The invention provides an unmanned mine vehicle riding pit planning method which comprises the following steps: receiving and processing sensing information, acquiring original information in real time by means of various sensors of vehicle equipment, processing the original information by a sensing layer after receiving the original information input by the sensors, and inputting the processed data into a planning layer; the planning layer comprises a planning algorithm module and a collision detection module, the planning algorithm module is used for planning and designing the expansion points based on Hybrid-Astar, the collision detection module performs collision detection on the input expansion points by using a special collision detection algorithm, and whether the expansion points input by the planning algorithm are feasible can be judged. According to the unmanned mine car riding pit planning method provided by the invention, special collision detection processing can be carried out on deep pit attribute obstacles, so that the car can be ridden instead of bypassing when encountering the deep pit obstacles, the car can quickly and safely pass through the deep pit, and energyis saved.
本发明提供了一种无人驾驶矿车骑坑规划方法,包括以下步骤:感知信息的接收与处理,依靠车辆装备的各类传感器实时获取原始信息,感知层在接收传感器输入的原始信息后,对原始信息进行处理,并将处理后的数据输入到规划层;规划层包括规划算法模块和碰撞检测模块,规划算法模块基于Hybrid‑Astar,用于扩展点的规划设计,碰撞检测模块利用特殊的碰撞检测算法对输入的扩展点进行碰撞检测,可判断规划算法输入的扩展点是否可行。本发明提供的无人驾驶矿车骑坑规划方法,能够对深坑属性障碍物进行特殊的碰撞检测处理,使得车辆遇到深坑障碍物时能够骑行而非绕行,并使车辆快速、安全地通过深坑,节省了能量。
Unmanned mine car riding pit planning method
一种无人驾驶矿车骑坑规划方法
2021-02-12
Patent
Elektronische Ressource
Chinesisch
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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