无人驾驶系统关键技术在超市购物车上的应用研究  

Study on the application of key technologies of unmanned systems in supermarket shopping carts

作　　者：任兴贵 刘学文[1] 付凯欣 杨明慧 REN Xinggui;LIU Xuewen;FU Kaixin;YANG Minghui(Guangzhou Huaxia Vocational College,guangzhou 510395,China)

机构地区：[1]广州华夏职业学院,广州510935

出　　处：《自动化与仪器仪表》2024年第10期196-199,共4页Automation & Instrumentation

基　　金：广东省教育厅特色创新项目《无人驾驶厢式物流车》(2022KTSCX382)。

摘　　要：研究针对超市购物车在购物使用中自主变道问题进行分析,使用了无人驾驶系统中的自动变道技术和轨迹跟踪技术对超市购物车进行系统模型搭建。通过对购物车系统的仿真模拟,研究结果发现,购物车在变道系数大于0.7时,购物车会产生强烈的变道意愿。变道时间在13~17 s时购物车的自主变道系数降低,变道时间在17~23 s时购物车的变道系数增强,23 s过后购物车变道系数保持相对稳定。购物车的纵向距离和变道时间对变道轨迹有影响,需要保证在极短的时间内完成变道以保证安全性和效率。在仿真模拟中,购物车的轨迹跟踪表现与实际情况相符,特别是在4 km/h的速度下效果最佳。由此可见,使用无人驾驶系统中的技术能够提升超市购物车的自动驾驶效果提升其购物效率。This research analyzes the problem of autonomous lane changing of supermarket shopping carts in shopping use,and uses the automatic lane changing technology and trajectory tracking technology of unmanned systems to build a system model for supermarket shopping carts.Through the simulation of the shopping cart system,the results of the study found that the shopping cart will have a strong willingness to change lanes when the lane changing coefficient is greater than 0.7.The autonomous lane-changing coefficient of the shopping cart decreases when the lane-changing time is 13-17 s,and the lane-changing coefficient of the shopping cart enhances when the lane-changing time is 17-23 s.the lane-changing coefficient of the shopping cart remains relatively stable after 23 s.The longitudinal distance and lane-changing time of the shopping cart have an effect on the lane-changing trajectory,and it is necessary to ensure that the lane-changing is completed in a very short time to ensure safety and efficiency.In the simulation,the trajectory tracking performance of the shopping cart is in line with the actual situation,especially the best effect at a speed of 4 km/h.It can be seen that the use of the technology in the unmanned system can improve the effect of autonomous driving of supermarket shopping carts to improve their shopping efficiency.

关 键 词：超市购物车 自主变道 无人驾驶系统 变道系数 仿真模拟 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]