基于固态激光雷达的矿井专用AEB前端子系统设计  

Design of mine AEB front⁃end subsystem based on solid state lidar

作　　者：张可[1] 杨麓宁 费义涵 季欣然 ZHANG Ke;YANG Luning;FEI Yihan;JI Xinran(Business School,Hohai University,Nanjing 211100,China)

机构地区：[1]河海大学商学院,江苏南京211100

出　　处：《电子设计工程》2024年第23期98-104,共7页Electronic Design Engineering

基　　金：江苏省研究生科研创新计划项目(B210203010)。

摘　　要：受限于矿井巷道场景的环境特殊性,目前针对地面系统的自动紧急制动(Autonomous Emergency Braking,AEB)技术难以在井下环境中直接应用。为探究适用于矿井车辆的AEB前端子系统组成方案,优选了一款纯固态Flash型单线激光雷达,并面向井下工程应用对雷达工作参数进行优化。基于近邻查询、卡尔曼滤波和最小马氏距离理论,提出了适用于矿井巷道车辆的改进AEB系统多目标聚类及跟踪算法。在此基础上,将算法移植于嵌入式平台并进行了测试。结果表明,该系统可对环境目标实施连续准确的跟踪,所选用的激光雷达抗干扰能力强,这对组建完整的井下AEB系统具有较高的参考价值。Limited by the environmental particularity of the mine roadway scene,the current Autonomous Emergency Braking(AEB)technology for the ground system is difficult to be directly applied in the underground environment.In order to explore the composition scheme of AEB front-end subsystem suitable for mine vehicles,a pure solid-state Flash single-line lidar was selected,and the radar working parameters were optimized for underground engineering applications.Based on the theory of nearest neighbor query,Kalman filtering and minimum Mahalanobis distance,an improved AEB system multi-target clustering and tracking algorithm suitable for mine roadway vehicles was proposed.On this basis,the algorithm was transplanted to the embedded platform and tested.The results show that the system can implement continuous and accurate tracking of environmental targets,and the selected lidar has strong anti-interference ability.This has a high reference value for the formation of a complete underground AEB system.

关 键 词：矿井车辆 AEB系统 激光雷达 多目标跟踪 卡尔曼滤波 嵌入式开发 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置] TN958.98[自动化与计算机技术—控制科学与工程]