The invention discloses a quadratic planning method for vehicle speed in a strip mine area. The quadratic planning method comprises the following steps: step 1, acquiring vehicle speed Vcurrent of a current driving position of an unmanned vehicle and global planning vehicle speed; step 2, according to the deviation and gradient change trend of the current vehicle speed Vcurrent and the global planning average vehicle speed of the current position, continuously pre-aiming an S1 section and an S2 section with the same distance by taking the current driving of the unmanned vehicle as a starting point, determining a pre-aiming speed Vpreview and a pre-aiming acceleration Apreview at the tail end of the S1, and configuring the pre-aiming acceleration Apreview to the unmanned vehicle; 3, aiming at the downhill road section, revising the preview acceleration Apreview according to the change trend of the global planning vehicle speed of the S1 section and the S2 section; aiming at a front curved road section, revising the preview acceleration Apreview according to the curvature change trend of the S1 section and the S2 section; and configuring the revised preview acceleration to the unmanned vehicle until the preview is finished. The whole driving process can be guaranteed to be controllable, smooth, smooth and safe.
本发明公开了一种露天矿区车辆速度的二次规划方法,包括步骤一、获取无人驾驶车辆的当前行驶位置的车速Vcurrent和全局规划车速;步骤二、根据当前车速Vcurrent与当前位置的全局规划平均车速的偏差、坡度变化趋势,以无人驾驶车辆当前行驶为起点连续预瞄相同距离的S1段和S2段,确定S1末端的预瞄速度Vpreview和预瞄加速度Apreview,并将预瞄加速度Apreview配置于无人驾驶车辆;步骤三、针对下坡路段,根据S1段和S2段全局规划车速的变化趋势,对预瞄加速度Apreview进行修订;针对前方弯路路段,根据S1段和S2段曲率变化趋势,对预瞄加速度Apreview进行修订;并将修订后的预瞄加速度配置于无人驾驶车辆至预瞄结束。本发明能够保证整个行驶过程可控、平顺、顺畅、安全。
Method for controlling speed of unmanned vehicle in strip mine area
露天矿区无人驾驶车辆速度的控制方法
2024-04-30
Patent
Electronic Resource
Chinese
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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