The invention relates to the technical field of vehicle control, in particular to an unmanned mine car loading and unloading point parking method based on multi-modal data. The method comprises the following steps: firstly, acquiring an obstacle of the unmanned mine car in a sensing range of a starting point; when the stop point is not in the sensing range of the starting point, planning a driving path according to a path planning method, and updating the real-time driving point as the starting point until the distance between the real-time driving point and the position closest to the stop point in the sensing range is smaller than the step length of the planned path; and continuously updating the starting point until the parking point is within the sensing range of the updated starting point, planning a driving path according to a path planning method, stopping updating the driving path until the distance between the real-time driving point and the parking point is smaller than the step length of the planned path, and driving the unmanned mine car to the real-time driving point along the driving path to stop. According to the method, path planning can be carried out according to the optimization degree when the road surface condition is complex, and potential safety hazards are avoided.
本发明涉及车辆控制技术领域,具体涉及基于多模态数据的无人驾驶矿车装卸点停靠方法。该方法首先获取无人驾驶矿车在起始点的感知范围内的障碍物;当停靠点不在起始点的感知范围内时,根据路径规划方法规划行驶路径,直至实时行驶点与感知范围内最接近停靠点处之间的距离小于规划路径步长时,更新实时行驶点为起始点;不断更新起始点,直至停靠点在更新后的起始点的感知范围内时,根据路径规划方法规划行驶路径,直至实时行驶点与停靠点之间的距离小于规划路径步长时,停止更新行驶路径,无人驾驶矿车沿着行驶路径行驶至实时行驶点进行停靠。本发明实现在路面状况复杂时也可以根据优选度进行路径规划,避免出现安全隐患。
Unmanned mine car loading and unloading point parking method based on multi-modal data
基于多模态数据的无人驾驶矿车装卸点停靠方法
15.08.2023
Patent
Elektronische Ressource
Chinesisch
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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