The invention provides a mining dump truck control method which comprises the following steps: acquiring surrounding environment information in real time through a sensor on a mining dump truck, and performing path planning through a planning algorithm in combination with a high-precision map of a mining area where the mining dump truck is located to obtain a drivable path; performing transverse tangency point sampling on the travelable path through a planning algorithm to obtain a tangency point sampling set, and generating a path from the current position of the mining dump truck to the current tangency point for each tangency point in the tangency point sampling set to obtain an extended path set; and for each path in the extended path set, performing path speed planning based on the road surface condition and the loading condition of the mining dump truck, and obtaining a speed planning result corresponding to each path. According to the method, the unmanned driving of the mining dump truck is achieved, the tracks of the mining dump truck are planned through a series of algorithms, the tracks are made to be slightly different, and the situation that the safety of the mining dump truck is affected due to the fact that too deep tracks appear in the running process of the mining dump truck in a mining area is prevented.

    本发明提供一种矿用自卸车控制方法,其包含:通过矿用自卸车上的传感器实时采集周边环境信息,结合矿用自卸车所在矿区的高精度地图,通过规划算法进行路径规划,得到可行驶路径;通过规划算法对可行驶路径进行横向切点采样,得到切点采样集,针对切点采样集中的每一个切点,生成一条由矿用自卸车当前位置至当前切点的路径,得到扩展路径集;针对扩展路径集中的每一条路径,基于路面情况以及矿用自卸车的载重情况,进行路径速度规划,得到对应于每一条路径的速度规划结果。本发明实现矿用自卸车的无人驾驶,通过一系列算法对矿用自卸车轨迹进行规划,使每条轨迹有细微区别,防止矿用自卸车在矿区行驶过程中出现过深的车辙,影响矿用自卸车的安全。


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    Titel :

    Method and device for controlling mining dump truck


    Weitere Titelangaben:

    矿用自卸车控制方法及装置


    Beteiligte:
    TENG SIYU (Autor:in) / ZHAO ZIJIN (Autor:in) / FENG HAO (Autor:in)

    Erscheinungsdatum :

    2021-06-22


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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