The invention discloses an unmanned mine car automatic driving control system with a fused obstacle avoidance function, which realizes unmanned operation of a mine car under scheduling of a schedulingsystem. The system comprises a vehicle-mounted computing platform, a millimeter wave radar, laser radars, a video collector and a vehicle control device, wherein the millimeter wave radar, the laserradars, the video collector and the vehicle control device are in communication connection with the vehicle-mounted computing platform; the millimeter-wave radar is arranged around the unmanned mine car and is used for generating a millimeter-wave signal containing obstacle information; the laser radars are arranged on a front portion and a rear portion of the unmanned mine car and used for generating original point cloud data; the video collector is arranged at the front part of the unmanned mine car and is used for generating video information; the vehicle-mounted computing platform acquiresmillimeter wave signals, original point cloud data and video information and determines a driving adjustment strategy of the unmanned mine car; and when a preset condition is met, the vehicle controldevice executes the driving adjustment strategy.

    本发明公开了一种具有融合避障功能的无人矿车自动驾驶控制系统,在调度系统的调度下实现矿车的无人作业,包括车载计算平台,以及与车载计算平台通讯连接的毫米波雷达、激光雷达、视频采集器以及车辆控制装置;所述毫米波雷达布置在无人矿车的四周,用于生成包含障碍物信息毫米波信号;所述激光雷达布置在无人矿车的前部和后部,用于生成原始点云数据;视频采集器布置在无人矿车的前部,用于生成视频信息;所述车载计算平台获取毫米波信号、原始点云数据以及视频信息并确定无人矿车的驾驶调整策略;在满足预设条件时,所述车辆控制装置执行驾驶调整策略。


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    Title :

    Unmanned mine car automatic driving control system with fused obstacle avoidance function


    Additional title:

    具有融合避障功能的无人矿车自动驾驶控制系统


    Contributors:
    WU JIERONG (author) / QIN XIAOJU (author) / CHENG JIAN (author) / ZHOU JINGJING (author) / HE SHENZHONG (author)

    Publication date :

    2020-10-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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