The invention relates to an unmanned mining truck, a parking method, device and system thereof and a storage medium. The unmanned mining truck parking method comprises the steps that parking related data are obtained, and the parking related data at least comprise vehicle current state information, obstacle data, reference parking point data and retaining wall boundary data; according to the reference parking point data and the retaining wall boundary data, parking point sampling is carried out, and sampled parking point information is obtained; calculating a sampling path according to the current state information of the vehicle and the sampling parking point information; performing obstacle collision detection on the sampling paths according to the obstacle data, and selecting an optimal driving path from the sampling paths; and controlling the unmanned mining truck to park according to the optimal driving path. According to the invention, the obstacle avoidance parking path of the unmanned mining truck can be adaptively planned, so that the unmanned mining truck can be accurately parked at the ideal parking space, and the effect and efficiency of parking operation are improved.
本公开涉及一种无人矿用卡车及其泊车方法、装置和系统、存储介质。该无人矿用卡车泊车方法包括:获取泊车相关数据,其中,所述泊车相关数据至少包括车辆当前状态信息、障碍物数据、参考泊车点数据和挡墙边界数据;根据参考泊车点数据和挡墙边界数据,进行泊车点采样,得到采样泊车点信息;根据车辆当前状态信息和采样泊车点信息,计算采样路径;根据所述障碍物数据对所述采样路径进行障碍物碰撞检测,从所述采样路径中选取最优行驶路径;按照所述最优行驶路径控制无人矿用卡车进行泊车。本公开可以自适应规划无人矿用卡车的避障泊车路径,使无人矿用卡车精准停靠到理想泊车位处,提升泊车作业的效果和效率。
Unmanned mining truck, parking method, device and system thereof and storage medium
无人矿用卡车及其泊车方法、装置和系统、存储介质
2025-05-06
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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