The invention discloses a collision prediction method for a mining area. The collision prediction method comprises the following steps that an obstacle motion prediction model and a local automobile motion prediction model are acquired, the coordinate transformation is carried out to obtain a target obstacle prediction position coordinate under an automobile coordinate system corresponding to theautomobile prediction position, collision judgment is conducted, and the condition that the automobile collides with the obstacle is obtained, and an automobile behavior decision making step of controlling the automobile to decelerate or brake is performed. The method is suitable for the unmanned driving environment of the mining area, and can predict the driving tracks of the automobile and the front obstacle at the future moment according to the motion information of the automobile and the front obstacle, and thereby whether the automobile and the front obstacle have the risk of collision ornot is determined, and the speed or stopping is limited.

    本发明公开了一种用于矿区的碰撞预测方法,包括以下步骤:障碍物运动预测模型;本车运动预测模型;坐标变换,得到本车预测位置所对应的车辆坐标系下的目标障碍物预测位置坐标;碰撞判定,得到本车与障碍物发生碰撞的条件;车辆行为决策,控制车辆做出减速或刹停动作。该方法适用于矿区无人驾驶环境,可根据自车和前方障碍物的运动信息预测未来时刻的自车和前方障碍物的行驶轨迹,从而判定二者是否有发生碰撞的风险,进而限速或限停。


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    Titel :

    Collision prediction method for mining area


    Weitere Titelangaben:

    一种用于矿区的碰撞预测方法


    Beteiligte:
    ZHANG WEI (Autor:in) / FENG CHONG (Autor:in) / HUANG LIMING (Autor:in)

    Erscheinungsdatum :

    2020-09-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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