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黄金科学技术 ›› 2022, Vol. 30 ›› Issue (3): 460-469.doi: 10.11872/j.issn.1005-2518.2022.03.006

• 采选技术与矿山管理 • 上一篇    

露天矿无人驾驶矿卡速度规划研究

王鹏飞(),毕林,王李管()   

  1. 中南大学资源与安全工程学院,湖南 长沙 410083
  • 收稿日期:2021-12-21 修回日期:2022-03-11 出版日期:2022-06-30 发布日期:2022-09-14
  • 通讯作者: 王李管 E-mail:13849419393@163.com;liguan_wang@163.com
  • 作者简介:王鹏飞(1997-),男,河南周口人,硕士研究生,从事数字矿山等方面的研究工作。13849419393@163.com

Research on Speed Planning of Unmanned Driving Mining Trucks in Open-pit Mines

Pengfei WANG(),Lin BI,Liguan WANG()   

  1. School of Resources and Safety Engineering,Center South University,Changsha 410083,Hunan,China
  • Received:2021-12-21 Revised:2022-03-11 Online:2022-06-30 Published:2022-09-14
  • Contact: Liguan WANG E-mail:13849419393@163.com;liguan_wang@163.com

摘要:

露天矿道路结构复杂,由于行驶轨迹冲突、感知受限等原因,矿卡行驶中易发生碰撞事故,现有基于传感器的感知避障方法易出现急刹急停和减速停车再启动等决策,不仅造成轮胎磨损和燃油浪费,而且会严重影响通行效率。为解决上述问题,结合露天矿通行场景的特殊性以及无人驾驶矿卡可精准执行规划速度的优点,提出了一种基于时间距离约束消解车间冲突和基于自适应梯形速度规划方法规划速度的矿卡全程无冲突协同通行速度规划方法。试验结果表明:该方法在不影响已有矿卡正常通行的前提下消解车间冲突,提高目标矿卡行驶速度的平稳性,相对于传统“停—走”式策略通行算法总通行时长减少了21%。

关键词: 露天矿山, 无人驾驶, 矿用卡车, 速度优化, 规划协同, 梯形速度规划

Abstract:

At present,driverless mining truck is gradually applied in the production of open-pit mine,however,the road structure of open-pit mine is complex,and the mining truck is prone to collision in driving due to the conflicting driving trajectories and perception limitations,and the existing sensor-based perception obstacle avoidance methods are prone to decisions such as emergency braking and emergency stopping and decelerating and stopping before starting,which not only cause tire wear and fuel waste,but also seriously affect the passing efficiency.In order to solve the above problems,based on the prominent features of the open-pit mine passage scene such as single traffic background,planning,organization and closure,and the advantage that driverless mine cards can accurately execute the planning speed,a mining card full passage speed optimization and collaborative planning method based on time distance constraint dissipation workshop conflict and planning speed based on adaptive trapezoidal speed planning method was proposed.The method first abstractly models the road network scenario based on road information and specifies the corresponding maximum speed limit according to the actual situation of different road sections.The second step is to combine the information of the traveling mine cards in the road network to detect the conflict between mine cards at each node in the target mine card traveling path.The third step is to add time distance constraint to each node to dissipate the conflict between mining cards according to the type of conflict between mining cards,and finally to use adaptive trapezoidal speed planning method to generate the whole collaborative passing speed scheme for the target mining card.The experiments use the traditional stop-and-go obstacle avoidance algorithm as a comparison,and the results show that the method can dissipate the conflicts between mining cards and maintain the safe distance between the front and rear vehicles without affecting the normal passage of other moving mining cards,and improve the smoothness of the speed of the target mining card in driving,while reducing the passage time by 21% compared with the traditional stop-and-go obstacle avoidance algorithm.

Key words: open-pit mine, unmanned driving, mining truck, speed optimization, planning coordination, trapezoidal speed planning

中图分类号: 

  • TD176

图1

速度协同规划方法流程"

图2

露天矿运输系统路网模型注:图中以“L”开头的ID表示装载点;“J”开头的ID表示交叉路口"

图3

道路中路段划分示意图注:图中数字为各路段的限速,单位为km/h"

图4

交叉口会车冲突类型示意图"

图5

交叉口会车冲突消解原理示意图注:tin为进入冲突节点的时刻;tout为完全驶出冲突节点的时刻"

图6

前后车追尾冲突消解原理示意图"

图7

单路段梯形速度规划原理示意图"

图8

时距约束与单车最快通行速度曲线关系示意图注:图中各种色块代表不同冲突矿卡在道路节点处的时距约束;绿色曲线为目标矿卡单车最快通行速度曲线"

图9

自适应梯形速度规划结果示意图"

图10

试验道路场景示意图"

表1

仿真道路场景参数"

道路ID路段划分数量路段长度/m路段限速 /(km·h-1道路总长 /m
L6_J63100、100、10020、30、25300
J6_J43125、150、12530、40、30400
J4_J22300、5035、30350
J2_J13175、75、10035、20、25350
J1_D14200、100、100、10035、20、15、25500

表2

仿真矿卡相关参数"

矿卡出发时刻/s加速度/(m·s-2减速度/(m·s-2行驶方向行驶路径
Ta00.50.5采装点—卸载点L6、J6、J4、J2、J1、D1
Tb-120.41.2采装点—卸载点L7、J6、J4、J2、J1、D1
Tc-130.30.5采装点—卸载点L8、J4、J2、J1、D1
Td-20.50.3采装点—卸载点L4、J5、J3、J2、J1、D1
Tm-80.40.5采装点—卸载点L4、J5、J3、J7、J1、D1
TE-30.150.8卸载点—采装点D1、J1、J2、J3、J5、L4
TF-610.40.5卸载点—采装点D1、J1、J2、J4、L8
TZ-700.50.5卸载点—采装点D2、J7、J1、J2、J4、L8
TG1000.50.5卸载点—采装点D2、J7、J1、J2、J4、L8
TH400.150.8卸载点—采装点D1、J1、J2、J3、J5、L4

图11

通行速度规划结果示意图"

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