The invention relates to a backward heterogeneous redundancy sensing method for an automatic driving mine car, and the method comprises the steps: employing an ultrasonic radar which is transversely disposed at the bottom of the rear end of a vehicle compartment, is used for detecting the height distance information between the bottom of the rear end of the vehicle compartment and the ground, and is connected with an automatic driving domain controller; the automatic driving domain controller receives height distance information detected by the ultrasonic radar, vehicle speed information sent by the gearbox system, wheel speed information sent by the electronic braking system and acceleration information sent by the inertial navigation system, and identifies whether a vehicle abuts against a retaining wall or not by comparing the information with a calibration threshold value. And executing instructions sent to the gearbox system, the drive-by-wire driving system and the electronic braking system are adjusted, and safe parking of the vehicle close to the retaining wall is achieved. Whether the wheels make contact with the retaining wall or not is distinguished through multiple heterogeneous safety sensing knowledge, and the safety of parking and unloading of the mine car is greatly improved.

    本发明涉及一种自动驾驶矿车后向异构冗余感知方法,包括设置在车辆大厢后端底部横向设置的超声波雷达,用于探测车辆大厢后端底部与地面的高度距离信息,超声波雷达与自动驾驶域控制器连接;自动驾驶域控制器接收超声波雷达检测的高度距离信息、变速箱系统发送的车速信息、电子制动系统发送的轮速信息以及惯性导航系统发送的加速度信息,通过与标定阈值比较,识别车辆是否抵触挡墙,调整发送给变速箱系统、线控驱动系统和电子制动系统的执行指令,实现车辆贴靠挡墙安全停车。通过多重异构安全感知识别车轮是否与挡墙接触,大幅提高了矿车泊车卸料的安全性。


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    Title :

    Self-driving mine car backward heterogeneous redundancy sensing method


    Additional title:

    一种自动驾驶矿车后向异构冗余感知方法


    Contributors:
    ZHAO JUN (author) / WANG JING (author) / PING ZHAOQI (author)

    Publication date :

    2025-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



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