【作者】 郭雅馨； 黄立明； 袁广忠； 赵明磊； 孟祥春；

【Author】 Guo Yaxin;Huang Liming;Yuan Guangzhong;Zhao Minglei;Meng Xiangchun;Key Laboratory of Autonomous Transportation Technology for Special Vehicles,Ministry of Industry and Information Technology,School of Transportation Science and Engineering,Beihang University;Beijing Tage IDriver Technology Co.,Ltd;Huolinhe Opencut Coal Industry Corporation Limited Of Inner;

【机构】 特种车辆无人运输技术工业和信息化部重点实验室交通科学与工程学院北京航空航天大学； 北京踏歌智行科技有限公司； 内蒙古霍林河露天煤业股份有限公司；

【摘要】 矿区无人驾驶是实现矿区开采智能化与无人化的核心和难点。对于城市街区环境,目前已有相对成熟的仿真软件,可以满足研究者对于城市街区场景搭建的真实性和精度要求,但对于矿区环境,目前还没有相匹配的场景搭建及矿区作业车辆建模方案。本文旨在搭建露天矿区的矿车模型及行驶环境,具体地,本文解决了矿区山体真实环境的搭建问题,实现了矿卡三维运动、动力学模型建立和矿用电铲三维运动模型搭建,同时给出了矿区跟车场景的搭建方案以及装载及卸载动作呈现的方法,实现了露天矿区无人驾驶环境搭建以及作业车辆建模仿真,为矿区无人驾驶测试提供了基础。更多还原

【Abstract】 Unmanned driving in the mining area is the core and difficult point to realize the intelligent and unmanned mining in the mining area.For the urban block environment,there is relatively mature simulation software that can meet the researchers’ requirements for the authenticity and accuracy of the urban block scene construction.However,for the mining area environment,there is currently no matching scenario construction and vehicle modeling solution.The purpose of this paper is to build a mining vehicle model and simulated driving environment of the open-pit mine area,specifically,this paper solves the problem of setting up the highly realistic simulation environment of the open-pit mining mountains and realizes the establishment of the three-dimensional movement and dynamic model of the mining vehicle,also the three-dimensional movement model of the electric mining shovel was built At the same time,the construction plan of the car-following scene simulation and the presentation of loading and unloading actions are presented.This paper realizes the construction of the unmanned driving environment and the modeling simulation of the operating vehicles in the open-pit mining area,and it provides the basis for the unmanned driving test in the mining area.更多还原