The invention relates to an unmanned mine card safety protection method based on double-layer risk estimation, belongs to the technical field of unmanned driving safety, and solves the problem that a passive safety protection mode in the prior art can only relieve accident hazards after an accident occurs and cannot perform accident prevention and early warning. Obtaining a prediction track; s2, acquiring information of a task path and a sensing obstacle, and performing collision detection and safe distance calculation on the task path, the predicted trajectory and the sensing obstacle to obtain a safe distance; s3, performing safety risk field calculation according to the obtained obstacle sensing information to obtain a safety risk score; and S4, based on the obtained safety distance and the safety risk field, carrying out control quantity calculation on the vehicle speed, obtaining a control instruction, outputting the control instruction, and carrying out driving control on the vehicle.
本发明涉及一种基于双层风险估计的无人矿卡安全防护方法,属于无人驾驶安全技术领域,解决了现有技术中被动安全防护方式只能在发生事故后减轻事故危害,不能进行事故预防和预警的问题,包括:步骤S1,进行自车轨迹预测,得到预测轨迹;步骤S2,获得任务路径和感知障碍物的信息,将任务路径和预测轨迹与感知障碍物进行碰撞检测及安全距离计算,得到安全距离;步骤S3,根据获得的感知障碍物的信息,进行安全风险场计算,得到安全风险评分;步骤S4,基于得到的安全距离和安全风险场对车速进行控制量计算,得到控制指令并输出,对自车进行行驶控制。
Unmanned mine card safety protection method based on double-layer risk estimation
基于双层风险估计的无人矿卡安全防护方法
2025-02-18
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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