Simulation system of mine unmanned vehicle based on parallel control theory

Abstract

The test of mine unmanned vehicle has problems of great danger, long test time, high test cost and narrow test coverage. In order to solve the above problems, the simulation system of unmanned mine vehicle based on parallel control theory is studied. The system adopts key technologies such as mine vehicle dynamics modeling, high-fidelity scene reconstruction, and virtual sensor modeling. The system realizes the functions of comprehensive deduction of the unmanned driving algorithm, system integration reliability test, mining area production prediction simulation, and virtual and actual interactive parallel deduction. The main step of dynamic modeling of the mine vehicle is divided into two parts: vehicle model building and visual scene creation. The vehicle dynamic model is associated with the virtual scene. The simulation data generated by the vehicle model is used for driving the vehicle in the virtual scene to move in real-time. In view of the complex and irregular characteristics of the large-scale open-pit mine scene, the high-precision 3D model data of the mine is obtained by means of UAV aerial mapping and laser radar 3D scanning. Based on the virtual micro polygon geometry technology, high pixel virtual texture technology, and 3D scene real-time rendering technology, a high-fidelity virtual 3D scene is constructed. The virtual sensor mainly comprises virtual laser radar, virtual millimeter wave radar, virtual inertial navigation device and virtual vision camera. The virtual sensor is carried on the virtual mine car. It is responsible for generating virtual data information in a simulated mining area scene, and sending the data to the automatic driving controller for processing. Based on the simulation system, single-vehicle test, multi-vehicle scheduling test and intelligent scheduling algorithm test can be carried out. The dynamic virtual-reality interaction between on-site vehicles and virtual vehicles can be tested. The system is used to provide a verification platform for stable transportation of the whole mining area, deduction simulation of complex intersections and optimal decision of intelligent scheduling algorithm. The system ensures the efficiency and safety of unmanned driving test and accelerates the upgrading of unmanned driving technology in the mining area.

Keywords

• unmanned driving
• parallel control
• dynamic modeling of mining vehicles
• high fidelity scene reconstruction
• virtual sensor modeling
• virtual reality interaction