The invention discloses an unmanned mining truck tracking driving steering neutral position calibration method and system, and relates to the technical field of unmanned driving, and the method comprises the steps: monitoring the vehicle operation state in real time, calculating the transverse deviation, and recording the vehicle abnormal time; the vehicle neutral position abnormal state and corresponding data are reported to the cloud; obtaining vehicle positioning and course angles, and constructing a linear path function; obtaining a lateral error required by calibration, calculating a front wheel steering angle, and transmitting data to the VCU; and the VCU transmits the data to a steering mechanism for writing, and the vehicle performs unmanned driving according to the newest median value. According to the invention, through real-time detection and automatic calibration of the median value, the driving precision and the working efficiency of the unmanned mine car are improved, and through real-time anomaly detection and automatic reporting, the safety of the system is enhanced. In addition, by using a customized communication protocol and data format conversion, the communication efficiency and accuracy of the system are improved, and the requirement for manual intervention is reduced.

    本发明公开了无人驾驶矿用卡车循迹行驶转向中位标定方法及系统,涉及无人驾驶技术领域,包括:实时监测车辆运行状态,计算横向偏差,记录车辆异常时间;向云端上报车辆中位异常状态以及相应数据;获取车辆定位以及航向角,构建直线路径函数;获取标定所需横向误差,计算前轮转角,将数据传输至VCU;VCU将数据传输至转向机构写入,车辆根据最新中位值进行无人驾驶。本发明通过实时检测和自动标定中位值,提高了无人驾驶矿车的驾驶精度和工作效率,同时通过实时异常检测和自动上报,增强了系统的安全性。此外,它还通过使用定制的通讯协议和数据格式转换,提高了系统的通讯效率和准确性,降低了对人工干预的需求。


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    Titel :

    Unmanned mining truck tracking driving steering neutral position calibration method and system


    Weitere Titelangaben:

    无人驾驶矿用卡车循迹行驶转向中位标定方法及系统


    Beteiligte:
    ZHANG BO (Autor:in) / LI YUEQIANG (Autor:in) / HU PENGFEI (Autor:in) / LIU YUE (Autor:in) / WEI YALONG (Autor:in) / TONG JINGBO (Autor:in) / WANG HAIJUN (Autor:in) / XIAN JINLONG (Autor:in)

    Erscheinungsdatum :

    2023-12-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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