The invention discloses a parking method and system for an unmanned vehicle in a mining area. The method comprises steps of determining the following related cost weights and predicted driving time: distance cost, orientation cost, direction cost and obstacle avoidance cost according to the current posture and current position of the vehicle; traversing each front wheel turning angle of the vehicle according to the current speed of the vehicle, and predicting each driving track of the vehicle within the prediction time by utilizing an Ackerman model; determining the following costs in each predicted driving track: distance cost, orientation cost, direction cost and obstacle avoidance cost; and calculating the sum of the products of the costs and the cost weights for each predicted drivingtrack, comparing to obtain the minimum value in the sum of the products and the driving track corresponding to the minimum value as the optimal track, and controlling the vehicle to park based on thefront wheel turning angle corresponding to the optimal track. The method is advantaged in that collision with an obstacle is avoided, and obstacle avoidance is achieved.

    本发明公开了一种矿区无人驾驶车辆的泊车方法及系统,包括:根据车辆的当前姿态和当前位置,确定以下各项相关的代价权值和预测行驶时间:距离代价、朝向代价、方向代价和避障代价;根据车辆的当前速度,对所述车辆的各个前轮转角进行遍历,并利用阿克曼模型预测所述车辆的在所述预测时间内的各行驶轨迹;确定各预测的行驶轨迹中以下各项代价:距离代价、朝向代价、方向代价和避障代价;针对每一预测的行驶轨迹计算得到其各项代价与代价权值的乘积之和,比较以获得各乘积之和中的最小值及其对应的作为最优轨迹的行驶轨迹,基于所述最优轨迹对应的前轮转角控制所述车辆进行泊车。本发明避免了与障碍物的碰撞,实现了避障。


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    Title :

    Parking method and system for unmanned vehicle in mining area


    Additional title:

    一种矿区无人驾驶车辆的泊车方法及系统


    Contributors:
    WANG YAFEI (author) / GU XUEFENG (author) / LEI YUBIAO (author) / QIN XIAOJU (author) / MEI GUIZHOU (author) / JIANG GUANGYU (author)

    Publication date :

    2021-03-30


    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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