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原文发表在《工矿自动化》2021年第4期，欢迎品读。

随着大型露天矿山开采深度加大，坡度大、弯道多的现象逐渐增多，生产难度不断增加。矿区无人化运营是实现安全生产、降低人工和整车使用成本、提升运行效率的有效途径。提出了一种露天煤矿卡车无人驾驶系统设计方案。无人驾驶系统整体架构如图2所示，包含车载自动驾驶子系统（VAP）、无线通信子系统（DCS）、地面管理子系统（GMS），可实现矿用卡车“装、运、卸”作业过程的完全无人自主运行。

图1 矿用卡车无人驾驶系统整体架构

为满足矿山非结构化环境感知需求，充分利用多传感器特性，提出了面向矿山非结构化环境的多源异构传感器融合感知算法。根据传感器种类及组合方式不同，该算法分为激光雷达感知模块、毫米波雷达感知模块及多源传感器融合模块，如图2所示。

图2 多源异构传感器融合感知算法架构

矿用卡车无人驾驶控制算法架构如图3所示。根据规划层下达的期望路径与速度信息，结合传感器采集的当前车辆速度、加速度、位置、位姿等信息，通过纵向控制器与横向控制器实时计算期望加速度与期望方向盘转角，并通过线控底盘接口控制转向轮角、电驱动/电制动与液压制动，实现车辆横纵向运动控制。

图 3 矿用卡车无人驾驶控制算法架构

引用格式

闫凌，黄佳德.矿用卡车无人驾驶系统研究［J］.工矿自动化，2021,47（4）：19-29.

YAN Ling,HUANG Jiade.Research on unmanned driving system of mine-used truck［J］.Industry and Mine Automation，2021,47（4）：19-29.

作者联系方式

闫凌(1984-)，男，甘肃张掖人，工程师，硕士，主要从事露天煤矿机电设备管理工作，E-mail：10578575@chnenergy.com.cn。

责任编辑联系方式

胡娴，E-mail: huxian@cari.com.cn

矿用卡车无人驾驶系统研究

Research on unmanned driving system of mine-used truck

【作者】 闫凌1，黄佳德2

【Author】 YAN Ling1,HUANG Jiade2

【作者机构】1.国家能源集团准能公司 哈尔乌素露天煤矿， 内蒙古 鄂尔多斯017100；2.株洲中车时代电气股份有限公司， 湖南 株洲412001

【Unit】1.Harwusu Open-pit Coal Mine, Zhunneng Company of CHN Energy, Ordos 017100, China; 2.Zhuzhou CRRC Times Electric Co., Ltd., Zhuzhou 412001, China

【摘要】随着大型露天煤矿开采深度下探，坡度大、弯道多的现象逐渐增多，矿车驾驶难度高且存在安全隐患。提出了一种露天煤矿卡车无人驾驶系统设计方案，该无人驾驶系统包含车载自动驾驶子系统、车地无线通信子系统、地面管理子系统，可实现矿用卡车“装、运、卸”作业过程的完全无人自主运行。为满足露天煤矿非结构化环境感知需求，提出了面向露天煤矿非结构化环境的多源异构传感器融合感知算法；针对矿用卡车在不同载质量与不同坡度中的行驶需求，提出了考虑质量与坡度的纵向自适应控制算法，以适应不同载质量下坡停、坡起、定点停车与车铲配合停车等工况下的纵向速度控制与距离控制要求；针对矿区大曲率转向、倒退等行驶需求，提出了基于变参数自适应的前进横向控制方法与后退横向控制方法，以达到矿区全部复杂路面横向精确控制要求。该无人驾驶系统在哈尔乌素露天煤矿进行了泥泞路面、夜间环境等不同环境的测试，结果表明，该无人驾驶系统具备矿区作业能力，能够准确循迹并自主避障与执行任务；地面控制系统能够控制无人矿用卡车的启动与关闭，在必要情况可远程控制与驾驶矿用卡车，系统各项功能平稳可靠。指出了矿山无人驾驶系统的发展趋势：① 对于车载系统，需首先构建系统化与产品化思维，以产品形式选择相应硬件，提升硬件的矿区适应性；感知系统应着重提升复杂重尘环境下的目标识别能力，提高检测冗余度；控制系统应着重提高线控执行器响应速度，提高载质量获取准确性；决策系统应从导向安全出发，进一步考虑导向高效，提高系统作业效率。② 对于地面系统，应充分融合前一阶段数字化矿山的既有成果，兼容当前矿区调度管理系统；应着重开发混跑与多车协同管理系统，具备多车调度中的效率与节能控制指标；应大力发展“云控”技术，利用V2X（车辆与外界的信息交换）等先进手段，提升无人驾驶系统协同安全。

【Abstract】With the deep exploration of large open-pit coal mines, the phenomenon of steep slopes and many bends has gradually increased. Moreover, the mine-used truck driving is difficult and there are hidden safety hazards. Therefore, a design scheme of unmanned driving system for open-pit coal mine trucks is proposed. The unmanned driving system includes a vehicular autonomous package, a vehicle-to-ground wireless data communication system and a ground management system. The driving system can realize the completely unmanned autonomous operation of ‘loading, transporting and unloading’ of mine-used trucks. In order to meet the demand of unstructured environment sensing in open-pit coal mines, a multi-source heterogeneous sensor fusion sensing algorithm for the unstructured environment of open-pit coal mines is proposed. According to the driving demand of mine-used trucks in different load qualities and different slopes, a longitudinal adaptive control algorithm considering the quality and slope is proposed to meet the requirements of longitudinal speed control and distance control under the working conditions of slope stop, slope start, fixed-point stop and shovel stop with different load qualities of mine-used trucks. According to the driving demand of large curvature steering and reversing in the mining area, the forward and backward lateral control methods based on variable parameter adaption are proposed to meet the requirements of lateral precise control of all complex roads in the mining area. The unmanned driving system has been tested in different environments such as muddy roads and night environments in the Harwusu Open-pit Coal Mine. The results show that the unmanned driving system has the ability to operate in the mining area, can track accurately, avoid obstacles and perform tasks autonomously. The ground control system can control the start and shutdown of unmanned mine-used trucks, and can remotely control and drive the mine-used trucks if necessary. The various functions of the system are stable and reliable. The development trend of unmanned driving systems in mines is pointed out. ① For vehicular system, it is necessary to build systematic and product-oriented thinking at first, select the corresponding hardware in the form of products, and improve the adaptability of the hardware in the mining area. The perception system should focus on improving the target recognition ability in the complex and heavy dust environment so as to improve the detection redundancy. The control system should focus on improving the response speed of the wire-controlled actuator so as to improve the accuracy of the load quality acquisition. The decision-making system should focus on the guiding safety at first, and further consider the guiding efficiency and improve the system operation efficiency. ② For the ground system, it should fully integrate the existing achievements of the previous stage of digital mine and be compatible with the current mining area scheduling management system. It should focus on the development of mixed running and multi-vehicle cooperative management system, which has the efficiency and energy-saving control indexes in multi-vehicle scheduling. It is proposed that the ‘cloud control’ technology should be developed vigorously, and V2X (Vehicle-to-Everything) and other advanced methods should be used to improve the cooperative safety of unmanned driving systems.

【关键词】 露天煤矿；矿用卡车；无人驾驶；智慧矿山；感知矿山

【Key words】open-pit coal mine; mine-used truck; unmanned driving; intelligent mine; perception mine

信息提供：胡娴 图文编辑：张聚

审 核：王晖

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