CN-121982933-A - Open-pit overtaking control method and control system

CN121982933ACN 121982933 ACN121982933 ACN 121982933ACN-121982933-A

Abstract

The invention provides an open-pit overtaking control method and a control system, wherein the control method comprises the steps of obtaining multi-source driving data, wherein the multi-source driving data comprise preset first host vehicle data, second host vehicle data and second host vehicle data which are collected in real time, identifying the type of the host vehicle based on the multi-source driving data to obtain a vehicle type identification result, identifying the overtaking intention of the host vehicle based on the second host vehicle data and the second host vehicle data, executing a corresponding overtaking control strategy based on the vehicle type identification result when the overtaking intention exists, triggering an overtaking prohibition control strategy when the host vehicle and the host vehicle are of the same type, and performing bidirectional interaction overtaking permission verification based on the second host vehicle data and the second host vehicle data when the host vehicle and the host vehicle are of different types, granting permission and controlling the overtaking accident to the host vehicle so as to ensure production safety and transportation efficiency.

Inventors

ZHAO LIHUI
ZHOU QUAN
WANG HONGBING
MIAO RUNTAO
Dou miao
HUANG HAOTIAN
HUANG WEIGANG
CHU XIAOBO
YANG YUZHEN
KONG FANJIANG

Assignees

北京中矿华沃科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260331

Claims (10)

1. A method of controlling a surface mine overrun comprising: Acquiring multi-source driving data, wherein the multi-source driving data comprises preset first host vehicle data, first other vehicle data, second host vehicle data acquired in real time, second other vehicle data and environment dynamic data; identifying the type of the other vehicle based on the multi-source driving data to obtain a vehicle type identification result; Based on the second host vehicle data, the second host vehicle data and the environmental dynamic parameters, carrying out multidimensional identification, and confirming the overtaking intention of the host vehicle; When the vehicle and the host vehicle are abnormal vehicles, inputting the multi-source driving data into a dynamic finite state machine model to execute a bidirectional interaction overtaking authority management process, wherein the dynamic finite state machine model comprises a plurality of predefined states and basic transfer parameters corresponding to the predefined states, and each predefined state corresponds to a plurality of preset overtaking authority management sub-processes in the overtaking authority management process one by one; And calculating a current transfer judgment parameter value in real time based on the multi-source driving data, and transferring to the next predefined state until the overtaking authority management flow is terminated when the current transfer judgment parameter value is greater than the current dynamic threshold value.
2. The control method according to claim 1, wherein the multi-dimensional recognition based on the second host vehicle data, and the environmental dynamic parameter, and the confirmation of the intention to cut-in of the host vehicle includes: Judging whether the environmental dynamic parameters have overtaking conditions or not; when the overtaking condition is met, calculating the longitudinal distance, the transverse distance and the relative speed between the host vehicle and the other vehicle based on the second host vehicle data and the second other vehicle data; and when the longitudinal distance is smaller than a preset longitudinal distance, the transverse distance is smaller than a preset transverse distance, and the relative speed is larger than a preset relative speed, confirming that the overtaking intention exists in the other vehicle.
3. The control method according to claim 2, wherein said constructing a current dynamic threshold of a base transition parameter corresponding to the current predefined state based on the multi-source driving data comprises: confirming a currently executed target predefined state; extracting target data corresponding to the target predefined state from the multi-source driving data; The current dynamic threshold is calculated based on the target data.
4. The control method of claim 3, wherein the predefined states include a to-be-requested overtaking permission state, an overtaking permission state request in-progress state, a grant overtaking permission state, an overtaking in-progress state, a complete overtaking state, and an overtaking failure state, which are sequentially transferred.
5. The control method of claim 4, wherein the base transfer parameters include: The first basic transfer parameters for transferring the overtaking permission status to the overtaking permission status request state comprise whether the longitudinal distance between the overtaking permission status request state and the host vehicle is smaller than a preset longitudinal distance or not, and whether the transverse distance is smaller than a preset transverse distance or not; The state transition in the overtaking permission request to the second basic transition parameter of the state of the overtaking permission grant comprises whether a confirmation overtaking request exists in a first preset duration; the third basic transfer parameter for transferring the state of the permission to the state in the overtaking execution comprises whether overtaking behaviors exist in a second preset duration; The fourth basic transfer parameter for transferring the state in the overtaking execution to the overtaking completion state comprises whether overtaking is completed or not; the fifth basic transfer parameter for transferring the state of the permission to the state of the failure of the overtaking includes whether the overtaking request is confirmed within a first preset duration or whether the overtaking is completed within a third preset duration.
6. The control method according to claim 5, wherein the dynamic environmental parameters include road ramp data, road slip rate, and dust concentration data; When entering the overtaking permission state to be requested, extracting the road ramp data, the road slip rate and the dust concentration data from the dynamic environment parameters; And correcting the preset longitudinal distance by taking the road ramp data, the road slip rate and the dust concentration data as correction coefficients on the basis of the preset longitudinal distance to obtain a longitudinal dynamic threshold, wherein the road ramp data and the road slip rate are positively correlated with the longitudinal dynamic threshold, and the dust concentration data are inversely correlated with the longitudinal dynamic threshold.
7. The control method according to claim 6, wherein, When entering a state in the overtaking permission request, determining communication time delay data and communication packet loss rate based on second host vehicle data and second other vehicle data, and extracting the road ramp data, curvature radius and dust concentration data from the dynamic environment parameters; Determining a communication quality coefficient based on the communication delay data and the communication packet loss rate, determining an environment visual coefficient based on the dust concentration data, determining an inter-vehicle situation coefficient based on the longitudinal distance, determining a road condition coefficient based on the road ramp data and the radius of curvature, Based on the first preset duration, the communication quality coefficient, the environment visual coefficient, the inter-vehicle situation coefficient and the road condition coefficient are taken as correction coefficients, and the first preset duration is corrected according to the following steps to obtain a dynamic request duration threshold; T 1 = max(T 10 ,min( T 11 , T base ×K comm ×K env ×K pos ×K road )) Wherein, T 1 is a dynamic request duration threshold, T 10 is a dynamic request duration threshold lower limit constraint duration, T 11 is a dynamic request duration threshold upper limit constraint duration, T base is a first preset duration, K comm is a communication quality coefficient, K env is an environment visual coefficient, K pos is an inter-vehicle situation coefficient, and K road is a road condition coefficient.
8. The control method according to claim 7, wherein, When entering a state of granting overtaking permission, extracting the road ramp data and the road slip rate from the dynamic environment parameters, determining a model difference coefficient between the vehicle and the host vehicle based on the first host vehicle data and the first host vehicle data, wherein the model difference coefficient represents the volume ratio or the load ratio of the host vehicle and the host vehicle; And correcting the third preset duration based on the third preset duration, and taking the road ramp data, the road slip rate and the vehicle type difference coefficient as correction coefficients to obtain a dynamic authorization duration threshold, wherein the road ramp data, the road slip rate and the vehicle type difference coefficient are positively correlated with the dynamic authorization duration threshold.
9. An open-pit mine field overtaking control system comprising an equipment layer deployed on a vehicle, a communication layer, an edge calculation layer and a cloud management layer in communication connection with the equipment layer, wherein the equipment layer is used for storing first host vehicle data and collecting second host vehicle data, the communication layer is used for receiving the first host vehicle data and the second host vehicle data through communication with the host vehicle, and the edge calculation layer is used for executing the control method of any one of claims 1-8.
10. The surface mine field overtaking control system of claim 9, wherein the backup layer comprises a positioning module deployed on-board, a wireless communication module and a vehicle-mounted control unit, wherein the positioning module is used for positioning the vehicle, the vehicle-mounted control unit is used for calculating position information and speed information of the vehicle according to positioning information, and the vehicle-mounted control unit is in communication connection with the cloud management layer.

Description

Open-pit overtaking control method and control system Technical Field The invention relates to the open pit technology, in particular to an overtaking control method and a control system for an open pit. Background The open-air mine transportation is a core link of mining production, engineering vehicles such as mining dump trucks and the like have the characteristics of hundred-ton heavy load, large inertia, long braking distance, large visual field blind area and the like, mine roads are temporary simple roads, multi-ramp curves, dust strong light interference and no standardized traffic facilities, multiple vehicles are mixed, a large number of 'four super' special vehicles exist, if the vehicles are not normally driven on the roads of the open-air mine, the risk of collision of the vehicles is possibly caused, the production and transportation efficiency is reduced, and particularly, the overtaking behavior on the roads is possibly caused to seriously produce safety problems if the vehicles are not controlled in place. Therefore, how to promote the overtaking behavior of open-pit mines to effectively control so as to ensure production safety and transportation efficiency becomes a technical problem. Disclosure of Invention The embodiment of the invention provides an overtaking control method and an overtaking control system for an open-air mine, which can solve the problem of how to promote overtaking behaviors of the open-air mine to effectively control so as to ensure production safety and transportation efficiency in the prior art. According to a first aspect of the embodiment of the invention, an open-pit mine field overtaking control method is provided, which comprises the steps of obtaining multi-source driving data, wherein the multi-source driving data comprises preset first host vehicle data and first other vehicle data, and second host vehicle data, second other vehicle data and environment dynamic data which are acquired in real time; identifying the type of the other vehicle based on the multi-source driving data to obtain a vehicle type identification result; Based on the second host vehicle data, the second host vehicle data and the environmental dynamic parameters, carrying out multidimensional identification, and confirming the overtaking intention of the host vehicle; When the vehicle and the host vehicle are abnormal vehicles, inputting the multi-source driving data into a dynamic finite state machine model to execute a bidirectional interaction overtaking authority management process, wherein the dynamic finite state machine model comprises a plurality of predefined states and basic transfer parameters corresponding to the predefined states, and each predefined state corresponds to a plurality of preset overtaking authority management sub-processes in the overtaking authority management process one by one; and calculating a current transfer judgment parameter value in real time based on the multi-source driving data, and transferring to the next predefined state until the overtaking authority management flow is terminated when the current transfer judgment parameter value is greater than the current dynamic threshold value. Optionally, performing multidimensional identification based on the second host vehicle data, the second host vehicle data and the environmental dynamic parameter, and confirming the overtaking intention of the host vehicle includes: Judging whether the environmental dynamic parameters have overtaking conditions or not; when the overtaking condition is met, calculating the longitudinal distance, the transverse distance and the relative speed between the host vehicle and the other vehicle based on the second host vehicle data and the second other vehicle data; and when the longitudinal distance is smaller than the preset longitudinal distance, the transverse distance is smaller than the preset transverse distance, and the relative speed is larger than the preset relative speed, confirming that the overtaking intention exists in the other vehicle. Optionally, the constructing the current dynamic threshold of the basic transfer parameter corresponding to the current predefined state based on the multi-source driving data includes: confirming a currently executed target predefined state; extracting target data corresponding to the target predefined state from the multi-source driving data; The current dynamic threshold is calculated based on the target data. Optionally, the predefined states comprise a to-be-requested overtaking permission state, an overtaking permission state request middle state, an overtaking permission state grant, an overtaking execution middle state, an overtaking completion state and an overtaking failure state which are transferred in sequence. Optionally, the basic transfer parameters include: The first basic transfer parameters for transferring the overtaking permission status to the overtaking permission status request state comprise whether