The invention discloses an underground scene self-adaptive auxiliary driving method and system. The method comprises the following steps: acquiring vehicle body radar sensor data; generating a fan-shaped radioactive particle swarm according to the current driving direction and the current vehicle speed of the vehicle; the current steering trend of the vehicle is obtained through an inertial measurement unit, so that the trend of the radioactive particle swarm is adjusted; calculating the weight of each particle in the particle swarm according to an importance weight calculation method; calculating a central particle of each sector according to all effective particles in the sector region; fitting the central particles in all the fan-shaped areas to obtain a local path in the current state; and obtaining a target speed and a target rotation angle of the current vehicle according to the local path through a model prediction control algorithm so as to realize stable control of the vehicle.

    本发明公开了一种井下场景自适应辅助驾驶方法及系统,包括获取车身雷达传感器数据;根据车辆当前行驶方向和当前车速,生成扇形放射粒子群;通过惯性测量单元获取车辆的当前转向趋势,从而调整放射粒子群的趋势;根据重要性权重计算方法计算粒子群中每个粒子的权重;根据扇形区域中的所有有效粒子,计算每块扇形的中心粒子;拟合所有扇形区域中的中心粒子,得到当前状态下的局部路径;通过模型预测控制算法根据局部路径得到当前车辆的目标速度和目标转角,以实现对车辆的稳定控制。


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    Title :

    Underground scene self-adaptive auxiliary driving method and system


    Additional title:

    一种井下场景自适应辅助驾驶方法及系统


    Contributors:
    ZHENG SHUANG (author) / XUE LIGE (author) / CHEN XUEHAI (author) / BI KE (author) / ZHU HONGRUI (author)

    Publication date :

    2024-04-30


    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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