The invention discloses an underground unmanned auxiliary transport vehicle driving behavior decision-making method based on multi-source information fusion. A vehicle-mounted sensor is used for obtaining multi-source sensing information of a vehicle in the underground driving process; dividing levels of the multi-source sensing information according to the risk degree, and dividing priorities of different levels of sensing information according to the vehicle safe driving threat degree; designing a driving mode according to the operation condition; converting the obtained perception information into unmanned auxiliary transport vehicle behavior information according to different levels, and autonomously deciding a driving mode according to the unmanned auxiliary transport vehicle behavior information and a safety evaluation standard. According to the method, multi-source information is subjected to risk hierarchy classification to realize information fusion, so that the problem that the decision-making speed is reduced due to the fact that a vehicle decision-making module processes excessive data at the same time is avoided, intelligent driving of the underground auxiliary transport vehicle is realized, and intelligent driving of the underground auxiliary transport vehicle is realized according to existing perception information and prediction information. The unmanned auxiliary transport vehicle can further achieve driving mode conversion, and guarantee is provided for safe driving of the vehicle.
本发明公开了多源信息融合的井下无人辅助运输车驾驶行为决策方法,利用车载传感器获得车辆在井下行驶途中的多源感知信息;根据风险程度将多源感知信息划分层级,根据车辆安全驾驶威胁程度将不同层级感知信息划分优先级;根据运行工况设计驾驶模式;根据不同层级将获得的感知信息转化成无人辅助运输车行为信息,根据无人辅助运输车行为信息和安全评估标准自主决策驾驶模式。本发明方法将多源信息进行风险层级分类实现信息融合,以避免车辆决策模块同时处理过多数据而引起决策速度减慢等问题,从而实现井下辅助运输车的智能化驾驶,根据现有感知信息和预测信息,无人辅助运输车可以进一步实现驾驶模式转换,为车辆自身安全行驶提供保障。
Decision-making method for driving behavior of underground unmanned auxiliary transport vehicle based on multi-source information fusion
多源信息融合的井下无人辅助运输车驾驶行为决策方法
2024-03-19
Patent
Elektronische Ressource
Chinesisch
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