The invention relates to the field of mine automatic driving, in particular to an unmanned mine card automatic obstacle avoiding system and method based on cloud collaboration. The method comprises the following steps: identifying a vehicle closer to an unmanned mine card in an environment as a related unmanned mine card; and after the obstacle avoidance request is received, if the related unmanned mine card affects obstacle avoidance, an instruction for stopping driving is immediately sent to the related unmanned mine card, and meanwhile, an instruction for executing obstacle avoidance is sent to the obstacle avoidance vehicle. And after the obstacle avoidance is successful, a driving recovery instruction is sent to the related unmanned mine cards which pause driving, and meanwhile, the path information of successful obstacle avoidance is sent to all vehicles possibly encountering the same obstacle. By means of the design, collision caused by modification of the driving route is effectively avoided, the driving safety is improved, meanwhile, repeated planning of the obstacle avoiding path is avoided through information sharing, and the operation efficiency is improved.
本发明涉及矿山自动驾驶领域,具体涉及一种基于云协同的无人驾驶矿卡自动绕障系统及方法。该方法对环境中距离无人驾驶矿卡较近的车辆标识为相关无人驾驶矿卡;在收到绕障请求后,若相关无人驾驶矿卡影响绕障,立即向相关无人驾驶矿卡发送停止行驶的指令,同时向绕障车辆发送执行绕障的指令。绕障成功后,再向那些暂停行驶的相关无人驾驶矿卡发送恢复行驶的指令,同时将成功绕障的路径信息发送给所有可能遇到同样障碍的车辆。这样的设计不仅有效避免了因修改行驶路线而引发的碰撞,提高了行驶安全性,同时也通过信息分享避免了重复规划绕障路径,提升了运行效率。
Unmanned mine card automatic obstacle avoidance system and method based on cloud collaboration
一种基于云协同的无人驾驶矿卡自动绕障系统及方法
2024-05-28
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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