The invention discloses an unmanned mine card steering system fault diagnosis method based on data driving, and the method comprises the steps: predicting the state of a vehicle based on data driving: building a long and short term memory neural network model, generating a state prediction model, and predicting the future state of the vehicle through the driving log data of an unmanned mine card; the observation domain is calculated through the current vehicle speed and the prediction time domain, parameters in the observation domain are calculated through the vehicle future state obtained in the first step, and the parameters comprise the road curvature of a reference path, the yaw velocity of a prediction track and the weighted transverse deviation in the future 3 s; and judging whether the vehicle has a steering system fault. According to the method, real driving data are adopted, accurate prediction can be achieved, and under the condition that sensors are not added, the locking fault of the vehicle steering system can be rapidly located through the feedback state of the IMU of the vehicle.

    本发明公开了一种基于数据驱动的无人驾驶矿卡转向系统故障诊断方法,包括步骤:基于数据驱动预测车辆状态:搭建长短时记忆神经网络模型,生成状态预测模型,利用无人驾驶矿卡的行车日志数据,预测车辆未来状态;计算观察域、横摆角速度以及加权横向偏差:通过当前车速及预测时域计算观察域,利用第一步获得的车辆未来状态计算观察域内的参数,包括参考路径的道路曲率、预测轨迹的横摆角速度、未来3s内的加权横向偏差;判断车辆是否发生转向系统故障。该方法采用真实行车数据,能够实现精准预测,且在不增加传感器的条件下,利用车辆所带的IMU的反馈状态可以快速定位车辆转向系统锁止的故障。


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    Title :

    Unmanned mine truck steering system fault diagnosis method based on data driving


    Additional title:

    一种基于数据驱动的无人驾驶矿卡转向系统故障诊断方法


    Contributors:
    LU JIEFENG (author) / FU NING (author) / LI MIAO (author) / SHI WEI (author) / SONG TIANFANG (author)

    Publication date :

    2023-03-07


    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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