The invention discloses a mining card collision risk prediction and resolution method based on V2V non-intersection information, and the method comprises the steps: a mining card V1 obtains map information within the distance of the front length ODD1 of a reference path 1 of the mining card V1, and judges whether there is a path conflict point; predicting a driving speed curve on a reference path between the current point of the mine card V1 and the path conflict point, and obtaining the moment when the mine card V1 reaches the path conflict point according to the driving speed curve; all the mine cards publish the conflict information containing the arrival time in a broadcast form; meanwhile, the mine card V1 obtains conflict information issued by other mine cards around, and the conflict information issued by the mine cards within the distance of ODD2 behind the other vehicle reference path pat2 intersecting with the path conflict point in front of the own reference path pat1 is screened out; and based on the conflict information, whether an overlapped time window exists is evaluated, the collision risk is predicted, and a conflict resolution strategy is given. The method can effectively predict the collision risk of a mine card end without a clear intersection information scene and a cloud platform scheduling failure condition in advance.

    本发明公开了一种基于V2V无交叉口信息的矿卡碰撞风险预测及消解方法,包括步骤:矿卡V1获取自身参考路径path1前方长度ODD1距离内的地图信息,判断是否有路径冲突点;预测矿卡V1当前点与路径冲突点之间参考路径上的行驶速度曲线,并依据所述行驶速度曲线得到矿卡V1到达路径冲突点的时刻;所有矿卡将包含到达时刻的冲突信息通过广播形式进行发布;同时矿卡V1获取周围其他矿卡发布的冲突信息,筛选出与自身参考路径path1前方路径冲突点相交的他车参考路径path2后方ODD2距离内的矿卡发布的冲突信息;基于冲突信息,评估是否有重叠的时间窗口,预测碰撞风险,并给出冲突消解策略。该方法能够有效提前预测矿卡端无明确交叉口信息场景、云平台调度失效情况的碰撞风险。


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    Titel :

    Mine card collision risk prediction and resolution method based on V2V intersection-free information


    Weitere Titelangaben:

    基于V2V无交叉口信息的矿卡碰撞风险预测及消解方法


    Beteiligte:
    ZHANG FEI (Autor:in) / CHEN ZHIFA (Autor:in) / WU QI (Autor:in) / FU NING (Autor:in) / CAI FAN (Autor:in)

    Erscheinungsdatum :

    2023-06-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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