The invention discloses a vehicle-road collaborative sensing and parking method and system for a shaft mine draw shaft environment, and relates to the field of unmanned driving, and the method comprises the steps: collecting roadside laser radar data, roadside camera data, roadside laser range finder data, vehicle-mounted laser radar data and vehicle-mounted camera data; respectively calculating roadside obstacle information and vehicle-mounted obstacle information; vehicle-road obstacles are matched through a Hungary algorithm, and a vehicle-road collaborative perception result is generated; performing global path planning by calculating an optimal driving path from the starting point to the unloading point by using the global map to generate a global path; performing local path planning through a path obstacle avoidance algorithm to generate a local path; and according to the global path and the local path, controlling the driving path, the vehicle speed and the parking of the unmanned vehicle. In order to solve the problems that in the prior art, an unmanned vehicle cannot comprehensively sense obstacles and cannot stop in place under the mine shaft environment, comprehensive sensing of the obstacles in the mine shaft environment and accurate parking of the vehicle are achieved.
本申请公开了一种井工矿溜井环境的车路协同感知、停靠方法及系统,涉及无人驾驶领域,包括:采集路侧激光雷达数据、路侧相机数据、路侧激光测距仪数据、车载激光雷达数据和车载相机数据;分别计算路侧障碍物信息和车载障碍物信息;通过匈牙利算法匹配车路障碍物,生成车路协同感知结果;利用全局地图通过计算起始点到卸载点的最优行驶路径进行全局路径规划,生成全局路径;通过路径避障算法进行局部路径规划,生成局部路径;根据全局路径和局部路径,控制无人车的行驶路径、车速和停靠。针对现有技术中井工矿溜井环境下无人车感知障碍物不全面、停靠不到位等问题,本申请实现对井工矿溜井环境中障碍物的全面感知及车辆的精准停靠。
Vehicle-road collaborative sensing and parking method and system for mine draw shaft environment
一种井工矿溜井环境的车路协同感知、停靠方法及系统
2025-03-28
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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