CN112258877A

CN112258877A - Traffic control method, platform and system for mine transport vehicle

Info

Publication number: CN112258877A
Application number: CN202011133351.1A
Authority: CN
Inventors: 周长成; 唐建林; 杨超
Original assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd
Current assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-01-22
Also published as: WO2022082851A1

Abstract

The disclosure provides a traffic control method, a platform and a system for mine transportation vehicles. The traffic control method comprises the following steps: receiving a driving right request message sent by a vehicle terminal device and the weight, the type and the driving data of a vehicle, wherein the driving data comprises: the position, speed and direction of travel of the vehicle; determining the driving state of the vehicle according to the driving data of the vehicle, wherein the driving state comprises a same-direction driving state or a opposite-direction driving state, determining a lane to be driven into by the vehicle according to the position and the driving direction of the vehicle, and acquiring a collision lane and a lane type of the lane by retrieving a lane exclusive list; and sending a control command to the vehicle terminal device according to the weight and the type of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane, and the vehicle running rule, wherein the vehicle terminal device executes corresponding operation processing according to the control command.

Description

Traffic control method, platform and system for mine transport vehicle

Technical Field

The disclosure relates to the field of mine transportation, and in particular relates to a traffic control method, a platform and a system for mine transportation vehicles.

Background

At present, the surface mine usually belongs to remote areas, the environment is severe, and the aging trend of operation drivers of transport vehicles in mining areas is obvious. Safety accidents caused by inattention of job drivers frequently occur. In the future, the economic burden of the mining area in the aspects of production safety, personnel investment and the like is increased day by day, and the unmanned transportation system of the surface mine is gradually developed under the urgent needs of the mining area and the promotion of the development of modern science and technology.

Disclosure of Invention

The technical problem that this disclosure solved is: the specificity and complexity of surface mine operations management results in relatively low efficiency in surface mine vehicle management and control.

According to one aspect of the present disclosure, there is provided a traffic control method for a mine haulage vehicle, comprising: receiving a driving right request message sent by a vehicle terminal device and the weight, the type and the driving data of a vehicle, wherein the driving data comprises: a position, a travel speed, and a travel direction of the vehicle; after receiving the driving road right request message, determining the driving state of the vehicle according to the driving data of the vehicle, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determining a lane to be driven into by the vehicle according to the position and the driving direction of the vehicle, and acquiring a collision lane and a lane type of the lane by retrieving a lane exclusive list; and sending a control instruction to the vehicle terminal device according to the weight and the type of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane and the vehicle running rule, wherein the vehicle terminal device executes corresponding operation processing according to the control instruction.

In some embodiments, the step of transmitting a control instruction to the vehicle terminal device includes: under the condition that the lane is not a slope, calculating a driving weight value of the vehicle according to the weight and the type of the vehicle; and sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the collision lane and lane type of the lane and the vehicle running rule.

In some embodiments, the vehicle is a current vehicle; the step of sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane, and the vehicle running rule includes: when the running state is an opposite running state and the current vehicle and an adjacent vehicle adjacent to the current vehicle are both unmanned vehicles, if the running weight value of the current vehicle is equal to the running weight value of the adjacent vehicle, a control instruction for deceleration processing is sent to both a vehicle terminal device of the current vehicle and a vehicle terminal device of the adjacent vehicle, if the running weight value of the current vehicle is smaller than the running weight value of the adjacent vehicle, the control instruction for deceleration processing is sent to the vehicle terminal device of the current vehicle, and if the running weight value of the current vehicle is larger than the running weight value of the adjacent vehicle, the control instruction for deceleration processing is sent to the vehicle terminal device of the adjacent vehicle.

In some embodiments, the vehicle is a current vehicle; the step of sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane, and the vehicle running rule includes: and if the running state is an opposite running state, the current vehicle is an unmanned vehicle and the adjacent vehicle adjacent to the current vehicle is a manned vehicle, sending a control instruction of deceleration processing to a vehicle terminal device of the manned vehicle if the running weight value of the manned vehicle is smaller than the running weight value of the unmanned vehicle, otherwise sending a control instruction of parking processing to the vehicle terminal device of the unmanned vehicle.

In some embodiments, the step of transmitting a control instruction to the vehicle terminal device includes: and if the lane is a slope, transmitting a control command to the vehicle terminal device according to whether the vehicle is in an ascending lane or a descending lane, wherein if the vehicle is in the ascending lane, the control command to stop the vehicle is transmitted to the vehicle terminal device, and if the vehicle is in the descending lane, the control command to decelerate the vehicle is transmitted to the vehicle terminal device.

In some embodiments, the vehicle is a current vehicle; the step of transmitting a control command to the vehicle terminal device includes: calculating a first distance between the current vehicle and an adjacent vehicle traveling in the same direction as the current vehicle, in a case where the current vehicle is an unmanned vehicle and the traveling state is a same-direction traveling state; transmitting a control instruction of deceleration processing to a vehicle terminal device of the current vehicle when the first distance is less than or equal to a first threshold and the current vehicle is behind the adjacent vehicle; and sending a safety early warning control instruction to a vehicle terminal device of the adjacent vehicle when the first distance is greater than the first threshold value or the current vehicle is in front of the adjacent vehicle.

In some embodiments, the vehicle is a current vehicle; the step of transmitting a control command to the vehicle terminal device includes: calculating a second distance between the current vehicle and an adjacent vehicle running in opposition to the current vehicle, in a case where the current vehicle is an unmanned vehicle and the running state is an opposing running state; transmitting a control instruction of parking processing to a vehicle terminal device of the current vehicle when the second distance is less than or equal to a second threshold value; and transmitting a control command for deceleration processing to the vehicle terminal device of the current vehicle when the second distance is greater than the second threshold value.

In some embodiments, in a case where the control instruction is to perform parking or deceleration processing on a vehicle, the step of the vehicle terminal device performing corresponding operation processing according to the control instruction includes: under the condition that the vehicle is an unmanned vehicle, the vehicle terminal device performs parking or deceleration processing on the unmanned vehicle according to the control command; and under the condition that the vehicle is a manned vehicle, the vehicle terminal device displays alarm information on a display screen of the vehicle terminal device after receiving the control instruction.

In some embodiments, the traffic control method further comprises: before the driving right request message is received, the collected original map boundary data is received, a surface mine road network and a working area which meet the vehicle operation driving requirements are established, the infrastructure for unmanned vehicles of a surface mine is calibrated, the unsafe road sections in the surface mine road network are divided, the automatic driving path in each divided road section is generated and added into the lane mutual exclusion table.

According to another aspect of the present disclosure, there is provided a traffic control platform for a mine haulage vehicle, comprising: a receiving unit configured to receive a driving right request message transmitted by a vehicle terminal device and weight, type and driving data of a vehicle, wherein the driving data includes: a position, a travel speed, and a travel direction of the vehicle; the analysis unit is configured to determine the driving state of the vehicle according to the driving data of the vehicle after receiving the driving road right request message, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determine a lane to which the vehicle is going to drive according to the position and the driving direction of the vehicle, and obtain a collision lane and a lane type of the lane by searching a lane mutual exclusion table; and a control unit configured to transmit a control instruction to the vehicle terminal device according to the weight and type of the vehicle, the running state of the vehicle, the collision lane and lane type of the lane, and a vehicle running rule, wherein the vehicle terminal device executes corresponding operation processing according to the control instruction.

In some embodiments, the control unit comprises: a calculating module configured to calculate a driving weight value of the vehicle according to the weight and the type of the vehicle when the lane is not a slope; and a transmission module configured to transmit the control instruction to the vehicle terminal apparatus according to a running weight value of the vehicle, a running state in which the vehicle is located, a collision lane and a lane type of the lane, and the vehicle running rule.

According to another aspect of the present disclosure, there is provided a traffic control platform for a mine haulage vehicle, comprising: a memory; and a processor coupled to the memory, the processor configured to perform the method as previously described based on instructions stored in the memory.

According to another aspect of the present disclosure, there is provided a traffic control platform for a mine haulage vehicle, comprising: a control center device configured to receive a driving right request message transmitted by a vehicle terminal device and weight, type and driving data of a vehicle, wherein the driving data includes: the method comprises the steps of obtaining the position, the running speed and the running direction of a vehicle, receiving a running control strategy, packaging the running control strategy into a control command and sending the control command to a vehicle terminal device, wherein the vehicle terminal device executes corresponding operation processing according to the control command; and a traffic management service device configured to receive the travel right request message and the weight, type, and travel data of the vehicle from the control center device, determine a travel state in which the vehicle is located according to the travel data of the vehicle, the travel state including a co-travel state or a counter-travel state, determine a lane into which the vehicle is to travel according to the position and travel direction of the vehicle, obtain a collision lane and a lane type of the lane by retrieving a lane exclusivity table, and obtain the travel control policy according to the weight and type of the vehicle, the travel state in which the vehicle is located, the collision lane and the lane type of the lane, and a vehicle travel rule, and transmit the travel control policy to the control center device.

In some embodiments, the traffic management service device is configured to calculate a driving weight value of the vehicle according to the weight and the type of the vehicle if the lane is not a slope, and obtain the driving control policy according to the driving weight value of the vehicle, the driving state of the vehicle, the collision lane and the lane type of the lane, and the driving rule of the vehicle.

In some embodiments, the traffic control platform further comprises: the map management device is configured to receive the collected original map boundary data, create a surface mine road network and an operation area which meet the vehicle operation driving requirements, calibrate infrastructure for unmanned vehicles of a surface mine, divide and divide non-safe road sections in the surface mine road network, generate an automatic driving path in each divided and divided road section, add the automatic driving path to a lane exclusion table, and send the lane exclusion table to the traffic management service device.

In some embodiments, the traffic control platform further comprises: the map collecting device is configured to collect original map boundary data and send the original map boundary data to the map management device.

According to another aspect of the present disclosure, there is provided a traffic control system for a mine haulage vehicle, comprising: a traffic control platform as hereinbefore described.

In some embodiments, the traffic control system further comprises: the vehicle terminal device is arranged on a vehicle and is configured to send out a driving right request message and the weight, the type and the driving data of the vehicle.

In some embodiments, the vehicle terminal device is further configured to, in a case where the control instruction is to perform parking or deceleration processing on a vehicle, perform parking or deceleration processing on the unmanned vehicle according to the control instruction if the vehicle is an unmanned vehicle, and display warning information on a display screen of the vehicle terminal device after receiving the control instruction if the vehicle is a manned vehicle.

According to another aspect of the disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method as previously described.

In the traffic control method, a driving right request message sent by a vehicle terminal device and the weight, type and driving data of the vehicle are received, wherein the driving data comprises: the position, speed and direction of travel of the vehicle; after receiving the driving road right request message, determining the driving state of the vehicle according to the driving data of the vehicle, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determining a lane to be driven into by the vehicle according to the position and the driving direction of the vehicle, and acquiring a conflict lane and a lane type of the lane by searching a lane exclusive list; and sending a control instruction to the vehicle terminal device according to the weight and the type of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane, and the vehicle running rule. The vehicle terminal device executes corresponding operation processing according to the control command. The method improves the traffic control efficiency of the mine driving vehicle, so that the mine driving vehicle can be dynamically and efficiently controlled.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:

FIG. 1 is a flow chart illustrating a traffic control method for a mine haulage vehicle according to one embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating the division of travel area segments according to one embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating a lane exclusionary table according to one embodiment of the present disclosure;

FIG. 4 is a schematic diagram illustrating the structure of a traffic control platform for a mine haulage vehicle according to one embodiment of the present disclosure;

FIG. 5 is a schematic diagram illustrating a configuration of a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure;

FIG. 6 is a schematic diagram illustrating a configuration of a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure;

FIG. 7 is a schematic diagram illustrating a configuration of a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure;

FIG. 8 is a schematic diagram illustrating the structure of a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure;

FIG. 9 is a schematic diagram illustrating a configuration of a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram illustrating a traffic control system for mine haulage vehicles according to one embodiment of the present disclosure;

FIG. 11 is a flow chart illustrating a traffic control method for a mine haulage vehicle according to another embodiment of the present disclosure;

fig. 12 is a flowchart illustrating a traffic control method for a mine haulage vehicle according to another embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Fig. 1 is a flowchart illustrating a traffic control method for mine haulage vehicles according to one embodiment of the present disclosure. As shown in fig. 1, the method may include steps S102 to S106.

In step S102, a travel right request message transmitted from the vehicle terminal device is received together with the weight, type, and travel data of the vehicle. The travel data may include: the location, speed and direction of travel of the vehicle. The driving right request message is a request message for requesting normal driving of the vehicle in the lane to be driven into.

In some embodiments, the types of vehicles may include large and small vehicles, and the like. Here, the large-sized vehicle and the small-sized vehicle may be relatively general. For example, a vehicle that is relatively small may be referred to as a large vehicle, and a vehicle that is relatively large may be referred to as a small vehicle. In other embodiments, the types of vehicles may also include unmanned vehicles and manned vehicles.

In step S104, after receiving the driving right request message, determining the driving state of the vehicle according to the driving data of the vehicle, wherein the driving state comprises a same-direction driving state (or called a following state) or a opposite-direction driving state (or called a meeting state), determining the lane to be driven into by the vehicle according to the position and the driving direction of the vehicle, and obtaining the conflict lane and the lane type of the lane by searching the lane exclusive table.

Here, the equidirectional running state refers to a state in which the running directions of two vehicles are the same, for example, one vehicle is in front of the other vehicle. The opposite travel state is a state in which the traveling directions of two vehicles are opposite to each other, that is, a state in which the two vehicles are going to meet. In some embodiments, after receiving the traveling data respectively sent by the vehicle terminal devices of two vehicles, the positions and traveling directions of the two vehicles can be obtained according to the traveling data, so that it can be known whether the two vehicles are in a co-traveling state or an opposite traveling state.

Here, the lane to be entered refers to a next link lane adjacent to the current link lane in the vehicle traveling direction.

For example, as shown in fig. 2, the travel area is divided into 3 links, named link #1, link #2, and link #3, respectively, according to the curve and the road width. The road section #1 meets the standard road width of a bidirectional two-way road of a surface mine, the two lanes L1#1 and L2#1 can allow two unmanned vehicles to run in parallel at the same time, and the two lanes L1#1 and L2#1 do not need to be mutually exclusive. If the link #2 is a curve with a small turning radius and cannot meet the requirement of turning two unmanned vehicles at the same time, the two lanes L1#2 and L1#3 of the link have driving conflicts with the two lanes L2#2 and L2#3, and mutual exclusion association is required. The link #3 is a bidirectional two-way link that does not meet the standard width, and the two lanes L1#4 and L2#4 have a driving conflict and need to be mutually exclusive associated.

By analyzing the lanes shown in FIG. 2, a lane mutual exclusion table as shown in FIG. 3 may be formed. Here, the lane exclusive table is a lane relation table in which there is a travel collision in which the selected lane is associated with one or several adjacent lanes traveling in opposite directions on a special link. The table also maintains the driving lanes of the regular road sections without collision relation. In the lane exclusive table, a lane in which there is a vehicle travel collision is referred to as a collision lane (or exclusive lane). For example, as shown in fig. 3, the collision lanes of the lane L1#2 are lanes L2#2 and L2#3, and so on. As shown in fig. 3, the lane type and the locked state of each lane are set. Here, the lane type may include: uphill, downhill, level road, etc. When temporary traffic control is required for the road section, or normal vehicle traffic is obstructed due to falling rocks, potholes or vehicle anchorage in the lane, the lane needs to be locked. The locked lane cannot pass through.

In some embodiments, all road segments in which there is a collision risk due to a driving collision may be classified as special road segments. And the conventional road section is subjected to subsection processing or non-subsection according to the requirement.

In step S106, a control instruction is transmitted to the vehicle terminal apparatus in accordance with the weight and type of the vehicle, the running state in which the vehicle is located, the collision lane and the lane type of the lane, and the vehicle running rule. The vehicle terminal device executes corresponding operation processing according to the control command.

In some embodiments, this step S106 may include: and in the case that the lane is not a slope, calculating a driving weight value of the vehicle according to the weight and the type of the vehicle, and sending the control instruction to the vehicle terminal device according to the driving weight value of the vehicle, the driving state of the vehicle, the collision lane and the lane type of the lane, and the driving rule of the vehicle.

For example, it may be predetermined that, of two vehicles traveling in opposite directions or in the same direction, a vehicle having a relatively large total weight (may be referred to as a heavy vehicle) has a weight of 1, a vehicle having a relatively small total weight (may be referred to as a light vehicle) has a weight of 0, a vehicle type of a large vehicle has a weight of 1, a vehicle type of a small vehicle has a weight of 0, an unmanned vehicle has a weight of 1, a manned vehicle has a weight of 0, and the like.

In the embodiment of the present disclosure, the running weight value of the vehicle may be calculated according to a weight corresponding to the weight and the type of the vehicle, which is prescribed in advance. For example, in a certain turning lane into which a certain large-sized vehicle and a certain small-sized vehicle are to be driven, the lane type of the turning lane is a flat road, the total weight of the large-sized vehicle is 10 tons, the total weight of the small-sized vehicle is 3 tons, the sum of the weights of the large-sized vehicle and the small-sized vehicle is 2, and the sum of the weights of the small-sized vehicle and the large-sized vehicle is 0. It may be provided that the vehicle driving rules may include: vehicles with smaller driving weight values give way to vehicles with larger driving weight values. The smaller vehicle in this example needs to yield to the larger vehicle. In this way, it is possible to transmit a control command for parking processing to the vehicle terminal device on the small vehicle to thereby park the small vehicle.

In some embodiments, the vehicle is a current vehicle. The step of sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the conflict lane and lane type of the lane, and the vehicle running rule comprises the following steps: when the driving state is an opposite driving state and the current vehicle and an adjacent vehicle adjacent to the current vehicle are both unmanned vehicles, if the driving weight value of the current vehicle is equal to the driving weight value of the adjacent vehicle, a control instruction for deceleration processing is sent to both the vehicle terminal device of the current vehicle and the vehicle terminal device of the adjacent vehicle, if the driving weight value of the current vehicle is smaller than the driving weight value of the adjacent vehicle, the control instruction for deceleration processing is sent to the vehicle terminal device of the current vehicle, and if the driving weight value of the current vehicle is larger than the driving weight value of the adjacent vehicle, the control instruction for deceleration processing is sent to the vehicle terminal device of the adjacent vehicle.

In this embodiment, when two unmanned vehicles run in opposite directions, if the running weight values of the two unmanned vehicles are equal, the two unmanned vehicles are controlled to decelerate at the same time, and if the running weight values of the two unmanned vehicles are not equal, the vehicle with a smaller running weight value is controlled to decelerate, whereas the vehicle with a larger running weight value may not decelerate, and the vehicle with a larger running weight value has a right to drive preferentially. This realizes the running control of the two unmanned vehicles in the counter running state.

In some embodiments, the vehicle is a current vehicle. The step of sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the conflict lane and lane type of the lane, and the vehicle running rule comprises the following steps: and if the running weight value of the manned vehicle is smaller than the running weight value of the unmanned vehicle, sending a control instruction of deceleration processing to a vehicle terminal device of the manned vehicle, and otherwise, sending a control instruction of parking processing to a vehicle terminal device of the unmanned vehicle. In this embodiment, travel control is realized for the unmanned vehicle and the manned vehicle in a case where the unmanned vehicle and the manned vehicle travel in opposite directions.

In some embodiments, this step S106 may include: when the lane is a slope, a control command is transmitted to the vehicle terminal device according to whether the vehicle is on an ascending lane or a descending lane, wherein when the vehicle is on the ascending lane, the control command for parking processing is transmitted to the vehicle terminal device, and when the vehicle is on the descending lane, the control command for deceleration processing is transmitted to the vehicle terminal device. In this embodiment, the slope is used as a special road section, and the vehicle can be controlled to run according to the ascending and descending attributes without performing weight summation with other vehicle meeting rules.

In some embodiments, the vehicle is a current vehicle. The step S106 may include: calculating a first distance between a current vehicle and an adjacent vehicle traveling in the same direction as the current vehicle when the current vehicle is an unmanned vehicle and the traveling state is a same-direction traveling state; when the first distance is less than or equal to a first threshold (may also be referred to as a first safe distance) and the current vehicle is behind the adjacent vehicle, sending a control instruction of deceleration processing to a vehicle terminal device of the current vehicle; and sending a control instruction of safety early warning to a vehicle terminal device of the adjacent vehicle when the first distance is greater than the first threshold value or the current vehicle is in front of the adjacent vehicle. In this embodiment, the travel control of the current vehicle and the adjacent vehicle is realized in the case where the current vehicle is in the co-current travel state and the current vehicle is an unmanned vehicle.

In some embodiments, the vehicle is a current vehicle. The step S106 may include: calculating a second distance between the current vehicle and an adjacent vehicle running in opposite direction to the current vehicle, in a case where the current vehicle is an unmanned vehicle and a running state is an opposite direction running state; when the second distance is less than or equal to a second threshold value (may also be referred to as a second safe distance), transmitting a control instruction for parking processing to a vehicle terminal device of the current vehicle; and transmitting a control command for deceleration processing to the vehicle terminal device of the current vehicle when the second distance is greater than the second threshold value. In this embodiment, the travel control of the current vehicle is realized in the case where the current vehicle is in the counter travel state and the current vehicle is an unmanned vehicle.

In some embodiments, in a case where the control instruction is to perform parking or deceleration processing on the vehicle, the step of the vehicle terminal device performing corresponding operation processing according to the control instruction includes: under the condition that the vehicle is an unmanned vehicle, the vehicle terminal device performs parking or deceleration processing on the unmanned vehicle according to a control command; and under the condition that the vehicle is a manned vehicle, the vehicle terminal device displays the warning information on a display screen of the vehicle terminal device after receiving the control instruction. The warning information can serve the purpose of warning the driver. This realizes the running control of the vehicle.

To this end, a traffic control method for a mine haulage vehicle according to some embodiments of the present disclosure is provided. The traffic control method comprises the following steps: receiving a driving right request message sent by a vehicle terminal device and the weight, the type and the driving data of a vehicle, wherein the driving data comprises: the position, speed and direction of travel of the vehicle; after receiving the driving road right request message, determining the driving state of the vehicle according to the driving data of the vehicle, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determining a lane to be driven into by the vehicle according to the position and the driving direction of the vehicle, and acquiring a conflict lane and a lane type of the lane by searching a lane exclusive list; and sending a control instruction to the vehicle terminal device according to the weight and the type of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane, and the vehicle running rule. The vehicle terminal device executes corresponding operation processing according to the control command. The method improves the traffic control efficiency of the mine driving vehicle, so that the mine driving vehicle can be dynamically and efficiently controlled.

In some embodiments, the traffic control method may further include: before receiving the driving right request message, the collected original map boundary data is received, a surface mine road network and an operation area which meet the vehicle operation driving requirements are established, the infrastructure for unmanned vehicles of the surface mine is calibrated, the unsafe road sections in the surface mine road network are divided, the automatic driving path in each divided road section is generated and added into the lane exclusion table. In the embodiment, the mine map is acquired, the lane mutex table is acquired, and the follow-up driving control of the vehicle is facilitated.

Fig. 4 is a schematic structural diagram illustrating a traffic control platform for a mine haulage vehicle according to one embodiment of the present disclosure. As shown in fig. 4, the traffic control platform may include a receiving unit 410, an analyzing unit 420, and a control unit 430.

The receiving unit 410 is configured to receive a driving right request message transmitted from the vehicle terminal apparatus, and the weight, type, and driving data of the vehicle. The travel data includes: the location, speed and direction of travel of the vehicle.

The analysis unit 420 is configured to determine a driving state of the vehicle according to the driving data of the vehicle after receiving the driving right request message, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determine a lane to which the vehicle is going to drive according to the position and the driving direction of the vehicle, and obtain a collision lane and a lane type of the lane by searching the lane exclusion table.

The control unit 430 is configured to transmit a control instruction to the vehicle terminal apparatus according to the weight and type of the vehicle, the running state in which the vehicle is located, the collision lane and the lane type of the lane, and the vehicle running rule. The vehicle terminal device executes corresponding operation processing according to the control command.

Thus, a traffic control platform according to some embodiments of the present disclosure is provided. In the traffic control platform, a receiving unit receives a driving right request message sent by a vehicle terminal device and the weight, the type and the driving data of a vehicle; the analysis unit determines the running state of the vehicle according to the running data of the vehicle, determines a lane to which the vehicle is going to run according to the position and the running direction of the vehicle, and obtains a collision lane and a lane type of the lane by retrieving a lane exclusive list; the control unit transmits a control instruction to the vehicle terminal device according to the weight and type of the vehicle, the running state in which the vehicle is located, the collision lane and lane type of the lane, and the vehicle running rule. The vehicle terminal device executes corresponding operation processing according to the control command. The aim of dynamically and efficiently managing and controlling mine running vehicles can be achieved.

Fig. 5 is a schematic structural diagram illustrating a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure. As shown in fig. 5, the traffic control platform may include a receiving unit 410, an analyzing unit 420, and a control unit 430.

In some embodiments, the control unit 430 includes a calculation module 432 and a transmission module 434. The calculation module 432 is configured to calculate a driving weight value of the vehicle according to the weight and the type of the vehicle in case the lane is not a slope. The transmitting module 434 is configured to transmit a control instruction to the vehicle terminal device according to a running weight value of the vehicle, a running state in which the vehicle is located, a collision lane and a lane type of the lane, and a vehicle running rule. For example, the vehicle travel rules may be pre-stored in the traffic control platform.

In some embodiments, the vehicle is a current vehicle. The transmitting module 434 is configured to, when the driving state is an opposite driving state and the current vehicle and an adjacent vehicle adjacent to the current vehicle are both unmanned vehicles, transmit a control instruction for deceleration processing to both the vehicle terminal device of the current vehicle and the vehicle terminal device of the adjacent vehicle if a driving weight value of the current vehicle is equal to a driving weight value of the adjacent vehicle, transmit a control instruction for deceleration processing to the vehicle terminal device of the current vehicle if the driving weight value of the current vehicle is smaller than the driving weight value of the adjacent vehicle, and transmit a control instruction for deceleration processing to the vehicle terminal device of the adjacent vehicle if the driving weight value of the current vehicle is larger than the driving weight value of the adjacent vehicle.

In some embodiments, the vehicle is a current vehicle. The transmitting module 434 is configured to, when the driving state is an opposite driving state, the current vehicle is an unmanned vehicle, and an adjacent vehicle adjacent to the current vehicle is a manned vehicle, transmit a control instruction for deceleration processing to the vehicle terminal device of the manned vehicle if a driving weight value of the manned vehicle is smaller than a driving weight value of the unmanned vehicle, and otherwise transmit a control instruction for parking processing to the vehicle terminal device of the unmanned vehicle.

In some embodiments, the sending module 434 is configured to send the control instruction to the vehicle terminal device depending on whether the vehicle is in an uphill lane or a downhill lane, in case the lane is a hill. The transmitting module 434 is configured to transmit a control instruction of the parking process to the vehicle terminal device in a case where the vehicle is in an uphill lane, and transmit a control instruction of the deceleration process to the vehicle terminal device in a case where the vehicle is in a downhill lane.

In some embodiments, the vehicle is a current vehicle. The calculation module 432 is configured to calculate a first distance between a current vehicle and an adjacent vehicle traveling in the same direction as the current vehicle, in a case where the current vehicle is an unmanned vehicle and a traveling state is a same-direction traveling state. The transmitting module 434 is configured to transmit a control instruction of deceleration processing to the vehicle terminal device of the current vehicle in a case where the first distance is less than or equal to a first threshold and the current vehicle is behind the adjacent vehicle, and transmit a control instruction of safety warning to the vehicle terminal device of the adjacent vehicle in a case where the first distance is greater than the first threshold or the current vehicle is in front of the adjacent vehicle.

In some embodiments, the vehicle is a current vehicle. The calculation module 432 is configured to calculate a second distance between the current vehicle and an adjacent vehicle running in opposition to the current vehicle, in a case where the current vehicle is an unmanned vehicle and the running state is an opposing running state. The transmitting module 434 is configured to transmit a control instruction of parking processing to the vehicle terminal device of the present vehicle in a case where the second distance is less than or equal to the second threshold, and transmit a control instruction of deceleration processing to the vehicle terminal device of the present vehicle in a case where the second distance is greater than the second threshold.

In some embodiments, the receiving unit 410 is further configured to receive the acquired raw map boundary data. The traffic control platform may further comprise a path generation unit (not shown in the figures). The path generation unit is configured to create a surface mine road network and a work area that meet vehicle work travel requirements, calibrate infrastructure for unmanned vehicles of a surface mine, divide unsafe sections in the surface mine road network into segments, generate an automatic travel path in each of the segments of road after division, and add to a lane exclusion table.

Fig. 6 is a schematic structural diagram illustrating a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure. The traffic control platform includes a memory 610 and a processor 620. Wherein:

the memory 610 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used for storing instructions in the embodiment corresponding to fig. 1.

Processor 620 is coupled to memory 610 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 620 is configured to execute instructions stored in the memory, and can dynamically and efficiently manage the mine-driving vehicle.

In some embodiments, as also shown in fig. 7, the traffic control platform 700 includes a memory 710 and a processor 720. Processor 720 is coupled to memory 710 by BUS 730. The traffic control platform 700 may also be coupled to an external storage device 750 via a storage interface 740 for accessing external data, and may also be coupled to a network or another computer system (not shown) via a network interface 760, which will not be described in detail herein.

In this embodiment, the data instructions are stored in the memory and processed by the processor, so that the mine running vehicle can be dynamically and efficiently managed.

Fig. 8 is a schematic structural diagram illustrating a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure. As shown in fig. 8, the traffic control platform may include a control center device 810 and a traffic management service device 820. The control center device 810 is connected to the traffic management service device 820 in communication.

The control center device 810 is configured to receive a driving right request message transmitted from a vehicle terminal device (not shown in fig. 8) and weight, type, and driving data of a vehicle, wherein the driving data includes: the position, the driving speed and the driving direction of the vehicle, and receiving a driving control strategy, packaging the driving control strategy into a control command and sending the control command to a vehicle terminal device. And the vehicle terminal device executes corresponding operation processing according to the control command.

Here, the control center device 810 is a control center monitoring service platform of an unmanned system of a surface mine. In some embodiments, the control center device 810 monitors the operating status of the vehicle in real time, receives status, request, alarm, fault and other data sent by the vehicle and the terminal device, and issues control commands, reply messages, upgrade data and the like. Here, the control center device 810 mainly forwards the right-of-way request and the real-time status data sent by the vehicle to the traffic management service device 820, and receives the driving control policy (or referred to as arbitration result) returned by the traffic management service device 820 and feeds back the driving control policy to the vehicle terminal device; and the traffic yielding rule, the safe distance, the lane exclusive list and the lane attribute are edited and updated through an integrated traffic management function interface.

The traffic management service device 820 is configured to receive a driving right request message and weight, type and driving data of a vehicle from the control center device 810, determine a driving state in which the vehicle is located according to the driving data of the vehicle, the driving state including a co-directional driving state or a counter-directional driving state, determine a lane into which the vehicle is to drive according to a position and a driving direction of the vehicle, obtain a conflicting lane and a lane type of the lane by retrieving a lane exclusivity table, and obtain a driving control policy according to the weight and type of the vehicle, the driving state in which the vehicle is located, the conflicting lane and the lane type of the lane, and a driving rule of the vehicle, and transmit the driving control policy to the control center device 810.

To this end, a traffic control platform for a mine haulage vehicle according to further embodiments of the present disclosure is provided. The traffic control platform comprises a control center device and a traffic management service device. Through the information processing and control of the control center device and the traffic management service device, the traffic control efficiency of mine running vehicles can be improved, and therefore the mine running vehicles can be dynamically and efficiently managed.

In some embodiments, the traffic management service 820 is configured to calculate a driving weight value of the vehicle according to the weight and type of the vehicle in the case that the lane is not a slope, and obtain the driving control strategy according to the driving weight value of the vehicle, the driving state of the vehicle, the collision lane and lane type of the lane, and the driving rule of the vehicle.

In some embodiments, the vehicle is a current vehicle. The traffic management service device 810 is configured to, in a case where a travel state is an opposite-direction travel state and a current vehicle and an adjacent vehicle adjacent to the current vehicle are both unmanned vehicles, obtain a travel control policy for decelerating both the current vehicle and the adjacent vehicle if a travel weight value of the current vehicle is equal to a travel weight value of the adjacent vehicle, obtain a travel control policy for decelerating the current vehicle if the travel weight value of the current vehicle is smaller than the travel weight value of the adjacent vehicle, and obtain a travel control policy for decelerating the adjacent vehicle if the travel weight value of the current vehicle is larger than the travel weight value of the adjacent vehicle.

In some embodiments, the vehicle is a current vehicle. The traffic management service device 820 is configured to obtain a running control policy for causing the manned vehicle to be decelerated if a running weight value of the manned vehicle is smaller than a running weight value of the unmanned vehicle, and obtain a running control policy for causing the unmanned vehicle to be stopped if not, in a case where the running state is an opposite running state, the current vehicle is an unmanned vehicle, and an adjacent vehicle adjacent to the current vehicle is a manned vehicle.

In some embodiments, the traffic management service 820 is configured to obtain a driving control strategy depending on whether the vehicle is in an uphill lane or a downhill lane if the lane is a hill. The traffic management service device 820 is configured to obtain a running control strategy that causes the vehicle to be stopped in a case where the vehicle is in an uphill lane, and obtain a running control strategy that causes the vehicle to be decelerated in a case where the vehicle is in a downhill lane.

In some embodiments, the vehicle is a current vehicle. The traffic management service device 820 is configured to calculate a first distance between a current vehicle and an adjacent vehicle traveling in the same direction as the current vehicle in a case where the current vehicle is an unmanned vehicle and the traveling state is a same-direction traveling state, obtain a traveling control policy that causes the current vehicle to be decelerated in a case where the first distance is less than or equal to a first threshold and the current vehicle is behind the adjacent vehicle, and obtain a traveling control policy that causes the adjacent vehicle to be safely alerted in a case where the first distance is greater than the first threshold or the current vehicle is in front of the adjacent vehicle.

In some embodiments, the vehicle is a current vehicle. The traffic management service device 820 is configured to calculate a second distance between the current vehicle and an adjacent vehicle running in opposition to the current vehicle, in a case where the current vehicle is an unmanned vehicle and the running state is an opposing running state, obtain a running control strategy that causes the current vehicle to be stopped, in a case where the second distance is less than or equal to a second threshold value, and obtain a running control strategy that causes the current vehicle to be decelerated, in a case where the second distance is greater than the second threshold value.

In the above embodiment, the traffic management service device 820 is a traffic arbitration management service platform of an unmanned transportation system of a surface mine. Performing road right arbitration on a running vehicle on a special road section and performing safe distance control on a conventional road section on the basis of a lane mutual exclusion table; and carrying out vehicle meeting and yielding arbitration on the conventional road section based on the traffic yielding rule and the weight. The special road section is a road section, an intersection, a temporary control road section and the like which cannot meet the requirement that vehicles can simultaneously run in two directions. The regular road section is a road section on which the vehicle can travel in both directions at the same time. The traffic management service device 820 receives the driving right-of-way request message from the control center device 810, acquires all conflicting lanes and lane attributes of the lane where the right-of-way application is located by retrieving a lane mutual exclusion table in the map database, and arbitrates the right-of-way application; and receiving the real-time state of the vehicle forwarded by the control center device 810, and performing meeting and passing control and safe distance control on related vehicles according to data such as the real-time position, load, course and the attribute of the lane where the vehicle is located.

Fig. 9 is a schematic structural diagram illustrating a traffic control platform for a mine haulage vehicle according to another embodiment of the present disclosure. As shown in fig. 9, the traffic control platform may include a control center device 810 and a traffic management service device 820.

In some embodiments, as shown in fig. 9, the traffic control platform may also include a map management device 930. The map management device 930 is configured to receive the collected original map boundary data, create a surface mine road network and an operation area that meet vehicle operation travel requirements, calibrate infrastructure for unmanned vehicles of a surface mine, divide and divide non-safe road segments in the surface mine road network, generate an automatic travel path in each divided and divided road segment and add the automatic travel path to a lane exclusion table, and transmit the lane exclusion table to the traffic management service device 820. Thus, the lane mutual exclusion list is obtained, and the subsequent control on the vehicle form is facilitated.

In some embodiments, as shown in fig. 9, the traffic control platform may also include a map collection device 940. The map collection device 940 is configured to collect raw map boundary data and transmit the raw map boundary data to the map management device 930. This enables the acquisition of raw map data.

In some embodiments of the present disclosure, a traffic control system for a mine haulage vehicle is also provided. The traffic control system includes a traffic control platform as previously described (e.g., a traffic control platform as described in any of fig. 4-9).

In some embodiments, the traffic control system may further include a vehicle terminal device. The vehicle terminal device is provided on a vehicle. The vehicle terminal device is configured to issue a travel right request message together with the weight, type, and travel data of the vehicle. For example, the vehicle terminal system device may be a terminal system device with a positioning device for information interaction and data recording statistics of unmanned vehicles or manned vehicles in an unmanned operation area of a surface mine.

In some embodiments, the vehicle terminal device may be further configured to, in a case where the control instruction is to perform parking or deceleration processing on the vehicle, perform parking or deceleration processing on the unmanned vehicle according to the control instruction if the vehicle is the unmanned vehicle, and display warning information on a display screen of the vehicle terminal device after receiving the control instruction if the vehicle is the manned vehicle.

Fig. 10 is a schematic configuration diagram showing a traffic control system for mine haulage vehicles according to one embodiment of the present disclosure. As shown in fig. 10, the traffic control system may include: a control center device 810, a traffic management service device 820, a map management device 930, a map collection device 940, and a vehicle terminal device 1010. Additionally, an original map file 952 and a map database 954 are also shown in FIG. 10. In some embodiments, the traffic control system may further include: a positioning base station 1020 and a wireless communication device 1030.

For example, the control center device 810, the traffic management service device 820, and the map management device 930 may be deployed on the control center machine room server side; the vehicle terminal device 1010 is deployed in a vehicle-side industrial personal computer of an unmanned vehicle or a manned vehicle. For example, the server device is a professional blade server, the unmanned vehicle may be an unmanned mining truck, and the vehicle terminal device is a fanless industrial personal computer.

The unmanned vehicle transmits requests such as a road right application and a road right release to the control center device 810 in real time through the wireless communication device 1030, and controls the vehicle to decelerate, stop, detour, and the like according to a received request feedback result. The manned vehicle and the unmanned vehicle send information such as position, speed, course, load and the like to the control center device 810 in real time through the wireless communication device 1030, and provide relevant judgment data for traffic control.

In some embodiments of the present disclosure, a traffic management method for an unmanned transport system for a surface mine may include the following steps (1) to (4).

(1) Map creation editing is performed. For example, the map collection device 940 collects original map data through the positioning base station 1020 and stores the original map data in an external file. The map editor logs into the map management unit 930, imports the original map data, and creates and calibrates the mine road network structure, work area, and other infrastructure. And according to the geographic characteristics of the mine driving area and the requirement of traffic control, carrying out road segment segmentation and division on the driving area. For example: when the next section of the bidirectional two-way road is changed into the bidirectional one-way road, the bidirectional two-way road and the bidirectional one-way road need to be divided into two adjacent sections of driving areas, and traffic control is started at the end position of the bidirectional two-way road to control vehicles entering the bidirectional one-way road section.

And then, combining a path planning algorithm, adding lane nodes in each section of driving area, generating two opposite driving path tracks, automatically adding the two opposite driving path tracks into a lane exclusive list and endowing default attribute values. For example, the lane category defaults to a normal road segment, and other lane types may be special road segments or exclusive road segments; the ramp defaults to a flat road, and other ramps can be uphill slopes or downhill slopes; the lane state defaults to a non-locking state, and the lane in the locking state cannot pass through. The two opposite lanes of the special road section have driving conflict and need to be associated in a mutual exclusion table. For example, map data, a lane exclusive table, and the like may be stored in the map database 954.

(2) And executing lane mutual exclusion table editing. For example, after logging in the system, an operator enters a road mutual exclusion list management page of a traffic management service page, selects a lane to be edited from a lane list, and highlights the selected lane and a mutually exclusive lane associated with the selected lane through a mine map.

In some cases, a mutually exclusive lane may be added or deleted, and the weight and state of the lane may be set. For example, after the original lane is widened to be a dual-vehicle passing lane, the lane does not need to be controlled by traffic, and the mutually exclusive lane of the lane can be deleted; otherwise, adding a mutually exclusive lane of the lane; or a certain section of lane is temporarily controlled, the vehicle is anchored on the lane, so that the original double-lane needs to be modified into a single-lane, and the lane can be controlled.

Here, the mutually exclusive lane is a special link or a continuous special link in which two vehicles (e.g., unmanned vehicles) cannot simultaneously travel in opposite directions. When the vehicle enters the lane, the rights-of-way of the other lane, which is mutually exclusive, will be locked from allowing any vehicle to enter until the vehicle leaves the lane. The special road section can be a bidirectional one-way road section, a road section with a safety collision risk, a road section which can not meet the requirement that two vehicles simultaneously drive in opposite directions, a curve with a smaller turning radius and the like.

(3) And performing traffic rule creation editing. After logging in the system, an operator enters a traffic rule editing page of a traffic management service page to set relevant attributes and edit rules. And setting weight grading, the following distance of the same lane, the opposite safe distance of the same lane and the like. Adding predefined rule bodies including, but not limited to: ascending and descending; light and heavy vehicles; a cart and a trolley; a manned vehicle and an unmanned vehicle. And creating and editing traffic rules for vehicle meeting and passing according to the predefined subjects. The traffic management service device 820 returns a parking, deceleration or constant driving control strategy (i.e., arbitration result) to the control center device 810 according to the meeting passing rule, and the control center device 810 transmits a relevant control command to the vehicle terminal device 1010 according to the fed-back driving control strategy.

For example, the default vehicle travel rules may be: the downhill vehicle is driven to ascend; carrying out light vehicle and heavy vehicle; the small vehicle is a big vehicle; the manned vehicle gives the unmanned vehicle. In some embodiments, the vehicle driving rules may be prioritized, for example, a downhill vehicle may be prioritized to an uphill vehicle as a first level (i.e., highest level), a light vehicle may be prioritized to a second level lower than the first level (i.e., second level), a small vehicle may be prioritized to a large vehicle as a third level lower than the second level, and a manned vehicle may be prioritized to an unmanned vehicle as a fourth level lower than the third level (i.e., lowest level).

The traffic management service device 820 acquires the state of the vehicle, the attribute of the lane, and the like, and performs a weighted value summation calculation as one of the conditions for traffic arbitration. The slope is taken as a special road section, weight summation is not carried out on the slope and other vehicle meeting rules, weight comparison is carried out only according to the properties of the uphill slope and the downhill slope, and then corresponding control is carried out on the vehicle, for example, the vehicle with smaller weight is subjected to parking processing. For another example, for vehicles on other road sections, the vehicle with lower weight can be decelerated or stopped, and the vehicle with higher weight can normally run; the vehicles with the same weight can be subjected to the deceleration processing at the same time.

(4) And executing dynamic traffic control. For example, during the automatic travel of an unmanned truck in a surface mine, the vehicle terminal device 1010 provided thereon continuously reports the state of the vehicle, and when the vehicle is about to enter the next link, a travel right request message is transmitted to the control center device 810 via the wireless communication system device.

The control center device 810 receives the driving right request message and the real-time status of the vehicle and calls a yielding arbitration interface of the traffic management service device 820 to perform real-time traffic control. The traffic management service device 820 determines the course of the surrounding vehicles and whether the vehicles are in the same lane according to the real-time position, the course angle and the attribute information of the lane where the vehicles are located. The traffic management service device 820 may also retrieve all relevant lanes by retrieving the lane exclusion table, and determine whether the relevant lanes are occupied by the road right management table maintained by itself. Then, the traffic management service device 820 returns the travel control policy to the control center device 810.

The control center device 810 encapsulates the travel control strategy into a control command, and returns the control command to the vehicle terminal device 1010. If the control instruction indicates that the vehicle obtains the driving right, the vehicle normally drives; otherwise, the vehicle is decelerated or stopped.

The method can be used for carrying out traffic control on the hybrid vehicle of the unmanned transportation system of the surface mine, and carrying out real-time control on vehicle following and vehicle meeting according to the information of real-time position, course, load, the attribute of a driving road and the like of the vehicle; and carrying out real-time dynamic arbitration on the vehicle driving right according to the attribute, the state and the lane mutual exclusion table of the driving road. This improves the driving safety of a hybrid fleet of manned and unmanned vehicles and the operating efficiency of surface mine haulage vehicles.

In some embodiments, the road width standard of the bidirectional two-way road of the strip mine, the minimum turning radius of the unmanned truck and the intersection can be distinguished, that is, the condition that two unmanned trucks cannot simultaneously meet the driving conflict road sections for opposite driving exists, the collision danger exists, and dynamic road right management and control are needed.

In some embodiments, vehicle drive right control may be performed on the special road segments based on the lane exclusion table. According to the road right application of the unmanned vehicle, obtaining the lane data of the vehicle, retrieving the associated mutually exclusive lane from the map database lane exclusive table according to the lane data, and judging whether the occupied lane exists in all the associated lanes through a road right occupation list maintained in a memory. If yes, rejecting the road right request; otherwise, the right of driving is given.

In some embodiments, dynamic following control may be performed on co-lane co-traveling vehicles on a regular road segment based on a safe following distance. And when the vehicle with the person does not run along the lane direction, performing emergency stop control on the unmanned vehicle according to the opposite safe distance of the same lane. And retrieving the predefined safe distance from the database, calculating whether the vehicle is in the same lane according to the speed, the heading and the position information reported by the vehicle and the lane data in the map database, calculating the current distance and predicting the next distance change, and performing deceleration or parking control on the vehicle.

Fig. 11 is a flowchart illustrating a traffic control method for a mine haulage vehicle according to another embodiment of the present disclosure. As shown in fig. 11, the method may include steps S1101 to S1115.

In step S1101, the vehicle terminal apparatus reports the real-time state of the vehicle.

In step S1102, the vehicle terminal apparatus transmits a request message for applying for a road right (i.e., a travel road right request message).

In step S1103, the control center device forwards a request message for applying for a right of way to the traffic management service device.

In step S1104, the traffic management service apparatus receives a request message for applying for a right of way.

In step S1105, the traffic management service apparatus acquires the requested lane data.

In step S1106, the traffic management service device acquires mutually exclusive lane data.

In step S1107, the traffic management service apparatus determines whether the right of way of the lane is occupied. If so, the process proceeds to step S1108, otherwise the process proceeds to step S1109.

In step S1108, the requested right to drive is rejected.

In step S1109, the right of way of application is granted.

In step S1110, the traffic management service apparatus returns the travel control policy to the control center apparatus.

In step S1111, the traffic management service apparatus updates the lane right-of-way list. For example, the lane right-of-way list includes the case where each lane is occupied.

In step S1112, the control center device transfers the travel control strategy to the vehicle terminal device.

In step S1113, the vehicle terminal device determines whether or not to acquire a right of way based on the driving control strategy. If so, the process proceeds to step S1114, otherwise, the process proceeds to step S1115.

In step S1114, the vehicle continues to run.

In step S1115, the vehicle stops waiting.

Thus, there is provided a traffic control method for a mine haulage vehicle according to further embodiments of the present disclosure. The method can solve the traffic management problem of the unmanned transportation system of the surface mine, realize the dynamic real-time traffic control of the vehicles, reduce the running and waiting time of the transportation vehicles, and improve the running safety of the surface mine vehicles and the operation efficiency of the transportation vehicles.

Fig. 12 is a flowchart illustrating a traffic control method for a mine haulage vehicle according to another embodiment of the present disclosure. As shown in fig. 12, the method may include steps S1201 to S1230.

In step S1201, the vehicle terminal apparatus transmits a travel right request message and reports the real-time state of the vehicle.

In step S1202, the control center device obtains the travel right request message and the real-time state of the vehicle.

In step S1203, the control center device forwards the travel right request message and the real-time status of the vehicle to the traffic management service device.

In step S1204, the traffic management service apparatus acquires the real-time status of the surrounding vehicles in addition to the right-of-way request message and the real-time status of the current vehicle.

In step S1205, the traffic management service apparatus acquires the meeting vehicle lane data.

In step S1206, it is determined whether the two vehicles are in the same lane. If so, the process advances to step S1222; otherwise, the process advances to step S1207.

In step S1207, it is determined whether or not the two vehicles are in the reverse co-lane. If so, the process advances to step S1208; otherwise the process advances to step S1209.

In step S1208, the velocity and the second distance are calculated.

In step S1209, it is determined whether the lane is a slope. If so, the process advances to step S1210; otherwise, the process advances to step S1211.

In step S1210, the vehicle in the ascending lane is stopped, and the vehicle in the descending lane is decelerated.

In step S1211, a running weight value of the vehicle is calculated.

In step S1212, it is determined whether both vehicles are unmanned vehicles. If so, the process advances to step S1213; otherwise the process advances to step S1214.

In step S1213, it is determined whether the weights of the two vehicles are the same. If so, the process advances to step S1215; otherwise, the process advances to step S1216.

In step S1214, it is determined whether the weight of the manned vehicle is less than the weight of the unmanned vehicle. If so, the process advances to step S1217; otherwise, the process advances to step S1218.

In step S1215, the process decelerates for both vehicles.

In step S1216, the vehicle with a smaller weight is decelerated.

In step S1217, the manned vehicle is decelerated.

In step S1218, the unmanned vehicle is parked.

In step S1219, it is determined whether the second distance is less than or equal to the second threshold. If so, the process advances to step S1220; otherwise, the process advances to step S1221.

In step S1220, the process stops for the unmanned vehicle.

In step S1221, the unmanned vehicle is decelerated.

In step S1222, the velocity and the first distance are calculated.

In step S1223, it is determined whether the first distance is less than or equal to a first threshold. If so, the process advances to step S1224; otherwise, the process advances to step S1225.

In step S1224, the vehicle in the rear direction is decelerated.

In step S1225, a safety warning is performed for the vehicle at the rear.

In step S1226, the traffic management service apparatus returns to the travel control policy.

In step S1227, the control center apparatus acquires a travel control strategy.

In step S1228, the control center apparatus packages the travel control strategy into a control instruction and issues the control instruction.

In step S1229, the vehicle terminal apparatus acquires a control command.

In step S1230, the vehicle terminal apparatus performs a process of traveling, decelerating, or stopping the vehicle according to the control command.

Thus, there is provided a traffic control method for a mine haulage vehicle according to further embodiments of the present disclosure. The method carries out traffic control on hybrid vehicles of the unmanned transportation system of the surface mine, and carries out real-time control on vehicle following and vehicle meeting according to information such as real-time positions, courses, loads, attributes of running roads and the like of the vehicles; and carrying out real-time dynamic arbitration on the vehicle driving right according to the attribute, the state and the lane mutual exclusion table of the driving road. The method reduces the running and waiting time of the transport vehicle of the surface mine, and improves the running safety and the operation efficiency of the transport vehicle.

In some embodiments, the present disclosure also provides a non-transitory computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the method in at least one corresponding embodiment of fig. 1, 11, and 12. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A traffic control method for a mine haulage vehicle, comprising:

receiving a driving right request message sent by a vehicle terminal device and the weight, the type and the driving data of a vehicle, wherein the driving data comprises: a position, a travel speed, and a travel direction of the vehicle;

after receiving the driving road right request message, determining the driving state of the vehicle according to the driving data of the vehicle, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determining a lane to be driven into by the vehicle according to the position and the driving direction of the vehicle, and acquiring a collision lane and a lane type of the lane by retrieving a lane exclusive list; and

and sending a control instruction to the vehicle terminal device according to the weight and the type of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane and the vehicle running rule, wherein the vehicle terminal device executes corresponding operation processing according to the control instruction.

2. The traffic control method according to claim 1, wherein the step of transmitting a control instruction to the vehicle terminal device includes:

under the condition that the lane is not a slope, calculating a driving weight value of the vehicle according to the weight and the type of the vehicle; and

and sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the collision lane and lane type of the lane and the vehicle running rule.

3. The traffic control method according to claim 2, wherein the vehicle is a current vehicle;

the step of sending the control instruction to the vehicle terminal device according to the running weight value of the vehicle, the running state of the vehicle, the collision lane and the lane type of the lane, and the vehicle running rule includes:

when the running state is an opposite running state and the current vehicle and an adjacent vehicle adjacent to the current vehicle are both unmanned vehicles, if the running weight value of the current vehicle is equal to the running weight value of the adjacent vehicle, a control instruction for deceleration processing is sent to both a vehicle terminal device of the current vehicle and a vehicle terminal device of the adjacent vehicle, if the running weight value of the current vehicle is smaller than the running weight value of the adjacent vehicle, the control instruction for deceleration processing is sent to the vehicle terminal device of the current vehicle, and if the running weight value of the current vehicle is larger than the running weight value of the adjacent vehicle, the control instruction for deceleration processing is sent to the vehicle terminal device of the adjacent vehicle.

4. The traffic control method according to claim 2, wherein the vehicle is a current vehicle;

and if the running state is an opposite running state, the current vehicle is an unmanned vehicle and the adjacent vehicle adjacent to the current vehicle is a manned vehicle, sending a control instruction of deceleration processing to a vehicle terminal device of the manned vehicle if the running weight value of the manned vehicle is smaller than the running weight value of the unmanned vehicle, otherwise sending a control instruction of parking processing to the vehicle terminal device of the unmanned vehicle.

5. The traffic control method according to claim 1, wherein the step of transmitting a control instruction to the vehicle terminal device includes:

transmitting a control command to the vehicle terminal device depending on whether the vehicle is in an ascending lane or a descending lane when the lane is a slope,

wherein the control unit is configured to transmit a control command for parking processing to the vehicle terminal device when the vehicle is on an ascending lane, and to transmit a control command for deceleration processing to the vehicle terminal device when the vehicle is on a descending lane.

6. The traffic control method according to claim 1, wherein the vehicle is a current vehicle; the step of transmitting a control command to the vehicle terminal device includes:

calculating a first distance between the current vehicle and an adjacent vehicle traveling in the same direction as the current vehicle, in a case where the current vehicle is an unmanned vehicle and the traveling state is a same-direction traveling state;

transmitting a control instruction of deceleration processing to a vehicle terminal device of the current vehicle when the first distance is less than or equal to a first threshold and the current vehicle is behind the adjacent vehicle; and

and sending a safety early warning control instruction to a vehicle terminal device of the adjacent vehicle when the first distance is greater than the first threshold value or the current vehicle is in front of the adjacent vehicle.

7. The traffic control method according to claim 1, wherein the vehicle is a current vehicle; the step of transmitting a control command to the vehicle terminal device includes:

calculating a second distance between the current vehicle and an adjacent vehicle running in opposition to the current vehicle, in a case where the current vehicle is an unmanned vehicle and the running state is an opposing running state;

transmitting a control instruction of parking processing to a vehicle terminal device of the current vehicle when the second distance is less than or equal to a second threshold value; and

and sending a control command of deceleration processing to the vehicle terminal device of the current vehicle when the second distance is greater than the second threshold value.

8. The traffic control method according to claim 1, wherein, in a case where the control instruction is to perform parking or deceleration processing on a vehicle, the step of the vehicle terminal device executing corresponding operation processing according to the control instruction includes:

under the condition that the vehicle is an unmanned vehicle, the vehicle terminal device performs parking or deceleration processing on the unmanned vehicle according to the control command; and

and under the condition that the vehicle is a manned vehicle, the vehicle terminal device displays alarm information on a display screen of the vehicle terminal device after receiving the control instruction.

9. The traffic control method according to claim 1, further comprising:

before the driving right request message is received, the collected original map boundary data is received, a surface mine road network and a working area which meet the vehicle operation driving requirements are established, the infrastructure for unmanned vehicles of a surface mine is calibrated, the unsafe road sections in the surface mine road network are divided, the automatic driving path in each divided road section is generated and added into the lane mutual exclusion table.

10. A traffic control platform for a mine haulage vehicle, comprising:

a receiving unit configured to receive a driving right request message transmitted by a vehicle terminal device and weight, type and driving data of a vehicle, wherein the driving data includes: a position, a travel speed, and a travel direction of the vehicle;

the analysis unit is configured to determine the driving state of the vehicle according to the driving data of the vehicle after receiving the driving road right request message, wherein the driving state comprises a same-direction driving state or an opposite-direction driving state, determine a lane to which the vehicle is going to drive according to the position and the driving direction of the vehicle, and obtain a collision lane and a lane type of the lane by searching a lane mutual exclusion table; and

a control unit configured to transmit a control instruction to the vehicle terminal apparatus according to the weight and type of the vehicle, the running state of the vehicle, the collision lane and lane type of the lane, and a vehicle running rule, wherein the vehicle terminal apparatus executes a corresponding operation process according to the control instruction.

11. The traffic control platform of claim 10, wherein the control unit comprises:

a calculating module configured to calculate a driving weight value of the vehicle according to the weight and the type of the vehicle when the lane is not a slope; and

a transmission module configured to transmit the control instruction to the vehicle terminal apparatus according to a running weight value of the vehicle, a running state in which the vehicle is located, a collision lane and a lane type of the lane, and the vehicle running rule.

12. A traffic control platform for a mine haulage vehicle, comprising:

a memory; and

a processor coupled to the memory, the processor configured to perform the method of any of claims 1-9 based on instructions stored in the memory.

13. A traffic control platform for a mine haulage vehicle, comprising:

a control center device configured to receive a driving right request message transmitted by a vehicle terminal device and weight, type and driving data of a vehicle, wherein the driving data includes: the method comprises the steps of obtaining the position, the running speed and the running direction of a vehicle, receiving a running control strategy, packaging the running control strategy into a control command and sending the control command to a vehicle terminal device, wherein the vehicle terminal device executes corresponding operation processing according to the control command; and

a traffic management service device configured to receive the driving right request message and the weight, type and driving data of the vehicle from the control center device, determine a driving state in which the vehicle is located according to the driving data of the vehicle, the driving state including a co-driving state or a co-driving state, determine a lane to which the vehicle is to drive according to the position and driving direction of the vehicle, obtain a collision lane and a lane type of the lane by retrieving a lane exclusivity table, and obtain the driving control policy according to the weight and type of the vehicle, the driving state in which the vehicle is located, the collision lane and the lane type of the lane, and a vehicle driving rule, and transmit the driving control policy to the control center device.

14. The traffic control platform of claim 13,

the traffic management service device is configured to calculate a driving weight value of the vehicle according to the weight and the type of the vehicle when the lane is not a slope, and obtain the driving control strategy according to the driving weight value of the vehicle, the driving state of the vehicle, the collision lane and the lane type of the lane, and the driving rule of the vehicle.

15. The traffic control platform of claim 13, further comprising:

the map management device is configured to receive the collected original map boundary data, create a surface mine road network and an operation area which meet the vehicle operation driving requirements, calibrate infrastructure for unmanned vehicles of a surface mine, divide and divide non-safe road sections in the surface mine road network, generate an automatic driving path in each divided and divided road section, add the automatic driving path to a lane exclusion table, and send the lane exclusion table to the traffic management service device.

16. The traffic control platform of claim 15, further comprising:

the map collecting device is configured to collect original map boundary data and send the original map boundary data to the map management device.

17. A traffic control system for a mine haulage vehicle, comprising: a traffic control platform as claimed in any one of claims 10 to 16.

18. The traffic control system of claim 17, further comprising:

the vehicle terminal device is arranged on a vehicle and is configured to send out a driving right request message and the weight, the type and the driving data of the vehicle.

19. The traffic control system of claim 18,

the vehicle terminal device is further configured to, in a case where the control instruction is to park or decelerate a vehicle, if the vehicle is an unmanned vehicle, park or decelerate the unmanned vehicle according to the control instruction, and if the vehicle is a manned vehicle, display warning information on a display screen of the vehicle terminal device after receiving the control instruction.

20. A non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of any one of claims 1 to 9.