震源车车队跟车技术的研究

发布时间：2019-01-09 11:59

【摘要】：为了提高勘探质量,得到更加准确的地质信息,人们利用了多辆震源车协同工作来采集微弱地震信号。在震源车队勘测过程中,如果从开动到停止的过程只有车队的第一辆车有人驾驶,后面的车辆自动跟踪前面的车辆行驶,那么将大大节省人力资源,提高生产效率。由于测量获得的信息比人为判断的信息更加准确,因此需要研究一种无人驾驶的震源车车队。现今主流的无人驾驶汽车已具备世界上最先进的技术以及仪器,并在这一领域内发展得相当成熟。然而,这类智能无入车只适用于公路行驶,其研制成本非常高(100万元以上),且初次应用于特殊环境的适应性不强。而本文所研究的是针对野外环境下的无人驾驶的震源车的车队跟车,这与目前谷歌等公司最新研发的无人车的应用背景截然不同。目前,尚无人对震源车在特定环境下的车队跟车进行研究,因此,针对震源车队野外工作环境和技术指标,需要人们来研究可行的低成本车队跟车方案。本论文的课题来源于国家863项目：高精度可控震源研制子课题跟车系统研究,我主要重点研究了适用于自主震源车队的跟车系统。本课题主要研究成果有以下几个方面：第一,对智能车各种信息检测技术进行了优劣性比较,并结合了震源车队在行驶速度、运行环境等方面的要求,最后选定了激光测量技术作为主要检测技术,同时使用其他传感器进行辅助检测。第二,进行了震源车队跟车系统的整体构建,确立了跟车控制模型,提出了该课题的总体设计方案。第三,根据车距控制理论设计了一个基于Visual Studio的车距自动控制系统,经过9种状态测试,跟车距离较好地控制在限定的车距范围内,满足震源车队车距控制的要求。第四,通过LabVIEW图形化设计环境构建了震源车队跟车系统,实现了集界面、算法、数据保存为一体的软件仿真,并实时显示出无人震源车的各个参数信息。考虑到震源车数量较多,总体试验成本较高,所以我通过使用软件的方法来实现对震源车队的控制。本文所设计的车距自动控制系统以及模拟野外路况的震源车队控制系统在理想匀加速、匀速、匀减速的状态下能够使前后两车间距稳定控制在要求范围内,满足了震源车队各项技术指标要求,初步实现了跟车系统的控制,也为进一步实现全程无人驾驶震源车队安全勘测工作打下了良好的基础,对于低成本的高精度车队控制还有待于深层研究。
[Abstract]:In order to improve the exploration quality and obtain more accurate geological information, several seismic vehicles are used to work together to collect weak seismic signals. In the survey process of the epicenter fleet, if only the first vehicle of the motorcade is driven from start to stop, and the rear vehicle automatically tracks the vehicle in front, it will greatly save human resources and improve the production efficiency. Because the information obtained from the measurement is more accurate than that obtained by artificial judgment, it is necessary to study a kind of driverless epicenter vehicle fleet. Today, the mainstream driverless cars have the most advanced technology and instruments in the world, and have developed quite well in this field. However, this kind of intelligent non-entry vehicle is only suitable for highway driving, its development cost is very high (more than 1 million yuan), and the adaptability of its initial application to special environment is not strong. In this paper, the research is aimed at the driverless epicentral vehicle in the field, which is completely different from the application background of the latest research and development of unmanned vehicle by Google and other companies. At present, no one has studied the vehicle following vehicle in the specific environment. Therefore, it is necessary to study the feasible low cost vehicle following scheme for the field working environment and technical index of the focal vehicle. The subject of this paper comes from the national 863 project: the research of vehicle following system of high precision vibroseis development subproject. I mainly focus on the vehicle following system suitable for the autonomous earthquake source fleet. The main research results of this subject are as follows: first, the advantages and disadvantages of various information detection techniques of smart vehicles are compared, and the requirements of the source motorcade in terms of driving speed and running environment are combined. Finally, laser measurement technology is selected as the main detection technology, and other sensors are used to assist detection. Secondly, the overall construction of the vehicle following system of the focal vehicle fleet is carried out, the control model of the vehicle following is established, and the overall design scheme of the subject is put forward. Thirdly, according to the theory of distance control, an automatic distance control system based on Visual Studio is designed. After nine state tests, the distance with the vehicle is well controlled within the limited distance range, which meets the requirements of the vehicle distance control of the focal vehicle fleet. Fourthly, the vehicle following system is constructed by using LabVIEW graphic design environment, which realizes the software simulation which integrates interface, algorithm and data saving, and displays the parameter information of unmanned seismic vehicle in real time. Considering the large number of epicenter vehicles and the high overall test cost, I use software to control the epicenter fleet. The automatic control system of vehicle distance designed in this paper and the focal motorcade control system which simulates the road conditions in the field can make the distance between the front and rear vehicles stable within the required range under the condition of ideal uniform acceleration and even deceleration. It meets the technical requirements of the focal team, realizes the control of the vehicle following system preliminarily, and lays a good foundation for the further realization of the safety survey work of the whole unmanned focal fleet. The low-cost high-precision motorcade control still needs to be deeply studied.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495

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