The invention discloses a scene-based mine car unmanned driving safety control method and system, and belongs to the technical field of mine automatic driving. The method comprises the steps of collecting scene data of mining area work in real time; performing feature extraction according to the scene data and the task data, and dividing the extracted features into a macroscopic scene layer and a microscopic scene layer; using the decision tree model to make a vehicle behavior decision and output a driving path and a target speed; a rule engine is adopted for scene risk assessment, control arbitration is conducted on control instructions of a vehicle driving system, a braking system, gears, an operation system and a warning system according to scene risk levels, safety measures are dynamically adjusted, and a safety control instruction for the vehicle is output; and the vehicle executes the control instruction according to the safety control instruction and the current vehicle state. According to the invention, scenes with different complexity and risk levels in a mining area can be identified through a double-layer classification method, and proper safety measures can be taken by vehicles in different scenes.
本发明公开一种基于场景的矿车无人驾驶安全控制方法及系统,属于矿山自动驾驶技术领域。其包括实时采集矿区工作的场景数据;根据场景数据和任务数据进行特征提取,并将提取的特征分为宏观场景层和微观场景层;采用决策树模型进行车辆行为决策输出行驶路径和目标速度;采用规则引擎进行场景风险评估,根据场景风险等级对车辆驱动系统、制动系统、档位、作业系统及警示系统控制指令进行控制仲裁,动态调整安全措施,输出对车辆的安全控制指令;车辆根据安全控制指令和当前的车辆状态执行控制指令。本发明通过双层分类方法能够对矿区内不同复杂度和风险级别的场景进行识别,确保车辆在不同场景下采取适当的安全措施。
Scene-based mine car unmanned driving safety control method and system
一种基于场景的矿车无人驾驶安全控制方法及系统
2024-12-27
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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