The invention provides a cooperative control method and system for unmanned mine cars at an intersection without signal lamps, and the method comprises the steps: building an internal region of the intersection based on a conflict point model; constructing an optimized region based on the internal region of the intersection; when the mine car enters the optimized area, the mine car state information and a passing request are sent to the intersection manager; based on the conflict table, the intersection manager judges whether potential conflicts exist between the mine cars or not; according to a first-in first-out principle and a first-in first-out principle, the passing priority of the mine car is judged; based on the priority analysis result, the intersection manager sends a passing instruction and passing priority information to the mine car which has sent the passing request; and constructing a deep reinforcement learning model, training a deep learning network based on a DDPG algorithm, updating parameters, and adjusting the acceleration of each mine car in the intersection. According to the invention, safe passing of the unmanned mine car in an irregular intersection scene without signal lamps is realized, and the passing efficiency is effectively improved.
本发明提供了一种无信号灯交叉路口无人驾驶矿车协同控制方法和系统,包括:基于冲突点模型,构建交叉口内部区域;基于交叉口内部区域,构建优化区域;矿车进入优化区域,向交叉路口管理器发送自车状态信息和通过请求;基于冲突表,交叉路口管理器判断矿车之间是否存在潜在冲突;根据先到先出和先进先出原则,判断矿车通行优先权;基于优先权分析结果,交叉路口管理器向已经发送通过请求的矿车发送通行指令和通行优先权信息;构建深度强化学习模型,基于DDPG算法训练深度学习网络并更新参数,调整交叉口内各矿车的加速度。本发明实现了无人驾驶矿车在无信号灯不规则交叉路口场景下安全通行,并有效地提高了通行效率。
Cooperative control method and system for unmanned mine cars at intersection without signal lamps
无信号灯交叉路口无人驾驶矿车协同控制方法和系统
2023-10-24
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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