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• CN 62-1112/TF
• ISSN 1005-2518
• 创刊于1988年

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

WANG Pengfei,, BI Lin, WANG Liguan,

School of Resources and Safety Engineering，Center South University，Changsha 410083，Hunan，China

Abstract

Keywords： open-pit mine ; unmanned driving ; mining truck ; speed optimization ; planning coordination ; trapezoidal speed planning

WANG Pengfei, BI Lin, WANG Liguan. Research on Speed Planning of Unmanned Driving Mining Trucks in Open-pit Mines[J]. Gold Science and Technology, 2022, 30(3): 460-469 doi:10.11872/j.issn.1005-2518.2022.03.006

图1

Fig.1   Flow of speed collaborative planning method

图2

Fig.2   Road network model of open-pit transportation system

图3

Fig.3   Schematic of road section division

图4

Fig.4   Schematic of the types of intersection vehicle confilict

图5

Fig.5   Schematic of the principle of intersection vehicle conflict elimination

图6

Fig.6   Schematic of the principle of vehicle rear-end conflict elimination

$tu=S∕vAtd=S∕vB$

图7

Fig.7   Schematic of the principle of single-section trapezoidal speed planning

图8

Fig.8   Schematic of the relationship between time distance constraint and passing speed curve

1.6 多车无冲突协同通行速度规划

$Tli=Tlfi+Trk-∑jnTlfj⋅TlfiTrk$

图9

Fig.9   Schematic of adaptive trapezoidal speed planning results

（1）当初速度与末速度相等时，此时有3种可能的规划结果，选取$v1$曲线的通行时长$t1$为此情况下模型判断依据，计算公式如式（5）所示。设实际通行时长为t，若$t1$=$t$，取$v1$曲线为此路段规划速度曲线；若$t1$>t，取$v0$曲线为此路段规划速度曲线；若$t1$<t，取$v2$曲线为此路段规划速度曲线。

$t1=L∕V0$

（2）当初速度大于末速度时，此时有5种可能的规划结果，选取$v1$曲线的通行时长$t1$$v3$曲线的通行时长$t3$为此情况下模型判断依据，计算公式如式（6）所示。若$t1$=$t$，取$v1$曲线为此路段规划速度曲线；若$t1$>$t$，取$v0$曲线为此路段规划速度曲线；若$t1$<$t$<$t3$，取$v2$曲线为此路段规划速度曲线；若$t3$=$t$，取$v3$曲线为此路段规划速度曲线；若$t3$<$t$，取$v4$曲线为此路段规划速度曲线。

$t1=V0-V1ad+LV0-V02-V122adV0t3=V0-V1ad+LV1-V02-V122adV1$

（3）当初速度小于末速度时，此时有5种可能的规划结果，选取$v1$曲线的通行时长$t1$$v3$曲线的通行时长$t3$为此情况下模型判断依据，计算公式如式（7）所示。若$t1$=$t$，取$v1$曲线为此路段规划速度曲线；若$t1$>$t$，取$v0$曲线为此路段规划速度曲线；若$t1$<t<$t3$，取$v2$曲线为此路段规划速度曲线；若$t3$=$t$，取$v3$曲线为此路段规划速度曲线；若$t3$<$t$，取$v4$曲线为此路段规划速度曲线。

$t1=V1-V0aa+LV0-V12-V022aaV0t3=V1-V0aa+LV1-V12-V022aaV1$

图10

Fig.10   Schematic of experimental road scene

Table 1  Simulation road scene parameters

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

Table 2  Related parameters of simulated trucks

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

Fig.11   Schematic of traffic speed planning results

3 结论

http://www.goldsci.ac.cn/article/2022/1005-2518/1005-2518-2022-30-3-460.shtml

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