Method for predicting and quantifying collision risk of road ahead of unmanned mine truck
Method for predicting and quantifying collision risk of road ahead of unmanned mine truck
- Neue Suche nach: LIU ZHENYU
- Neue Suche nach: WU HAIJIE
- Neue Suche nach: DUAN XINGJI
- Neue Suche nach: JIANG KUN
- Neue Suche nach: WU QI
- Neue Suche nach: LIU ZHENYU
- Neue Suche nach: WU HAIJIE
- Neue Suche nach: DUAN XINGJI
- Neue Suche nach: JIANG KUN
- Neue Suche nach: WU QI
The invention discloses an unmanned mine card front road collision risk prediction and quantification method. The method comprises the following steps: determining a front reference path with a given ODD length as an operation design domain of collision risk prediction; calculating a vehicle body maximum sweeping range of the vehicle running along the ODD length front reference path as an absolute risk area; determining left and right strip-shaped areas outside the absolute risk area as relative risk areas based on the maximum value of outward deviation of the absolute risk area to the vehicle transverse deviation; the area outside the relative risk range is defined as a risk-free area; converting the position information of each angular point of the polygonal obstacle of the front road into a driving path coordinate system; and successively determining whether the obstacle may cause a risk and giving a collision risk quantification result. According to the method, collision prediction is carried out based on the driving path coordinate system, collisions with different invasion degrees are converted into quantifiable risk output, collision prediction can be more visual, prediction results can be quantifiable, and different risks can be classified for control and avoidance.
本发明公开了一种无人驾驶矿卡前方道路碰撞风险预测及量化方法，包括步骤：确定给定ODD长度前方参考路径为碰撞风险预测的运行设计域；计算车辆沿着ODD长度前方参考路径行驶的车身最大扫掠范围，作为绝对风险区域；基于绝对风险区域向外偏移车辆横向偏差最大值，明确绝对风险区之外的左右带状区域，作为相对风险区域；相对风险范围之外定义为无风险区域；将前方道路的多边形障碍物各角点的位置信息转换到行驶路径坐标系；逐次判断障碍物是否会造成风险并给出碰撞风险量化结果。该方法基于行驶路径坐标系进行碰撞预测，将不同侵入程度的碰撞转化为可量化的风险输出，能够实现碰撞预测更直观、预测结果可量化、可将不同风险分类进行控制规避。
Dokumentinformationen
Method for predicting and quantifying collision risk of road ahead of unmanned mine truck
一种无人驾驶矿卡前方道路碰撞风险预测及量化方法
2023-06-06
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 |
Ähnliche Titel
Unmanned mine truck body and mine truck comprising same
| Europäisches Patentamt | 2022
Sensor-based articulated unmanned mine truck anti-collision detection method, system and device
| Europäisches Patentamt | 2022
Unmanned mine truck steering safety control system and method
| Europäisches Patentamt | 2023