Aiming at the limitation of the prior art, the invention provides an unmanned transport vehicle transverse and longitudinal decision control method for a special scene, and aiming at a special application environment with a severe road surface environment, a changeable illumination condition and a complex transport road, a double-path parallel network complementary structure is used for carrying out feature mining and control prediction. Compared with a single-input CNN (Convolutional Neural Network) in the prior art, the method provided by the invention has the advantages of richer perception characteristics, good robustness of decision-making effect, capability of effectively covering variable weather conditions and complex illumination scenes, and suitability for industrial application of unmanned transport vehicles in mines, caves and the like.

    本发明针对现有技术的局限性,提出了一种面向特殊场景的无人运输车辆横纵向决策控制方法,针对路面环境恶劣、光照条件多变、运输道路复杂下的特殊应用环境,运用了双路平行的网络互补结构进行特征挖掘与控制预测,相比现有技术的单输入CNN网络更具丰富感知特征,其决策效果的良好鲁棒性,能够有效覆盖多变的天气情况及复杂的光照场景,适用于在矿井、岩洞等无人运输车辆的工业应用。


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    Title :

    Unmanned transport vehicle transverse and longitudinal decision control method for special scene


    Additional title:

    面向特殊场景的无人运输车辆横纵向决策控制方法


    Contributors:
    XIONG HUIYUAN (author) / QIU JIANZHI (author) / MA JIAN (author) / YANG LINJUN (author) / PAN YUELONG (author)

    Publication date :

    2022-07-12


    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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V



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