控制与信息技术Issue(6)：12-18,7.DOI:10.13889/j.issn.2096-5427.2024.06.400
矿卡自动驾驶场景全局栅格地图构建与更新方法研究
Research on Construction and Updating of Global Grid Maps in Mining Truck Autonomous Driving Scenarios
摘要
Abstract
Open-pit mining areas are characterized by rapid changes in road environments due to continuous advancement in production zones.However,current autonomous driving maps for mining trucks rely on manual data collection,resulting in delays and inefficiencies.To address this issue,this paper proposes a method for dynamically constructing and updating global grid maps based on onboard sensor fusion results.This method incorporates a strategy of independent processing within segmented fan-shaped zones,dividing obstacle contour points within a 180° range in front of the trucks into 2° sectors.The closest point to the origin in each sector is extracted to define the boundary for a drivable area,while points on a circle with a 30-meter radius serve as the boundary for a scanning area,leading to the construction of partially enclosed drivable and scanning areas using the Bresenham's algorithm.Additionally,a breadth-first search(BFS)algorithm is introduced to search for all nodes within these areas.At the intermediate layer,a count-based mapping method is devised,to determine grid states based on the state of local grids,and an occupancy grid mapping method is employed for global updating.Besides,the global map is built as a partitioned matrix,with the Least Recently Used(LRU)algorithm utilized to schedule sub-matrices between internal and external memories.Furthermore,storage efficiency and read/write performance are enhanced through loading only data relevant to the operating area and its surroundings.Results from real truck experiments showed that the proposed approach achieved a boundary point extraction error within±50 cm for retaining walls and a usability rate exceeding 90%for the extracted boundary points,meeting the requirements of autonomous driving in mining areas.This study offers a solution that can not only effectively address delays in map updating within dynamically changing open-pit mining environments,but also significantly improve the accuracy of road boundary perception and real-time planning for mining trucks.关键词
矿用卡车/自动驾驶/地图更新/道路边界/露天矿山/感知融合Key words
mining truck/autonomous driving/map updating/road boundary/open-pit mine/sensor fusion分类
计算机与自动化引用本文复制引用
邓超,龙腾,袁希文,李程..矿卡自动驾驶场景全局栅格地图构建与更新方法研究[J].控制与信息技术,2024,(6):12-18,7.基金项目
国家重点研发计划项目(2022YFB4300400) （2022YFB4300400）
