摘要
随着社会对工程车辆操作人员生命安全的重视以及工程项目对施工机械效能要求标准的提高,工程车辆正向高自主、高效率、高可靠性方向发展。为实现工程车辆无人驾驶自动转场及作业,本文系统总结了国内外相关技术,从环境感知、运动规划、工程作业、状态监测等方面详细分析了工程车辆无人驾驶关键技术的研究进展,指出非结构环境识别、车身可变结构车辆的路径规划及轨迹跟踪、自动化作业等方面的技术尚需突破,提出采用机构/结构优化设计、先进的通讯手段、机器学习和数字孪生等方法,有利于推动工程车辆无人驾驶关键技术发展。
As the society emphasizes on the life safety of operators and the standard of machinery performance requirements for construction,engineering vehicles are developing in the direction of autonomy,efficiency and reliability.In order to realize the automatic transfer and operation of unmanned engineering vehicles,this paper systematically summarizes the relevant technologies at home and abroad,and analyzes the research progress of key technologies of unmanned engineering vehicles in detail in terms of environment perception,motion planning,engineering operation and condition monitoring,etc.It points out that the technologies of unstructured environment identification,path planning and trajectory tracking of vehicles with variable body structure and automated operation still need to be broken through,and proposes the adoption of mechanism/structure optimization design,advanced communication means,machine learning and digital twin,etc.,which is conducive to promoting the development of key technologies of unmanned engineering vehicles.
作者
于向军
槐元辉
姚宗伟
孙中朝
俞安
YU Xiang-jun;HUAI Yuan-hui;YAO Zong-wei;SUN Zhong-chao;YU An(School of Mechanical and Electrical Engineering,Kunming University,Kunming 650214,China;Kunming Motor Vehicle Inspection and Supervision Service Center,Kunming 650200,China;School of Mechanical and Aerospace Engineering,Jilin University,Changchun 130022,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2021年第4期1153-1168,共16页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金项目(51875232,51265020).
关键词
工程车辆
无人驾驶
环境感知
运动规划
数字孪生
engineering vehicles
unmanned driving
environment perception
motion planning
digital twin
