矿用无人驾驶车辆车载计算单元硬件在环仿真测试研究

Research on hardware-in-the-loop simulation test of on-board computing unit of mine unmanned vehicle

矿用车辆无人驾驶技术是实现智能矿山无人化运输的关键技术,车载计算单元又是矿用无人驾驶车辆的核心,接入传感器及控制器后,车载计算单元通过无人驾驶算法输出控制指令控制车辆行驶。针对车载计算单元进行实车测试验证存在的成本高、难度大、效率低、安全无保障等问题,研究了一种硬件在环仿真系统。介绍了该仿真系统的结构及其功能,详细阐述了对车载计算单元主要接入的GPS、激光雷达、毫米波雷达、视觉传感器等硬件设备以及矿车线控系统进行的仿真测试,并对自动/人工驾驶切换与仿真报告生成进行了说明。通过在白云鄂博矿区场景下对矿用无人驾驶车辆进行装载运输卸载过程的仿真测试,验证了车载计算单元的命令执行、车辆行驶决策规划、控制逻辑等的正确性与稳定性,同时也验证了仿真系统的有效性与可应用性。

Mine vehicle driverless technology is the key technology to realize the unmanned transportation of intelligent mine,and the on-board computing unit is the core of mine unmanned vehicle,through the connected sensors and controllers,the on-board computing unit outputs control instructions through driverless algorithm to control the vehicle.Aiming at the problems of high cost,difficulty,low efficiency and lack of safety guarantee in the real vehicle test and verification of on-board computing unit,a hardware-in-the-loop simulation system was studied.The structure and function of the simulation system were introduced,the simulation tests of GPS,lidar,millimeter wave radar,vision sensor and other hardware equipment mainly connected to the on-board computing unit and the mine car wire control system were described in detail,the automatic/manual driving switching and the generation of simulation report were described.Through the simulation test of the loading-transportation-unloading process of mine unmanned vehicles in the scene of Bayan Obo mining area,the correctness and stability of the command execution,vehicle driving decision planning and control logic of on-board computing unit were verified,and the effectiveness and applicability of the simulation system were also verified.