针对矿卡无人驾驶的运行安全问题,以矿卡的角度,分析了矿卡无人驾驶系统架构,设计了无人驾驶矿卡安全冗余整体框架。在此基础上,针对线控系统,进行了双控制器、双通信总线、多传感器和多执行套件的安全冗余设计方法;针对车载无人驾驶系统,进行了硬件、软件和作业安全的安全冗余设计。通过合理的安全冗余设计和安全冗余控制策略,可以确保矿卡能够安全、可靠地工作,防止故障发生,提高矿山生产效率和安全性,降低生产成本。

Aiming at the safety issues of autonomous driving for dump trucks, we analyze the architecture of autonomous driving systems from the perspective of dump trucks and design an overall framework for the safety redundancy of autonomous dump trucks. Based on this, safety redundancy design methods for control-by-wire system are conducted, including dual controllers, dual communication buses, multiple sensors, and multiple execution suites. For the onboard autonomous driving system, safety redundancy designs are carried out concerning hardware, software, and operational safety. Through reasonable safety redundancy design and control strategies, it is ensured that the dump trucks can operate safely and reliably, to prevent failures, enhance mining production efficiency and safety, and reduce production costs.