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首页> 外文会议>European-African Regional Conference of the Internatinal Society for Terrain Vehicle Systems >EVALUATION OF COOPERATIVE COLLISION AVOIDANCE ALGORITHMS FOR SENSOR SELECTION BY MONTE CARLO SIMULATION
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EVALUATION OF COOPERATIVE COLLISION AVOIDANCE ALGORITHMS FOR SENSOR SELECTION BY MONTE CARLO SIMULATION

机译：蒙特卡罗模拟评估传感器选择的协同碰撞避免算法

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Large-scale mining operations often require the use of large heavy haul trucks to transport mined material around the mine site. The trend in the mining industry has been to increase the size, load capacity and hauling speed of mine haul trucks in an effort to boost productivity. The large size of these trucks carries the disadvantage of low visibility around the operator cabin, and has resulted in dozens of collisions and loss of life annually. In an effort to eliminate the harm and loss of life from mine vehicle collisions, the Mine Health and Safety Act of South Africa has recently been amended to require employers to apply reasonably practicable measures to prevent injury to persons resulting from collisions between trackless mobile machines. Many international bodies are looking into introducing similar legislation. This has led to the development of collision avoidance systems that detect an imminent collision, alarm the operator and intervene, by braking the vehicle, to avoid the collision. This study focuses on the evaluation of the collision detection and avoidance logic. In particular, the aim is to evaluate the algorithm-specific requirement on the position accuracy. To determine a maximum error on these measurements given a maximum tolerable probability of false positive and/or false negative alarms and interventions in intersection, head-on and dovetailing scenarios. The probabilities of false negative and false positive alarms are evaluated in each of the aforementioned scenarios for varying levels of noise in the position measurements. The results are compiled into an interpolation surface which may be used to identify an acceptable sensor design domain for sensor selection or design specification, or as a basis for algorithm improvement, based on the requirements for a specific mine site.
机译：大型采矿业务经常需要使用大型重物卡车来运输矿场周围的矿井。采矿业的趋势一直在提高矿井卡车的规模，负荷能力和拖运速度，以提高生产力。大尺寸的这些卡车围绕操作舱舱的低可视性的缺点，并导致每年发生几十个碰撞和生命损失。为了消除矿山车辆碰撞的危害和生命损失，最近已修改南非的矿井健康和安全行为，要求雇主采取合理切实可行的措施，以防止因无轨移动机之间的碰撞而受伤。许多国际机构正在研究引入类似的立法。这导致了避免碰撞系统的碰撞避免系统的开发，通过制动车辆来避免碰撞来避免操作员和干预。本研究重点研究了对碰撞检测和避免逻辑的评估。特别是，目的是评估对位置精度的特定算法的要求。为了确定这些测量的最大误差，给出了错误正面和/或假阴性警报和交叉口的干预措施的最大可容忍概率，头部和贸易场景。在每个上述场景中评估假阴性和假阳性警报的概率，以在位置测量中变化噪声水平。将结果编译成插值表面，该插值表面可用于识别传感器选择或设计规范的可接受的传感器设计结构域，或者作为特定矿位点的要求，作为算法改进的基础。

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