conditions of rainy and snowy days, etc., and the accident responsibility division generated by the unmanned technology is still yet to be clear, and the test standard and the method of the unmanned system are still yet to be unified. Compared with a structured road, an open-pit mine of an unstructured road has more urgent requirements on unmanned technology, on one hand, open-pit mine transportation means are operated by a driver with abundant experience, but advanced operators are difficult to recruit and have high mobility; on the other hand, the surface mine has the characteristics of single road scene, self-made traffic rule, fixed running line of the transport means, low running speed and the like, and is one of the best landing scenes of unmanned technology.
Mining trucks are the main transport means for surface mines and are also the foothold for unmanned technologies. At present, an unmanned mining truck (abbreviated as an unmanned mining truck) mainly carries out longitudinal and transverse cooperative control research facing safety obstacle avoidance around key technologies such as environment sensing, positioning navigation, decision planning, control execution and the like, senses road environment through a vehicle-mounted sensing system, and controls steering wheel rotation angles and accelerator/brake pedals according to road, vehicle and obstacle information obtained through sensing, so that the unmanned mining truck is ensured to accurately track expected driving paths and driving speeds. Research results effectively improve the obstacle avoidance capability of the unmanned mine card, and reduce the safety accident rate of the surface mine. However, the road on which the unmanned mine truck runs is uneven, curves are more, the ramp ratio is large, no-load downhill slope and full-load uphill slope are typical transportation working conditions, special road conditions and operation requirements necessarily influence the vehicle body posture of the unmanned mine truck, on one hand, the fluctuation of the detection range of the vehicle-mounted sensor can be caused by the change of the vehicle body posture, and the environment perception precision is reduced; on the other hand, the running stability under the working conditions such as a curve and the like can be influenced, and the vehicle is extremely easy to roll over.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an unmanned mining truck body posture all-road-condition control system and method based on a reference model, which ensure that the unmanned mining truck all-road-condition body posture is stable.
The present invention achieves the above technical object by the following means.
An unmanned mining truck body attitude full road condition control system based on a reference model, comprising:
the road condition recognition module is used for recognizing the ramp, the curve and the road surface unevenness and carrying out online reconstruction on the road surface unevenness to obtain a continuous road surface unevenness model;
the driving behavior decision module is used for making steering behavior decisions, braking behavior decisions and driving behavior decisions based on the information acquired by the road condition identification module;
the reference model module is used for outputting the actual vehicle body pitch angle and the vehicle body roll angle change condition of the unmanned mining truck in a future period of time based on the instruction formed by the continuous road surface unevenness model and the driving behavior decision module;
and the active oil-gas suspension module takes the errors between the pitch angle and the roll angle of the target vehicle body of the unmanned mining truck and the actual pitch angle and the roll angle of the vehicle body as references, outputs corresponding vertical displacement to offset the errors, and inhibits the posture change of the vehicle body of the unmanned mining truck.
The technical scheme further comprises that:
the steering module is used for executing the steering instruction generated by the driving behavior decision module and controlling the unmanned mining card to turn;
the braking module is used for executing the braking instruction generated by the driving behavior decision module and controlling the unmanned mining card to decelerate;
the driving module is used for executing the driving instruction generated by the driving behavior decision module and controlling the acceleration of the unmanned mining card;
the controller module comprises a steering module controller, a braking module controller, a driving module controller and an active hydro-pneumatic suspension module controller, wherein the steering module controller is used for controlling a steering module executor, the braking module controller is used for controlling the braking module executor, the driving module controller is used for controlling a driving module executor, and the active hydro-pneumatic suspension module controller is used for controlling the active hydro-pneumatic suspension module executor.
According to the technical scheme, the road condition identification module adopts the camera to identify the drivable area in the unmanned mining card driving route, adopts the high-definition map to acquire curve information, adopts the laser radar to identify road surface unevenness and ramp information, and carries out on-line reconstruction of the road surface unevenness based on the recursion idea to obtain a continuous road surface unevenness model; the driving behavior decision module forms a braking/driving instruction according to the ramp information and forms a steering driving instruction according to the curve information.
The unmanned mining truck body posture all-road-condition control method based on the reference model comprises a straight-channel working condition body posture control method, a curve working condition body posture control method, a downhill working condition body posture control method, an uphill working condition body posture control method, a curve downhill working condition body posture control method and an all-road-condition body posture control method comprising all the working conditions.
Further, under the straight-path working condition, the reference model module outputs the actual vehicle body pitch angle and the vehicle body roll angle change condition of the unmanned mining truck in a period of time in advance according to the reconstructed continuous road surface unevenness information, and the active oil gas suspension module controller outputs corresponding displacement to eliminate the error when the unmanned mining truck passes through the future continuous uneven road surface according to the errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle in a period of time in advance, so that the vehicle body posture change of the unmanned mining truck under the straight-path working condition is restrained.
Further, under curve working conditions, the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body roll angle change condition in a period of time in the future in advance according to the reconstructed continuous road surface unevenness information and the discrete turning instruction, and the active oil gas suspension module controller outputs corresponding displacement in advance to eliminate errors and restrain the unmanned mine truck body posture change under the curve working conditions according to errors between the unmanned mine truck actual vehicle body pitch angle and the vehicle body roll angle and the unmanned mine truck target vehicle body pitch angle and the vehicle body roll angle in a period of time in the future.
Further, under the downhill working condition, the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body side inclination angle change condition in a period of time in the future in advance according to the reconstructed continuous road surface unevenness information and the discrete braking instruction, and the active oil gas suspension module controller outputs corresponding displacement in advance to eliminate the error and restrain the unmanned mine truck body posture change under the downhill working condition according to the error between the unmanned mine truck actual vehicle body pitch angle and the vehicle body side inclination angle and the unmanned mine truck target vehicle body pitch angle and the vehicle body side inclination angle in a period of time in the future when the unmanned mine truck passes through the continuous uneven road surface and the discrete ramp (downhill).
Further, under the ascending working condition, the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body side inclination angle change condition in a period of time in the future in advance according to the reconstructed continuous road surface unevenness information and the discrete driving instruction, and the active oil gas suspension module controller outputs corresponding displacement in advance to eliminate the error and restrain the unmanned mine truck body posture change under the working condition of the ramp (ascending) according to the error between the unmanned mine truck actual vehicle body pitch angle and the vehicle body side inclination angle and the unmanned mine truck target vehicle body posture in a period of time in the future when the unmanned mine truck passes through the future continuous uneven road surface and the discrete ramp (ascending).
Further, under the curve ascending working condition, the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body side inclination angle change condition in a period of time in the future in advance according to the reconstructed continuous road surface unevenness information and the discrete turning and driving instructions, and the active oil gas suspension module controller outputs corresponding displacement to eliminate the error according to the output error between the unmanned mine truck actual vehicle body pitch angle and the vehicle body side inclination angle and the unmanned mine truck target vehicle body pitch angle and the vehicle body side inclination angle in the period of time in the future, and suppresses the unmanned mine truck body posture change under the curve ascending working condition when the unmanned mine truck passes through the future continuous uneven road surface and the discrete curve and the ramp (ascending).
Further, under the curve downhill working condition, the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body side inclination angle change condition in a period of time in advance according to the reconstructed continuous road surface unevenness information and the discrete turning and braking instructions, and the active oil gas suspension module controller outputs corresponding displacement to eliminate errors and restrain the unmanned mine truck body posture change under the curve downhill working condition according to errors between the unmanned mine truck actual vehicle body pitch angle and the vehicle body side inclination angle and the unmanned mine truck target vehicle body pitch angle and the vehicle body side inclination angle when the unmanned mine truck passes through the future continuous uneven road surface and the discrete curve and the ramp (downhill).
The beneficial effects of the invention are as follows: according to the invention, road surface rough excitation and driving behavior decision are obtained in advance through the road condition recognition module, the unmanned mining truck body posture change condition under the coupling effect of the road surface rough excitation and the driving behavior is obtained in advance based on the reference model, and further control output is obtained in advance through the active hydro-pneumatic suspension, so that the unmanned mining truck full road condition body posture stability is realized.
Drawings
FIG. 1 is a schematic diagram of an unmanned mining truck body posture all-terrain control system;
FIG. 2 is a flow chart of a method for controlling the attitude of an unmanned mining truck body under a straight-through working condition;
FIG. 3 is a flow chart of a method for controlling the attitude of an unmanned mining truck body under a curve working condition;
FIG. 4 is a flow chart of a method for controlling the attitude of an unmanned mining truck body under a ramp (downhill) working condition;
FIG. 5 is a flow chart of a method for controlling the attitude of an unmanned mining truck body under a ramp (ascending) working condition;
FIG. 6 is a flow chart of an unmanned mining truck body attitude control method under a curve downhill condition;
FIG. 7 is a flow chart of an unmanned mining truck body attitude control method under the condition of ascending a slope on a curve;
FIG. 8 is a flow chart of a method for controlling the posture of a vehicle body under an unmanned mine truck downhill, a curve downhill and a straight driving route;
fig. 9 is a flow chart of a method for controlling the posture of a vehicle body under the route of ascending a slope of an unmanned mine truck, ascending a curve and straight-path driving.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments, but the scope of the invention is not limited thereto.
As shown in FIG. 1, the unmanned mining truck body posture all-road-condition control system based on the reference model comprises a road condition recognition module, a driving behavior decision module, a steering module, a braking module, a driving module, a reference model module, an active hydro-pneumatic suspension module and a controller module.
The road condition recognition module is used for ramp recognition, curve recognition and road surface unevenness recognition and online reconstruction thereof, specifically, the road condition recognition module firstly adopts a camera to recognize a drivable area in an unmanned mining card driving route, then adopts a high-definition map to acquire curve information, adopts a laser radar to recognize the road surface unevenness and the ramp information, and carries out online reconstruction of the road surface unevenness based on a recursion idea: and performing superposition operation on the historical information and the current information in the laser radar according to a certain weight value to obtain a continuous road surface unevenness model.
The driving behavior decision module comprises a steering behavior decision, a braking behavior decision and a driving behavior decision; specifically, the driving behavior decision module forms a braking/driving instruction according to the ramp information acquired by the road condition recognition module and forms a steering driving instruction according to the curve information acquired by the road condition recognition module, wherein the steering driving instruction makes a decision based on the curve curvature, and the braking/driving instruction makes a decision based on the gradient.
The steering module is used for executing the steering instruction generated by the driving behavior decision module and controlling the unmanned mining truck to turn.
The braking module is used for executing the braking instruction generated by the driving behavior decision module and controlling the unmanned mining card to decelerate.
The driving module is used for executing the driving instruction generated by the driving behavior decision module and controlling the unmanned mining card to accelerate.
The reference model module comprises a road condition recognition module on-line reconstructed continuous road surface unevenness model, a steering/braking/driving instruction generated by a driving behavior decision module and an unmanned mining card whole vehicle dynamics model, wherein the unmanned mining card whole vehicle dynamics model comprises a steering module dynamics model, a braking module dynamics model, a driving module dynamics model and a passive hydro-pneumatic suspension dynamics model, and the dynamics model is in the prior art; the reference model module takes steering, braking and driving instructions formed by the driving behavior decision module as external inputs of a steering module dynamics model, a braking module dynamics model and a driving module dynamics model respectively; meanwhile, the reference model module takes the road surface unevenness information reconstructed by the road condition recognition module as external input of a passive hydro-pneumatic suspension dynamics model, and adopts a Kalman filtering multi-data fusion algorithm to realize fusion of the road surface unevenness model reconstructed by the road condition recognition module and an unmanned mining card whole vehicle dynamics model before input; and outputting the pitching angle and the change condition of the vehicle body roll angle of the unmanned mining truck in a period of time in the future in advance by the fused unmanned mining truck whole vehicle dynamics model.
The active hydro-pneumatic suspension module takes the error between the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck output in advance by the reference model module as a reference, and outputs corresponding vertical displacement by an actuator of the active hydro-pneumatic suspension to offset the error, so that the change of the vehicle body posture of the unmanned mining truck is restrained.
The controller module includes a steering module controller for controlling a steering module actuator (e.g., a steering wheel), a brake module controller for controlling a brake module actuator (e.g., a brake), a drive module controller for controlling a drive module actuator (e.g., an engine), and an active hydro-pneumatic suspension module controller for controlling an active hydro-pneumatic suspension module actuator (e.g., a hydraulic cylinder).
In the unmanned mining truck driving process, the road surface uneven excitation acquired by the road condition recognition module is continuously present, the curve road condition and the ramp road condition acquired by the road condition recognition module are intermittently present, and the turning instruction, the braking instruction and the driving instruction formed by the driving behavior decision module are discrete.
The unmanned mining truck has a fixed running route, and an idle downhill and a full-load uphill are typical operation scenes. Whether the vehicle runs down a slope under no load or runs up a slope under full load, the road conditions of the unmanned mining truck mainly comprise straight roads, curved roads and slopes. The embodiment specifically describes an unmanned mining truck body posture full road condition control method based on a reference model by taking a downhill of an unmanned mining truck no-load downhill operation scene, a curve downhill, a straight road driving route and an uphill of an unmanned mining truck full load uphill operation scene as examples.
For a downhill path, a curve downhill path and a straight road running path of an idle downhill operation scene, a road condition identification module firstly adopts a camera to identify a drivable area in the unmanned mining card running path, then adopts a high-definition map to obtain curve information, adopts a laser radar to identify road surface unevenness and ramp information, and carries out on-line reconstruction of the road surface unevenness; the driving behavior decision module forms a braking driving instruction according to the ramp information acquired in advance by the road condition identification module, and forms a steering driving instruction according to the curve information acquired in advance by the road condition identification module.
As shown in fig. 4, under the working condition of a ramp (downhill), the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a future period in advance according to the continuous road surface unevenness information reconstructed by the road condition recognition module and the discrete braking instruction formed by the driving behavior decision module; the active hydro-pneumatic suspension module controller outputs errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck in a period of time in the future according to the reference model module; when the unmanned mining truck passes through a future continuous uneven road surface and a discrete ramp (downhill slope) which are acquired in advance by the road condition identification module, the active oil gas suspension module executor is controlled to output corresponding displacement in advance so as to eliminate errors, and the attitude change of the unmanned mining truck body under the ramp (downhill slope) working condition is restrained.
As shown in fig. 6, under the condition of a curve downhill, the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a future period of time in advance according to the continuous road surface unevenness information reconstructed by the road condition recognition module and the discrete turning and braking instruction formed by the driving behavior decision module; the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module executor to output corresponding displacement to eliminate errors according to errors between the actual vehicle body posture of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck, and when the unmanned mining truck obtains future continuous uneven road surfaces and discrete curves and slopes (downgrades) in advance through the road condition identification module, the unmanned mining truck is controlled to output corresponding displacement to eliminate errors, and the vehicle body posture change of the unmanned mining truck is restrained under the downhill working condition of the curve.
As shown in fig. 2, under the straight-road working condition, the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a period of time in the future in advance according to the continuous road surface unevenness information reconstructed by the road condition recognition module; the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module actuator to output corresponding displacement to eliminate errors according to errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck in a future period of time which are output in advance by the reference model module, and when the unmanned mining truck obtains a future continuous uneven road surface in advance by the road condition identification module, the unmanned mining truck body attitude change under the straight-line working condition is restrained.
For an ascending, curve ascending and straight road driving route of a full-load ascending operation scene, a road condition identification module adopts a camera to identify a driving area in the unmanned mining card driving route, adopts a high-definition map to acquire curve information in the driving route, adopts a laser radar to identify road surface unevenness and ramp information of the driving area, and carries out on-line reconstruction of the road surface unevenness; the driving behavior decision module forms a driving instruction according to the ramp information acquired in advance by the road condition identification module, and forms a steering driving instruction according to the curve information acquired in advance by the road condition identification module.
As shown in fig. 5, under the working condition of a ramp (ascending slope), the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a future period in advance according to the continuous road surface unevenness information reconstructed by the road condition recognition module and the discrete driving instruction formed by the driving behavior decision module; the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module executor to output corresponding displacement in advance to eliminate errors according to errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body posture of the unmanned mining truck in a period of time in the future, which are output by the reference model module, when the unmanned mining truck passes through a future continuous uneven road surface and a discrete ramp (up slope) which are acquired in advance by the road condition identification module, and the vehicle body posture change of the unmanned mining truck under the working condition of the ramp (up slope) is restrained.
As shown in fig. 7, under the condition of ascending a curve, the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a future period of time in advance according to the continuous road surface unevenness information reconstructed by the road condition recognition module and the discrete turning and driving instructions formed by the driving behavior decision module; the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module executor to output corresponding displacement to eliminate errors according to errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck in a period of time in the future, which are output in advance by the reference model module, when the unmanned mining truck is used for continuously and continuously obtaining a road surface and a discrete curve and a ramp (ascending slope) in advance by the road condition identification module, and suppresses the posture change of the unmanned mining truck under the ascending slope working condition of the curve.
The straight-way working condition is the same as that in the idle downhill working scene, and is not described herein.
If the vehicle runs into a curve under a straight running condition, as shown in fig. 3, the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a future period in advance according to the continuous road surface unevenness information reconstructed by the road condition recognition module and the discrete turning instruction formed by the driving behavior decision module; and the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module executor to output corresponding displacement to eliminate errors and restrain the change of the vehicle body posture of the unmanned mining truck under the curve working condition when the unmanned mining truck acquires the future continuous uneven road surface and the discrete curve in advance according to the errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck, the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck in a future period of time which are output in advance by the reference model module.
In a running route of fixed and cyclic reciprocation of the unmanned mining truck, a reference model module outputs the pitching angle and the roll angle change condition of the unmanned mining truck body in a future period in advance according to continuous road surface unevenness information reconstructed by a road condition recognition module and discrete turning instructions/discrete driving instructions/discrete braking instructions/discrete turning instructions/braking instructions/discrete turning and driving instructions intermittently formed by a driving behavior decision module; and the active hydro-pneumatic suspension module controller controls the active hydro-pneumatic suspension module executor to output corresponding displacement to eliminate errors and inhibit the posture change of the unmanned mining truck body under all road conditions when the unmanned mining truck acquires the future continuous uneven road surface and discrete road conditions in advance according to the errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck, the target vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck, which are output by the reference model module in advance in a future period.
According to the system and the method for dynamically controlling the full road condition of the unmanned mining truck body posture, the system and the method are not limited to the unmanned mining truck body posture control, and are suitable for all ground wheeled vehicles with the body posture changed due to the coupling effect of the road surface uneven excitation and the driving behavior.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.
Claims (10)
1. Unmanned mining truck body posture all road conditions control system based on reference model, characterized by comprising:
the road condition recognition module is used for recognizing the ramp, the curve and the road surface unevenness and carrying out online reconstruction on the road surface unevenness to obtain a continuous road surface unevenness model;
the driving behavior decision module is used for making steering behavior decisions, braking behavior decisions and driving behavior decisions based on the information acquired by the road condition identification module;
the reference model module is used for outputting the actual vehicle body pitch angle and the vehicle body roll angle change condition of the unmanned mining truck in a future period of time based on the instruction formed by the continuous road surface unevenness model and the driving behavior decision module;
and the active oil-gas suspension module takes the errors between the pitch angle and the roll angle of the target vehicle body of the unmanned mining truck and the actual pitch angle and the roll angle of the vehicle body as references, outputs corresponding vertical displacement to offset the errors, and inhibits the posture change of the vehicle body of the unmanned mining truck.
2. The unmanned mining truck body posture all-terrain control system of claim 1, further comprising:
the steering module is used for executing the steering instruction generated by the driving behavior decision module and controlling the unmanned mining card to turn;
the braking module is used for executing the braking instruction generated by the driving behavior decision module and controlling the unmanned mining card to decelerate;
the driving module is used for executing the driving instruction generated by the driving behavior decision module and controlling the acceleration of the unmanned mining card;
the controller module comprises a steering module controller, a braking module controller, a driving module controller and an active hydro-pneumatic suspension module controller, wherein the steering module controller is used for controlling a steering module executor, the braking module controller is used for controlling the braking module executor, the driving module controller is used for controlling a driving module executor, and the active hydro-pneumatic suspension module controller is used for controlling the active hydro-pneumatic suspension module executor.
3. The unmanned mining truck body posture all-road-condition control system according to claim 1, wherein the road-condition recognition module recognizes a drivable area in an unmanned mining truck driving route by adopting a camera, acquires curve information by adopting a high-definition map, recognizes road surface unevenness and ramp information by adopting a laser radar, and performs road surface unevenness on-line reconstruction based on a recursion idea to obtain a continuous road surface unevenness model; the driving behavior decision module forms a braking/driving instruction according to the ramp information and forms a steering driving instruction according to the curve information.
4. A control method based on the unmanned mining truck body posture all-road-condition control system according to any one of claims 1 to 3, characterized by comprising a straight road condition body posture control method, a curve condition body posture control method, a downhill condition body posture control method, an uphill condition body posture control method, a curve downhill condition body posture control method and an all-road-condition body posture control method comprising all the above conditions.
5. The control method according to claim 4, wherein the reference model module outputs the actual vehicle body pitch angle and the vehicle body roll angle change condition of the unmanned mining truck in advance in a future period of time according to the reconstructed continuous road surface unevenness information under the straight-path working condition, and the active hydro-pneumatic suspension module controller outputs corresponding displacement to eliminate the error and restrain the vehicle body posture change of the unmanned mining truck under the straight-path working condition according to the errors between the actual vehicle body pitch angle and the vehicle body roll angle of the unmanned mining truck and the target vehicle body pitch angle and the vehicle body roll angle in the future period of time when the unmanned mining truck passes through the future continuous uneven road surface.
6. The control method according to claim 4, wherein the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body roll angle change condition in advance in a period of time in the future according to the reconstructed continuous road surface unevenness information and the discrete turning command under the curve working condition, and the active hydro-pneumatic suspension module controller outputs corresponding displacement in advance to eliminate the error and restrain the unmanned mine truck body posture change under the curve working condition according to the error between the unmanned mine truck actual vehicle body pitch angle and the vehicle body roll angle and the unmanned mine truck target vehicle body pitch angle and the vehicle body roll angle in the period of time in the future when the unmanned mine truck passes through the future continuous uneven road surface and the discrete curve.
7. The control method according to claim 4, wherein the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body roll angle change condition in advance in a future period according to the reconstructed continuous road surface unevenness information and the discrete braking instruction under the downhill working condition, and the active hydro-pneumatic suspension module controller outputs corresponding displacement in advance to eliminate the error and restrain the unmanned mine truck body posture change under the hill (downhill) working condition according to the error between the unmanned mine truck actual vehicle pitch angle and the vehicle body roll angle and the unmanned mine truck target vehicle pitch angle and the vehicle body roll angle in the future period when the unmanned mine truck passes through the future continuous uneven road surface and the discrete hill (downhill).
8. The control method according to claim 4, wherein under the condition of an ascending slope, the reference model module outputs the variation condition of the pitch angle and the roll angle of the unmanned mining truck body in a period of time in advance according to the reconstructed continuous road surface unevenness information and the discrete driving instruction, and the active hydro-pneumatic suspension module controller outputs corresponding displacement in advance to eliminate the error and restrain the variation of the attitude of the unmanned mining truck body under the condition of a slope (ascending slope) according to the error between the actual pitch angle and the roll angle of the unmanned mining truck body and the target attitude of the unmanned mining truck body in a period of time in advance when the unmanned mining truck passes through the continuous road surface and the discrete slope (ascending slope).
9. The control method according to claim 4, wherein the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body roll angle change condition in advance in a future period of time according to the reconstructed continuous road surface unevenness information and the discrete turning and driving instructions under the curve ascending condition, and the active hydro-pneumatic suspension module controller outputs corresponding displacement to eliminate the error and restrain the unmanned mine truck body posture change under the curve ascending condition according to the output error between the unmanned mine truck actual vehicle body pitch angle and the vehicle body roll angle and the unmanned mine truck target vehicle body pitch angle and the vehicle body roll angle in the future period of time when the unmanned mine truck passes through the future continuous uneven road surface and the discrete curve and the ramp (ascending).
10. The control method according to claim 4, wherein the reference model module outputs the unmanned mine truck body pitch angle and the vehicle body roll angle change condition in advance in a period of time in the future according to the reconstructed continuous road surface unevenness information and the discrete turning and braking instructions under the curve downhill condition, and the active hydro-pneumatic suspension module controller outputs corresponding displacement to eliminate the error and restrain the unmanned mine truck body posture change under the curve downhill condition according to the error between the unmanned mine truck actual vehicle pitch angle and the vehicle body roll angle and the unmanned mine truck target vehicle pitch angle and the vehicle body roll angle when the unmanned mine truck passes through the future continuous uneven road surface and the discrete curve and the ramp (downhill).
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