The invention relates to the technical field of mine car unmanned driving, in particular to an unmanned mine car automatic obstacle avoidance method based on complex road conditions, and the method comprises the steps: obtaining a mine area road image, and calculating the traffic rate of an unmanned mine car corresponding to an ore body pixel position according to the depth information in the image; rasterizing the mining area road image, and calculating the movement loss corresponding to the movement of the unmanned mine car to a target grid according to the traffic rate; distance loss corresponding to the target grid is obtained according to the distance between the target grid and the final position of the unmanned mine car; and according to the movement loss and the distance loss corresponding to the target grid, obtaining a planned path of automatic obstacle avoidance of the unmanned mine car. According to the invention, automatic obstacle avoidance can be completed directly through part of obstacles while driving safety is ensured, the operation efficiency of the unmanned mine car in a mining area is ensured, and the possibility of blockage is reduced.
本发明涉及矿车无人驾驶技术领域,具体涉及一种基于复杂路况的无人驾驶矿车自动避障方法,该方法包括:获取矿区道路图像,根据图像中的深度信息计算矿体像素位置对应的无人驾驶矿车的通行率;对矿区道路图像进行栅格化处理,根据通行率计算无人驾驶矿车移动到目标栅格对应的移动损耗;根据目标栅格到无人驾驶矿车的终点位置之间的距离得到目标栅格对应的距离损耗;根据目标栅格对应的移动损耗和距离损耗获得无人驾驶矿车自动避障的规划路径。本发明在保证行驶安全的同时能够直接通过部分障碍物完成自动避障,保证了矿区内无人驾驶矿车的运行效率,降低了堵塞发生的可能性。
Unmanned mine car automatic obstacle avoidance method based on complex road conditions
基于复杂路况的无人驾驶矿车自动避障方法
2022-11-15
Patent
Elektronische Ressource
Chinesisch
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