矿用卡车智能驾驶系统多车协同仿真研究

Research on Multi-vehicle Cooperative Simulation Platform for Intelligent Driving System of Mine Truck

随着智能化、网联化技术在交通行业的广泛应用,矿用卡车(简称“矿卡”)智能驾驶已成为采矿业发展的必然趋势。仿真测试是加速智能驾驶技术研发和落地的重要手段之一。与乘用车自动驾驶的单车智能方案不同,矿卡智能驾驶系统以地面管理与监控系统为中心进行综合调度指挥,并且矿区作业环境复杂多变,给矿卡智能驾驶的安全性带来很大的挑战。文章针对矿卡智能驾驶多车协同控制、环境复杂多变的特点,设计了一套集地面管理与监控系统、车载智能驾驶计算平台、矿区场景模型、车载传感器模型和多车协同仿真通信接口等于一体的矿卡智能驾驶多车协同仿真平台。该仿真平台已被成功应用于某矿卡智能驾驶项目车载决策控制算法和地面调度规划算法的测试,为多车智能驾驶技术的研发提供了测试支撑。

With the wide application of intelligent and network technologies in the transportation industry, intelligent driving of mine truck has become an inevitable trend in the development of mining industry. Simulation test is one of the important means to accelerate the development and implementation of intelligent driving technology. Different from the intelligent single-vehicle solution of passenger car autonomous driving, the intelligent mining truck system takes the ground management and supervision system as the center for comprehensive dispatch and command, and the mining environment is complex and time-varying, which brings great challenges to the safe operation of intelligent driving of mine truck. Therefore, according to the characteristics of multi-vehicle collaborative control and complex and changeable environment of mine trucks, this paper builds a set of mine trucks intelligent multi-vehicle collaborative simulation platform that includes ground management and supervision system, vehicle intelligent driving computing platform, mining scene model, vehicle sensor model, and multi-vehicle collaborative simulation communication interface. This simulation platform has been successfully applied to the testing of on-board decision control algorithms and ground dispatch planning algorithms for a mining truck intelligent driving project, and can provide test support for the research and development of multi-vehicle intelligent technology.