Design and control strategy of underground driverless system for trackless rubber tire vehicle

Because of the characteristics of automatic, high efficiency and high accuracy, the driverless technology has become increasingly mature and begun to be applied on many ground vehicles after years of development.Therefore, it may be one of the most important solutions for efficient, safe and intelligent transportation of trackless rubber tyred vehicles(TRTVs) in underground mines.Based on the ground driverless technology and the actual situation of underground mine roadway, this study has developed a driverless system of underground battery TRTV,and investigated intensively on the simulation of its driverless control strategy.Firstly, by selecting sensors to form a sensing system, and transforming the vehicle's control system and execution system, a driverless system of TRTV based on WLR-9 type mining battery vehicle was designed.Secondly, based on multi-sensor fusion method, the tracking and obstacle avoidance problems of TRTV encountered when driving inside underground roadway was resolved.Thirdly, the control strategy of the driverless system was designed by a model-predicted path planning algorithm.Finally, a simulation model of the driverless system was established by jointing of CarSim and Simulink software, to verify theoretically the rationality of the designed driverless system for TRTV.The simulation results show that the maximum instantaneous deviation of the trajectory tracking of the driverless system is only 7.8 cm at 25 km/h, which indicates that the tracking effect is good.It can react to obstacle in time to avoid it and re-plan a new smooth and continuous path immediately.In addition, there is no slip out of control in the process of avoiding obstacles.The model can also identify the opposite vehicle in time, and decelerate to brake in advance.After identifying the dodge according to the underground meeting rules, it can plan a new path and enter the evasion squat to avoid the opposite vehicle quickly.Only when the opposite vehicle leaves, it will drive out of the evasion squat and return to the predetermined path to continue its driving, which reflects the stability and feasibility of the control strategy of the driverless system for TRTV.