外文翻译--除雪机的自动驾驶系统

除雪机的自动驾驶系统 Hirofumi HIRASHITA, Takeshi ARAI, Tadashi YOSHIDA摘要: 在冷和多雪的部分的日本，大多数雪被从除雪机器道路中除去，同时，处理路边条件并且保证安全的操作,操作这些机器被两个人正常地操作：一名话务员和一个助手。工作在进行中为了除雪机器开发自动的驾驶系统在操作人员的雪移去上使负担为了减轻并且减少未来的劳动要求。这报告描述一个自动的驾驶系统结合三种技术： 在最近几年作为一种ITS技术已被发展的通路记号系统，RTKGPS技术和GIS技术, 这驾驶的系统已被发展为旋转除雪机器：雪移去的类型考虑最困难操作。报告也评价基于确证的结果的三种控制 使 的除雪机器,同时这些的 控制 被 一个工作的系统的系统。：雪旋转移去，自动的驾驶，ITS，通路记号，GIS，GPS在 冷的多雪部分的日本，雪通 机 的手 被从道路上除 保证 道路。为了保证机 雪 要除雪在道路上的currency1“的被除通，fifl 的控制 被 ，并且机 正确地操作。自动的驾驶系统发展被fl 于旋转的除雪机器：一种操作的 的一类型 类型除雪机”，已被发展为减少工作人人员除雪负担 的保。发展雪移去被两个工作人员操作： 使移去的一名话务员同时，控制的的一个助手。话务员使机器 于道路的控制 雪处，助手雪“雪进机器的时 。除雪机器雪的部分” 。 的使 的部分自动自动 在操作工作 行中话务员 助手控制雪 。未来 一人操作。这报告 已被发展为自动的驾驶系统的基 的 技术和控制技术，同时， 一种评价基于确证 的结果的系统 行的雪移去并且描述 一个工作的系统。自动操系统 已被开发的自动的驾驶系统使雪的除为自动 ，驾驶也为了话务员的务一。3.1 驾驶并且雪除的控制 旋转自动除雪机的驾驶的机制 同于正常的 进和 部分被 系， 机制被安 ，这 在 。驾驶被确的 和被的时 转换控制效的制一 活动的 的 程。 这控制 被受整的约束影响的运动的一个 程代并且基于非 的控制理 。但 ，一共 15 页 第 1 页订个雪移去侧翼滑行，因为“移去雪时，作为雪筑堤围拦受横向的反应力量影响被显示 。小路滑动使 下被描述的综合的伺 机构系统来将这“ 一场外部骚乱对待控制滑动。除雪机部 除雪机除雪3.3 显示驾驶机制除雪的一个 型。在未来， 子和对于 部 子距离和除雪的 接的 距离被L代，“ 代 程时,驾驶的角度 除雪的半径的一个弧R=L/tan a 。“ 子的中fi点P的 程正 向速度矢量被代和正 向角度被代时，点P的运动的 程被写 下。 （ ） 公式（1）被 便 行currency1反馈控制。从等式中义除学时驾驶的数量驾驶的角度中的 / 个。（2）在等式（2）中横向滑动将 考虑。为了除去 横向的滑动造的稳currency1的偏差， 果综合的伺 机构系统被使 ，驾驶的数量被 下 程代（3）为了除去稳currency1的偏差符号f 控制获得，同时，基于公式（ ），f 代“例的获得，f 代派生物获得， f 代整的获得。PID控制被 来 造系统共 15 页 第 2 页订 协调系统 3.4 集伺 机构系统控制块 3.2 发现一种 为了 行自动的驾驶的信息 要的 并且确 向驾驶。已被开发的系统 备两种功： 指导 使 通路记号传感器发现使GPS和GIS来发现 和驾驶的 。通路记号传感器指导 一台通路记号传感器 为了使 作为先进的运输系统( ITS )的部分被开发的高级的巡航帮助公路系统( AHS )的一种基本的技术。这技术包括 歇地被埋在一个道路下的通路记号， 爬升发现被这些通路记号传送的信号沿着被记号 的 程指引 的传感器。这系统的两种版本： 无电波 和 的 。（ ） 角度fl ，通路记号 的距离将 常的，但 ，道路的 和传感器边的要求被 。因 ，这系统 备两台行的传感器，这 “通路记号安 被 道， 除雪机器传 控制 行。 ：共 15 页 第 3 页订 通路记号传感器指导 对于 一 一的行的传感器驾驶的控制， （第 边）通 程为控制 要的横向的 分和 的差 的 和m协调系统 ( )除传感器外要求 于记号 的 的信息发信号 被 量 协调系统 f ( f f )接受。但 ， 两台行的传感器(第 边)，系统fl 横向的 分和 程的 的差 的 和m通 两协调系统 ( )反对“传 a a， 传 下一个记号时，被 量的 和 协调系统 f ( f f )的传感器控制两个传感器信号 ，这 驾驶控制被 行使记号 的 未 的。（ ）电波记号传感器 了无电波 ，一个 在 上的传感器部着道路传送 台H无电波 ， currency1“一台无电波 记号( )“ 这转， Hfi的fl 的一个信号。 在传感器部的一个“ 的 “ 这无电波 发现 的 ( )。着 的运动的 向的高 价。 在中发现 通 通 基于在被两感 的无电波 的“ 的力量的 的三角 fl 的距离横向的“ 向 无电动记号 无电波 记号传感器（ ） 的记号传感器 了 的 ， 记的” ”( )安 在地 下，”上安 一台 的传感器。分 的记号显示将记号的中fi“ 最大度 力量对待的 。这 的 的部分( fi )和 度 向部分( )的 的度被 的传感器和 记号发现被fl 的距离发现,基于 约的fi 系的 程传感器和记号。( )共 15 页 第 4 页订 的记号 fi 系 GPSGIS 发现 基于GPSGIS 的一个系统发现 的 通 旋转的雪移去 控制操作 从一个GPS 被“ 的数 协调为了 被道路GIS 的道路协调 的数。（ ） 路GIS道路GIS 于道路 的结构和通理的信息的一个数。为了开发这系统，旋转的雪移去 程信旋转的雪 的话务员移去雪通 动息被 ，这 被处理作为GIS数。 展 的道路的被雪 除边 ( )指引的 因为雪 除边 常沿着道路的fl 人行道的控制，被使 的GIS数 控制数。道路GIS数 （2）TK-GPSRTK GPS，高 度的 ( 点和 点 ) 的差 半径的力的一个系统，包括“ 的两GPS，一个 一个 在运 工 (在除雪机)上。 的 传送基于已“ 运 工 的GPS数的 正信息。系统几 行 时 ，因为GPS数 Hfi的速度被 正。共 15 页 第 5 页订 4.1 备一种自动的驾驶 功的除雪机 确证的 除在一和 年 在 道使 备驾驶的控制系统的旋下的自动的驾驶 的 和 一条 的道路( 速，横向滑动)上的一个雪移去 的。转的雪移去被 行。4.1 确证 的 （ ） 被机器移去除雪机器的分为大中小型 常被使 在 的公路上，正常的造部分地被 ( )。 （ ） 证的 程确证的 程包括 的 ， ，( R )， currency1( R )，这 在公路上”制条件下， 通路记号 和 。除雪的工作条件 的工作的些同， 工作 两种速度被 ，公 和 公 。雪行被 备 “一个移去被 来 展除的部分的一条道路时，发生的工作 和横向的滑动。 程的 4.2 确证的 的结果证 通路记号着点 向 (无电波 和因为驾驶的控制系统发共 15 页 第 6 页订展 的一个系统 程，控制 从 程(横向的偏差)的数量被评价为雪移去的偏差的数量。 示从被 的 结果显示横向的偏差的数量。)指导 和GPSGIS 。这子展 的来，偏差和 的偏差的数量在 的 上 小的，但 两个 在 上在高。 这 大 地 被 行的事 的一种结果在 的一条小的半径的 中，大量的驾驶，并且雪 除 可造横GPSGIS 优于通路记号 。 因为 的 几取得几 Hfi的 时 和驾驶控制， 对作反应减少偏差的数量横向滑动。 了 ，驾驶被延迟因为系统 发现没通路记号 的信号，在大量的横向的偏差中导致的横向的滑动。 因 ， 被， ，除 传感器 正横向的滑动外，“传感器传记号时，协调下一个记号( 程信息)。导致横向的滑动的分揭示作为这时被领进 ， (: 的 分) 没 程信息的 ， 程信息的 ： 极端来 度的一大的 进和接近个GPSGIS 。在 的 中的没 距速度公 和 被 察。结 和未来挑战已被确认自动的驾驶系统使 通路记号或者GPS的，GIS等等通除雪机取得正常的雪 除工作的一个一般地 的水平的控制。 但 ，为了 的工作的系统， 下挑战 被解决。( ) GPSGIS 显示发现 度 暂时在敞开的空 中落下。 “GPS 在一个狭窄的范围中被集中时， 这发生。 同时，在 期 无电波 记号 ，认为 上的高的输传输器的一种结果无 言的行为被 察。 要功“这 反常的操作的信号被生产时，没干涉话务员 自动地停止操作。( ) 为GPSGIS情况，靠通路 进控制的 度 要通 进通路记号的记号 协调 雪移去系统向 程信息。 每次系统传 记号，记录在每一记号上的通道 也分重要。( ) 进一步 进控制 度(减少偏差的数量)，努力量 诸 的骚乱横向的滑动，雪 除 等等在 雪 除工作的 型的细节的程度增加旋转的雪移去 并且 行仿真 要雪移去。共 15 页 第 7 页订 横向的偏差(无电波 )在最近几年，各种各 的已 运 信息技术( IT ) 进 设机 。 “时在些情况中看见，信息在这种情况中处理 被运 于系统，除非 每一系统的横向的差异独 的操作(工作加速公 ， 传感器的偏差的数量)在最近几年，各种各 的已 运 信息技术( IT ) 进 设机 。 “时在些情况中看见，信息在这种情况中处理 被运 于系统，除非的途在 时被 。 因为被这项 发展的除雪机通路记号的新的道路基 设施，道路GIS数。同时，通信系统和通信 被 ，发展 ITS领域中的通信技术已被协调。 作者希望这研究发展将促进作为一个工作的共 15 页 第 8 页订系统 。最 ，作者希望向Huiu地达 的深的感激地基 设施的部的发展 和 道地的发展 ，和运输帮助确证的 和对于帮助系统和 的工作的 造的每个人。Snow machine autopilot system Hirofumi HIRASHITA, Takeshi ARAI, Tadashi YOSHIDA Abstract: In the cold and snowy part of the Japanese, most of the snow from snow machines to remove the road at the same time, conditions at street level and to ensure the safety of operation, operating the equipment was operating normally two people: one operator and one assistant. Work in progress the development of automatic machines for snow driving system in the operator to make the snow removal in order to alleviate the burden and reduce the labor requirements of the future. This report describes an automatic driving system combines three technologies: in recent years as a development of ITS technology has been marked the pathway system, RTKGPS technology and GIS technology, this drive system has been developed into a rotating machine snow: Snow shift to consider the most difficult type of operation. The report also confirmed the results of the evaluation based on the three control methods to test the use of the actual snow removal machines, while the outline of these issues must be overcome to control the work of the establishment of a system of systems. Key words: rotary snow removal, automatic driving, ITS, channel markers, GIS, GPS 1 Introduction In the snowy cold part of Japan, by mechanical means the snow is removed from the road to ensure that the winter road. In order to ensure the machinery to eliminate the exception of the snow on the road under the snow accumulation on the surface state of the appropriate traffic had been cleared, the presence of mind control plan must be established, and the machinery must be operated correctly. Automatic driving system has been planned for the development of rotating machines snow: with a method of operation of a type that other types of snow than the more complex machine, it has been the development of staff members in order to reduce the burden of reducing the protection of snow. 2 development background Snow removal operations by the two staff: one driven by the removal of the operator at the same time, control the injection of an assistant. Operator-driven control of the machine on the road also pay close attention to the snow, the assistant out into the snow when the snow when the machine. 共 15 页 第 9 页订Snow removal machine are complex internal configuration shown in Figure 3.1. The purpose of auto-parts for vehicles in the operation of the work of the implementation of automation in the operator control to allow the snow to do injection aides. The future to allow operation by one person. This report has been formed to develop automated driving system is the basis of the positioning technology and control technology, at the same time, an evaluation based on test results confirm that the system be implemented to remove the snow and a description of the completion of the work to overcome the problem of system. 3 automatic control system Has been developed to enable automated driving systems become automated removal of snow, driving has become one of the tasks of the operator. 3.1 drivers and the control of snow removal Snow machine automatically rotating mechanism for driving the vehicle is different from the normal part of forward and backward linkage pins, and spelled out the mechanism to be installed, so that vehicles can be bent pin. Driving by the exact linearization method and the time scale of the change of control of the activities of an effective system for the process of vehicles. This control method is bound by the full impact of the campaign on behalf of an equation and is based on non-linear control theory. However, the removal of the flank of a snow slide, because when it is the removal of snow, as snow embankment Wai reaction stopped by the horizontal forces are displayed Figure 3.2. Sliding path is described using the following integrated servo system to external disturbances such as treatment of a sliding control. Figure 3.1 Figure 3.2 inside snow snow snow machine Figure 3.3 shows the driving mechanism for a model snow. In the future, the front wheels and rear wheels for distance and removal of the pin connections are representative of the distance to be L, when the representative 2 process, driving the point of view of snow followed by an arc of radius R = L / tan a. The center of the wheel surface current process P tangent were the direction of velocity vector and the tangent direction on behalf of the perspective of being the representative of , the point P of the movement equation can be written as follows. ( ) Formula (1) has been completed for the implementation of state feedback control. Defined from the equation in addition to the number of hours of driving is driving in the perspective of 1 / 2. (2) In equation (2) horizontal sliding will not be taken into account. In order to remove the slide caused by the horizontal deviation of the steady-state, if the integrated servo system is used to drive the number of equation was as follows on behalf of 共 15 页 第 10 页订 (3) In order to remove the steady-state deviation of the symbol f is the control of access, at the same time, based on the formula (3), f1 into the appropriate proportion of representatives of the acquisition, f2 derivatives on behalf of access to, and representative of the complete access to f3. PID control system is used to build3.2 Location Method In order to find a vehicle to drive the implementation of automated information is necessary to determine the location and the direction of driving it. Has Systems and equipment have been developed, there are two functions: to guide the use of access methods marked using GPS sensors, and GIS to identify the location of vehicles and driving method. 3.3 method of access guidance mark sensor A mark sensor is a pathway in order to use as an advanced transport system (ITS) has been developed by some of the cruise to help senior highway system (AHS) of a basic technology. This technology includes intermittently been buried below the surface of a road in the path marked, and vehicles found to have been climbing these mark to send the signal pathway has been marked along the course of the formation of the sensor vehicles. There are two versions of this system: the radio waves and magnetic methods. (1) the perspective of computational logic We assumed that the distance between the marked path will not be regular, but, according to the shape of the road and sensors can be changed while the request. Therefore, this system is equipped with two lines of sensors, so even when the channel spacing marks are aware of the installation until the snow machines in order to control transmission of the implementation of them. Figure 3.5: Figure 3.5 mark sensor guiding path method For a single line with a driving control sensors, such as (Figure 3.5 left) through the goal needed to control the horizontal position of the differential and differential m of ym and coordination system (xy) in addition to the sensor outside the requirements of on the interval between markers signal the information ym1 measurement was fixed in front of the vehicle coordination system f (xfyf) accepted. However, with two lines of sensors (Figure 3.5 right), the system can calculate the differential horizontal direction and objectives of the course there is a difference of m of ym and coordination through the two systems (xy) against the pass when it amarker, until they pass (2) radio mark sensor positioning methods With the radio wave method, an antenna in the vehicle on the road towards the sensor internal kHs send radio waves 227.5 Taiwan, as well as a mark of radio waves (Figure 3.6) received the broadcast, which returned to double the frequency of 455 kHz of a signal . A sensor within the antenna received radio waves received back to the position of the vehicle was found (Figure 3.7). 共 15 页 第 11 页订 Towards the direction of movement through the peak value. It was found in the position to be passed through the two was based on the return of the received radio wave strength of the triangle as the difference between the calculated horizontal distance between the antenna of the receipt of the direction of the antenna Figure 3.6 Figure 3.7 mark the radio rocking radio wave sensor mark (3) mark the magnetic sensor positioning methods With the magnetic approach, there is a lasting mark ferrite magnet (Figure 3.8) installed on the surface below the magnet also install a magnetic sensor. Subjects showed that the distribution of magnetic signs will mark the center of the subject as the maximum peak power of a single treatment. This issue an integral part of the vertical (Bz) and an integral part of the vehicle width direction (Bx) of the magnetic flux density by magnetic sensors and the location of marks were found between the calculated distance was found, based on the previously agreed Bx and Bz are relationship between the sensor and mark the equation. (Figure 3.9)3.4 GPS and GIS positioning methods found GPS and GIS-based positioning system the position of the vehicle was found by comparing the rotation of the snow removal operation to control his or her position from a GPS satellite to be received by the coordination of data and the location of the roads in order to advance the road to provide coordination of GIS data linear . (1) the way GIS is a GIS-related road for road maintenance and traffic management structure of a database of information. In order to develop this system, rotation of the process of snow removal of the target letter rotary snow snow removers remove the operator through the promotion of interest was established, it can be processed such as GIS data. Expansion of the road exposed their snow elimination of the border (Figure 3.10) guidelines for the elimination of the vehicle because of the snow along the road to border the sidewalk two sides is controlled by the use of GIS data is control data. Figure 3.10 road GIS data (2) TK-GPS RTK-GPS, there are high-precision positioning (2:00 and 3:00 cm) of the error between the radius of the ability of a system, including the receipt of the two antenna GPS, a fixed point to another fixed station in the means of delivery (in the snow removal machine ) on. Fixed transmission station on the grounds that it has received the means of delivery of the GPS station data to correct the information. System can perform almost real-time location, as GPS data to be corrected speed of 20Hz. 共 15 页 第 12 页订 Figure 4.1 is equipped with an automatic driving the snow machine support 4 confirm the test January and eliminate in Hokkaido in February 2002 have driven the use of the equipment control system of automatic rotation of the driving following applicability and usefulness of the actual road is a (low rate, horizontal sliding) a snow removal unique. Snow removal to be implemented. 4.1 confirmed the outline of the test (1) The removal machine Snow machines are divided into small, medium and large size are often used in off the highway home, it was a normal part of that construction has been modified (Figure 4.1). (2) verify that the testing process Conclusive evidence of the testing process, including the paragraph straight, curve, (R 30 m), as well as the intersection (R 12 m), so that it copied on the road conditions, the channel spacing is 2.0 m mark and 1.5 m. Snow removal and the actual working conditions of those who work the same as the speed of work was done in two, four kilometers and 0.5 kilometers and h and h. Snow banks are ready to be used when a removal to remove the part of the expansion of a road, the occurrence of the work of loading and horizontal sliding.4.2 The test results confirmed Marked point of impact tests to confirm the direction of observation channels (radio waves, and because the control system driving the development of a system to follow the preset goal of the process, the control performance from the target process (lateral deviation) were evaluated as the number of snow removal The number of deviations. Table 5.1 that have been organized from the test results indicate that the number of horizontal deviation. Magnetic) and GPS guidance and positioning method of GIS. This exhibition then the whole table, the standard deviation and the number of deviations in the straight segment is small, but they both are in the intersection of the curve higher. This difference is probably to the fact that the implementation of a curvature of the results with a small radius of the paragraph, a large number of drivers, and snow is more likely to eliminate the load caused by cross-method is superior to GPS and GIS Access method mark. Because the previous method to obtain almost real-time location of almost 20Hz and driving control, it can respond immediately to reduce the deviation of the number of horizontal sliding. With the back, driving can not be delayed because the system found that there was no signal between the access road markings, in a large number of horizontal deviation in the result of horizontal slide. Therefore, the test was completed, in addition to using sensors to correct horizontal sliding, the time when the sensor mark transfer, under the coordination of a mark (process information). Resulted in the distribution of horizontal sliding, as 共 15 页 第 13 页订revealed at this time was led into the Figure 4.3, 2 (: standard differential) is not the process of information 57 cm, and it is the process of information 31 cm: bring extreme precision a major improvement and close to the GPS and GIS methods. In between the performance of no spacing and h the speed of 4 km and 0.5 and h was observed. 5 Conclusions and future challenges Have been identified using an automatic driving system, or GPS-marked path, GIS and so can pass the normal snow machine made snow to eliminate the work of a general level of actual control. However, in order to establish the actual work of the system, the following challenges must be resolved. (1) GPS and GIS methods to demonstrate its accuracy and even found the time being in the open space down. When the GPS satellites in a narrow range was focused on, we assume that this occurred. At the same time, mark the test methods of radio wave that is the vehicle of a high output of a transmitter can not predict the outcome of the behavior was observed. Function is necessary to provide such an abnormal operation when the signals are in production, it will not interfere with the operator to stop operation automatically. (2) for the GPS and GIS, the access road to improve on the accuracy of control is necessary to mark the adoption of the mark to enter the access methods to advanc