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Article(id=1322161957868786037, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322161751467078485, articleNumber=null, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1729440000000, receivedDateStr=2024-10-21, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1793157575337, onlineDateStr=2026-10-28, pubDate=1758729600000, pubDateStr=2025-09-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793157575337, onlineIssueDateStr=2026-10-28, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793157575337, creator=13701087609, updateTime=1793157575337, updator=13701087609, issue=Issue{id=1322161751467078485, tenantId=1146029695717560320, journalId=1225396423026438145, year='2025', volume='45', issue='9', pageStart='1', pageEnd='314', issueExtLink='null', onlineDate='null', pubDate='1758729600000', pubDateStr='2025-09-25', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1793157526127, creator='13701087609', updateTime=1793158877659, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1322167420266074322, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322161751467078485, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1322167420266074323, tenantId=1146029695717560320, journalId=1225396423026438145, issueId=1322161751467078485, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=167, endPage=175, ext={EN=ArticleExt(id=1322161958028169590, articleId=1322161957868786037, tenantId=1146029695717560320, journalId=1225396423026438145, language=EN, title=Collaborative Optimization Control Method for Vehicle Access at Unsignalized Intersections in Unmanned Transportation Systems of a Mine, columnId=null, journalTitle=Mining Research and Development, columnName=null, runingTitle=null, highlight=null, articleAbstract=

A collaborative optimization control method based on conflict right-of-way decision-making and driving risk field was proposed to address the problem of efficient and safe access of vehicles at unsignalized intersections in unmanned transportation systems of a mine. Firstly, a vehicle conflict state detection model was established by introducing safety margin information, and a three-level right-of-way system of first-come and first-leave, load priority, and priority right-of-way decision library was constructed. Secondly, based on the characteristics of mine working conditions, a driving risk field was established as the safety optimization basis for collaborative optimization control of unsignalized intersections. Finally, by integrating environmental factors, an optimization objective function was established with minimizing traffic risk as the primary objective and traffic efficiency as the secondary objective. A validation scenario for open-pit mine transportation was designed, which includes multiple conflict situations, to verify the collaborative control method. The simulation results show that the collaborative control method can achieve the coordinated and orderly passage of multiple vehicles through unsignalized intersections without stopping, while maintaining the minimum safe distance. The research results can provide a safe and efficient access plan for unsignalized intersections in unmanned transportation systems of smart mines.

, authors=Yue QI1, Xiaojiang SHE2, authorsList=Yue QI, Xiaojiang SHE, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1322161966139953597, articleId=1322161957868786037, tenantId=1146029695717560320, journalId=1225396423026438145, language=CN, title=矿山无人运输系统无信号交叉口车辆通行协同优化控制方法, columnId=1226462295946085268, journalTitle=矿业研究与开发, columnName=矿山机电与矿业智能化, runingTitle=null, highlight=null, articleAbstract=

针对矿山无人运输系统无信号交叉口车辆高效、安全通行难题，提出了一种基于冲突路权决策和行车风险场的协同优化控制方法。首先，通过引入安全裕度信息建立车辆冲突状态检测模型，并构建“先到先离-负载优先-优先路权决策库”的三级路权体系；其次，依据矿山工况特征建立行车风险场，作为无信号交叉口协同优化控制的安全性优化依据；最后，融合环境影响因素建立以通行风险最小为主要目标，通行效率为次要目标的优化目标函数。设计了包含多种冲突情况的露天矿运输验证场景，对协同控制方法进行验证，仿真结果表明：协同控制方法可实现多台车辆保持最小安全距离的前提下协同有序地不停车通过无信号交叉口。研究成果可为智慧矿山无人运输系统提供安全高效的无信号交叉口通行方案。

, authors=齐月1, 折小江2, authorsList=齐月, 折小江, authorCompany=null, correspAuthors=null, authorNote=

齐月（1986—），女，辽宁兴城人，硕士，讲师，主要研究方向为矿业工程技术研究。E-mail:

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齐月（1986—），女，辽宁兴城人，硕士，讲师，主要研究方向为矿业工程技术研究。E-mail:

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齐月（1986—），女，辽宁兴城人，硕士，讲师，主要研究方向为矿业工程技术研究。E-mail:

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Xuzhou: China University of Mining and Technology, 2020., articleTitle=Design of safety distance for unmanned mining car based on sensor reliability analysis, refAbstract=null)], funds=null, companyList=[AuthorCompany(id=1322161983852494922, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, xref=1., ext=[AuthorCompanyExt(id=1322161983860883531, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, companyId=1322161983852494922, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1.Department of Mining Engineering, Yulin Vocational and Technical College, Yulin, Shaanxi 719000, China), AuthorCompanyExt(id=1322161983869272140, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, companyId=1322161983852494922, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, 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label=Fig.11, caption=Results of environmental factors influence test, figureFileSmall=HwgLZUbNZrR1SwYZzlVVWg==, figureFileBig=FkZNIgI4ySPpVJ240pPlRg==, tableContent=null), ArticleFig(id=1322161989137318010, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=CN, label=图11, caption=环境因素影响试验结果, figureFileSmall=HwgLZUbNZrR1SwYZzlVVWg==, figureFileBig=FkZNIgI4ySPpVJ240pPlRg==, tableContent=null), ArticleFig(id=1322161989217009787, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=EN, label=Table 1, caption=

Limit speeds of mining trucks

, figureFileSmall=null, figureFileBig=null, tableContent=
地点最高时速/(km/h)
干线道路40
支线道路35
联络线道路30
维修及大修作业区、装卸作业区、交叉路口20
), ArticleFig(id=1322161989279924348, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=CN, label=表1, caption=

矿用卡车限制速度

, figureFileSmall=null, figureFileBig=null, tableContent=
地点最高时速/(km/h)
干线道路40
支线道路35
联络线道路30
维修及大修作业区、装卸作业区、交叉路口20
), ArticleFig(id=1322161989351227517, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=EN, label=Table 2, caption=

Fuzzy inference rule of W=W1

, figureFileSmall=null, figureFileBig=null, tableContent=
条件DTLDTMDTH
RC1DFLDFLDFL
RC2DFLDFLDFL
RC3DFMDFLDFL
RC4DFMDFLDFL
), ArticleFig(id=1322161989422530686, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=CN, label=表2, caption=

W=W1时模糊推理规则

, figureFileSmall=null, figureFileBig=null, tableContent=
条件DTLDTMDTH
RC1DFLDFLDFL
RC2DFLDFLDFL
RC3DFMDFLDFL
RC4DFMDFLDFL
), ArticleFig(id=1322161991108640895, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=EN, label=Table 3, caption=

Fuzzy inference rule of W=W2

, figureFileSmall=null, figureFileBig=null, tableContent=
条件DTLDTMDTH
RC1DFLDFLDFL
RC2DFLDFLDFL
RC3DFMDFLDFL
RC4DFMDFMDFL
), ArticleFig(id=1322161991200915584, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=CN, label=表3, caption=

W=W2时模糊推理规则

, figureFileSmall=null, figureFileBig=null, tableContent=
条件DTLDTMDTH
RC1DFLDFLDFL
RC2DFLDFLDFL
RC3DFMDFLDFL
RC4DFMDFMDFL
), ArticleFig(id=1322161991276413057, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=EN, label=Table 4, caption=

Fuzzy inference rule of W=W3

, figureFileSmall=null, figureFileBig=null, tableContent=
条件DTLDTMDTH
RC1DFMDFLDFL
RC2DFMDFMDFM
RC3DFHDFMDFM
RC4DFMDFLDFL
), ArticleFig(id=1322161991335133314, tenantId=1146029695717560320, journalId=1225396423026438145, articleId=1322161957868786037, language=CN, label=表4, caption=

W=W3时模糊推理规则

, figureFileSmall=null, figureFileBig=null, tableContent=
条件DTLDTMDTH
RC1DFMDFLDFL
RC2DFMDFMDFM
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矿山无人运输系统无信号交叉口车辆通行协同优化控制方法
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齐月 1 , 折小江 2
矿业研究与开发 | 矿山机电与矿业智能化 2025,45(9): 167-175
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矿业研究与开发 |矿山机电与矿业智能化 2025 , 45 (9) : 167 -175
矿山无人运输系统无信号交叉口车辆通行协同优化控制方法
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齐月（1986—），女，辽宁兴城人，硕士，讲师，主要研究方向为矿业工程技术研究。E-mail:

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齐月1 , 折小江2
作者信息
  • 1.榆林职业技术学院 矿业工程系，陕西　榆林市　719000
  • 2.国能榆林能源有限责任公司 信息智能管理中心，陕西　榆林市　719000
作者简介:

齐月（1986—），女，辽宁兴城人，硕士，讲师，主要研究方向为矿业工程技术研究。E-mail:

Collaborative Optimization Control Method for Vehicle Access at Unsignalized Intersections in Unmanned Transportation Systems of a Mine
Yue QI1 , Xiaojiang SHE2
Affiliations
  • 1.Department of Mining Engineering, Yulin Vocational and Technical College, Yulin, Shaanxi 719000, China
  • 2.Information Intelligent Management Center, CHN Energy Yulin Energy Co., Ltd., Yulin, Shaanxi 719000, China
出版时间: 2025-09-25
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摘要
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针对矿山无人运输系统无信号交叉口车辆高效、安全通行难题，提出了一种基于冲突路权决策和行车风险场的协同优化控制方法。首先，通过引入安全裕度信息建立车辆冲突状态检测模型，并构建“先到先离-负载优先-优先路权决策库”的三级路权体系；其次，依据矿山工况特征建立行车风险场，作为无信号交叉口协同优化控制的安全性优化依据；最后，融合环境影响因素建立以通行风险最小为主要目标，通行效率为次要目标的优化目标函数。设计了包含多种冲突情况的露天矿运输验证场景，对协同控制方法进行验证，仿真结果表明：协同控制方法可实现多台车辆保持最小安全距离的前提下协同有序地不停车通过无信号交叉口。研究成果可为智慧矿山无人运输系统提供安全高效的无信号交叉口通行方案。

无人运输系统  /  无信号交叉口  /  车辆协同控制  /  模型预测控制  /  行车风险场

A collaborative optimization control method based on conflict right-of-way decision-making and driving risk field was proposed to address the problem of efficient and safe access of vehicles at unsignalized intersections in unmanned transportation systems of a mine. Firstly, a vehicle conflict state detection model was established by introducing safety margin information, and a three-level right-of-way system of first-come and first-leave, load priority, and priority right-of-way decision library was constructed. Secondly, based on the characteristics of mine working conditions, a driving risk field was established as the safety optimization basis for collaborative optimization control of unsignalized intersections. Finally, by integrating environmental factors, an optimization objective function was established with minimizing traffic risk as the primary objective and traffic efficiency as the secondary objective. A validation scenario for open-pit mine transportation was designed, which includes multiple conflict situations, to verify the collaborative control method. The simulation results show that the collaborative control method can achieve the coordinated and orderly passage of multiple vehicles through unsignalized intersections without stopping, while maintaining the minimum safe distance. The research results can provide a safe and efficient access plan for unsignalized intersections in unmanned transportation systems of smart mines.

Unmanned transportation system  /  Unsignalized intersection  /  Vehicle collaborative control  /  Model predictive control  /  Driving risk field
齐月, 折小江. 矿山无人运输系统无信号交叉口车辆通行协同优化控制方法. 矿业研究与开发, 2025 , 45 (9) : 167 -175 .
Yue QI, Xiaojiang SHE. Collaborative Optimization Control Method for Vehicle Access at Unsignalized Intersections in Unmanned Transportation Systems of a Mine[J]. Mining Research and Development, 2025 , 45 (9) : 167 -175 .
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0　引言
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为了满足社会发展对能源、资源的强烈需求，降低持续上涨的人工成本，同时实现可持续发展与更高的安全标准[1]，构建智慧矿山已成为国家发展进步的当务之急。《“十四五”矿山安全生产规划》指出，要加强矿山安全技术装备攻关，重点突破辅助运输环节无人驾驶等制约矿山智能化发展的关键技术和装备[2]。
目前对智慧矿山无人驾驶技术的研究主要集中在通信技术、定位技术、路径规划算法、车辆控制技术等方面[3]，在国内少数试验性作业应用中，该技术基本处于小规模无人运输生产阶段，研究重点为单车无人作业功能。在该情况下，无人运输系统可以较为容易地通过集中调度与车队编排避免车辆行驶冲突，但是随着无人运输系统的进一步发展，车辆增多与运输线路复杂化将引发无信号交叉口大量车辆冲突，并且对所有车辆进行不间断精准调度的难度也会大幅提升。因此，如何解决无信号交叉口车辆冲突问题，将成为智慧矿山无人运输系统发展的关键。
无信号交叉口车辆通行控制问题同样是城市智慧交通系统的研究热点。在城市交通环境统计数据中，无信号交叉口的车辆事故发生概率远高于其他交叉口[4-5]。研究人员对于有人驾驶、无人驾驶及混行场景下的无信号交叉口通行问题进行了较为全面的研究，针对不同场景特点，可为驾驶员提供简洁的驾驶建议，为无人驾驶车辆提供详细的控制策略，或实施协同优化控制。现有协同优化控制方式可分为集中式优化控制和分布式优化控制两大类[6]，其控制策略生成方式又可以分为基于轨迹优化和基于路权让行两种基准范式。在基于轨迹优化方向，一般通过综合多车运动信息来优化车辆速度策略。ZOHDY等[7]基于协同自适应巡航控制(Cooperative Adaptive Cruise Control, CACC)，使用博弈论启发式优化算法优化自动驾驶车辆通行策略。KAMAL等[8]基于模型预测控制理论，提出一种车辆交叉口协调方案(Vehicle Intersection Coordination Scheme, VICS)，通过分离冲突车辆到达冲突点的时间消解冲突，进而得到车辆最优轨迹。在基于路权让行方向，控制算法将依据一定的路权关系进行优化计算。DAI等[9]提出一种面向体验质量的自动交叉口控制(Quality of Experience Oriented Autonomous Intersection Control, QEOIC)，将交叉区域划分成12个碰撞区，结合先进先出原则与车辆/车道优先级分配路权，使用模型预测控制算法并将优化问题转化为凸优化问题，以更低的计算成本得到最优解。WU等[10]以典型的双向双车道无信号交叉口为例，提出了基于车-车通信技术的贯通式避撞策略，针对检测出的可能发生碰撞的潜在车辆，以次干道车辆让行主干道车辆为目标进行无信号交叉口车辆通行控制。
然而，以上城市交通环境下的研究成果并不能有效应用于矿山交通环境。矿山道路大多为非结构化道路，没有车道线及车道标识，路面质量更差且路况多变，同时，露天矿山环境的运输规则更为特殊，交通参与者类型少，通行效率要求更高，支持并需求更高等级的协同控制系统。
1　矿区车辆冲突路权决策与行车风险场模型
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1.1　矿区车辆冲突状态分析
参考代理安全评估模型（Surrogate Safety Assessment Model, SSAM）[11]对交通冲突类型的判定规则，得到在双向双车道十字型交叉口的车辆冲突类型分布，如图1所示。
对于追尾冲突，按照《金属非金属矿山安全规程》（GB16423—2020）[12]等相关规定，对于相交冲突与换道冲突，应根据车辆行驶路权进行冲突消解，结合露天矿区车辆一般按照限速标准行驶的实际情况，应采取弱路权车辆减速措施。
1.2　车辆冲突状态检测模型
在研究车辆碰撞冲突时，需要判断车辆的运行轨迹以推断冲突情况。针对具有方向的车辆运动轨迹，通常采用矢量法建立模型，常用的模型有质点模型、矩形模型与圆形模型。质点模型不考虑车辆外形尺寸，计算简便但易产生冲突漏判；矩形模型能够精确反映车辆碰撞的具体情况，但是计算相对复杂；圆形模型能够反映车辆外形尺寸，且计算相对简单。因此，本研究选用圆形模型，并对车辆外形尺寸增加安全裕度信息，得到对车辆i与车辆j的检测模型：
式中：Ri、Rj分别为车辆i、j的圆形模型半径，m，, Rj同理；xi、yi分别为车辆i的横纵位置坐标，m, xj、yj同理；Li、Wi分别为车辆i的车长与车宽，m;Rsafei为车辆i对应的安全裕度。
1.3　多级路权决策模型
针对露天矿山无人运输场景，通过建立基于确定路权关系规则的路权决策模型，能够实现高效无信号交叉口通行控制效果。在满足矿山安全法规与矿区行驶规程的前提下，以优化运输效率为主要目标，结合冲突检测流程设计如下路权多级决策流程。
（1）先到先离。基于安全裕度的圆形检测模型在预测到冲突发生时，可能出现两种情况，如图2所示。
图2中，卡车T1与T2、T3与T4的路径交叉点均为C1，其中T3为驶离路径交叉点状态。此时若判断T3的优先级小于T4（如T3空载、T4负载），对正在按照规定速度行驶的T3下达减速指令，这将导致两车的冲突情况更加严重，增加行车风险，影响整体运输效率。因此，定义先到先离为最高优先级，判断式如下：
式中：t为预测的冲突发生时刻，s;DTmCn(t)为t时刻车辆Tm与路径交叉点Cn的距离，m;Δt为预测系统的采样时间间隔，s。
（2）负载车辆优先于空载车辆。根据澳大利亚昆士兰大学对燃油消耗与有效载荷方差、载荷质量、总质量、行驶阻力、路面滚动阻力、最大车速之间定量关系的研究[13-14]，载荷质量、车速、行驶阻力是影响电动轮矿车燃油经济性的关键因素。通过减少负载矿车在交叉口区域的车速变化，能够获得更好的燃油经济性，提升整体运输系统能量利用率。因此，定义负载车辆具有次优先级。
（3）优先路权决策库。对于同为负载(空载)的冲突车辆，建立基于运动方向的优先路权决策规则：转弯的机动车让直行的车辆先行；相对方向行驶的右转弯的机动车让左转弯的车辆先行；其他情况让右方道路的来车先行。
1.4　矿山运输条件下的行车风险场
在车辆安全决策方法的探索研究中，研究人员提出了人工势能场（Artificial Potential Field, APF）概念，用于车辆路径规划、避障、跟驰模型等领域[15-16]。该理论采用场概念描述车辆在运行过程中与其他物体的关系程度：当距离变小时，场能变大，则表示行车风险升高。王建强等[17]基于场理论提出综合“人–车–路”因素的“行车风险场”概念，包括动能场、势能场、行为场三类风险。本研究引入动能场与势能场并依据露天矿山特殊工况进行改进，作为无信号交叉口协同优化控制的安全性优化依据。
（1）动能场建模。定义车辆i，质心坐标为(xi,yi)，则其周围形成的动能场在坐标(xj,yj)处的场强如式（3）所示。
式中：rij=(xj−xi,yj－yi)，为(xi,yi)至（xj，yj）的向量；k1、k2、G为大于0的待定常数；Mi为车辆等效质量，kg;fi为(xi,yi)处道路条件影响因子；vi为车辆速度，m/s;θi为车辆速度方向与rij的夹角，顺时针方向为正。
式（3）中，x轴沿道路方向，y轴垂直于道路方向，车辆i沿x轴正向运动。矢量沿场强方向减小速度最快，速度一定时，夹角θi绝对值越小，越大，即行车风险越高。
等效质量Mi为：
式中：mi为车辆质量，kg，依据装载情况进行取值；Ti为车辆类型，区分不同类型车辆碰撞所造成的不同损失；αk、βk为待定常数；k为速度多项式的项数。
（2）势能场建模。在矿山道路环境中，影响运输车辆行驶的静止物体可以分为两类：①在道路范围内能够与车辆发生碰撞的静止物体，如临时停靠的车辆、安全挡墙、障碍物等，运行车辆越接近这类物体，产生的风险越大，然而风险与接近的方向无关；②在道路范围边界或外部不会与车辆发生实质性碰撞，但是对车辆行驶起约束作用的静止物体，如信号灯等。
定义第一类静止物体p在其周围形成的势能场在(xj,yj)处的场强：
定义第二类静止物体形成的势能场在(xj,yj)处的场强:
式中：fp为信号灯的影响因子；Mp为信号灯的等效质量，kg；Sp为信号灯控制范围系数，仅当(xj,yj)在信号灯约束作用范围内时为1，其他情况为0；rpj仅反映(xj,yj)到交叉口的距离，m，方向与车道方向相反。
（3）矿山运输条件下的行车风险场。矿山运输条件下的一般行车风险场在(xj,yj)处的场强Es_j如式（7）所示。
式中：EV_j和EO_j分别为坐标(xj,yj)处的动能场和势能场。
车辆i对车辆j的作用力（风险程度）如式(8)所示。
式中：fj、Mj、Oj、θj分别为车辆j的影响因子、等效质量、车辆速度和运行夹角；EV_ij为车辆i对车辆j的相对动能场。
2　通行风险最小化协同控制算法
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2.1　环境因素影响的矿区车辆行驶约束
露天矿山道路条件差，存在路面质量不稳定、环境恶劣且基础保障设施短缺等问题，因此有必要对车辆的行驶速度与加速度进行详细约束，保证行驶安全。
参考《煤炭工业露天矿矿山运输工程设计标准》（GB51282—2018）[18]（后文简称《标准》）中规定的矿用卡车限制速度，见表1。
参考文献[19]，可以得到车辆最大加速度amax，见式（9）。
式中：g为重力加速度，m/s2；μ为地面摩擦因数。
参考《标准》中泥结碎石路面的摩擦因数（取值为0.4~0.6），可以得到道路状况最好时的车辆最大加速度为5.88 m/s2。
露天矿山无人运输系统运行环境主要受以下三个方面影响：天气、路面质量、粉尘浓度。这些环境影响因素具有显著的不确定性和比较复杂的耦合关系，其影响程度因矿场条件和设备类型而异。因此，采用基于实际经验设置且系数可调的模糊推理理论能够有效应对环境因素的不确定性。
假设环境因素对车辆行驶最大加速度和最大速度的影响模式相同，基于天气、路面质量、粉尘浓度三种因素影响的模糊推理系统可表示为：
式中：fc为当前环境适宜最大约束因子；W为天气；RC为路面质量；DT为粉尘浓度。
其中，天气W包括雪天W1、雨天W2、晴天W3；路面状况包括积水路面RC1、泥泞路面RC2、灰砂路面RC3、泥结碎石路面RC4；粉尘浓度包括低浓度DTL、中浓度DTM、高浓度DTH。
模糊推理系统的输出为当前的最大加速度/速度约束因子，设定模糊集合为{DFL,DFM,DFH}，对应的隶属度函数如图3所示。
综合上述对三种输入的详细定义，可知约束因子控制器共有36条模糊推理规则，见表2至表4。
选择Mamdani推理方法得到约束因子，则车辆最大加速度/速度约束值如下：
2.2　模型预测优化控制算法
（1）车辆纵向运动模型。建立车辆纵向运动的离散时间状态方程，见式(12)。
式中：si(t)为0到t时刻车辆i行驶的距离，m;vi(t)为t时刻车辆行驶的速度，m/s;Δt为不同时刻时间差，s;ai(t)为t时刻车辆行驶的加速度，m/s2。
（2）约束条件设置。为了保证控制算法的可行性，约束条件包括以下几点。
1）车辆加速度约束：－amax≤ai(t)≤amax。
2）车辆速度约束：vi(t)≤vmax(t)。
3）安全车头时距约束，为避免在对部分车辆进行速度调控后引起同车道车辆追尾情况，设置安全车头时距约束。以车辆i和j为例（车辆i在车辆j前方），车辆j运动需满足：。其中：Dij(t)为t时刻车辆i和j的距离，m;h为安全车头时距，取5 s。
4）冲突车辆最小距离。对于可能发生冲突的车辆，设置定性的避免碰撞条件，即冲突车辆最小距离满足：Dij(t)>Ri+Rj。
（3）通行风险最小化的优化目标函数设计。模型预测控制算法中，通过设计优化目标函数反映系统的优化控制指标，一般可表示为：
式中：Np为预测时域；Nc为控制时域；为系统状态量；为系统控制量；Q为系统状态量的权重矩阵；R为控制量的权重矩阵；t′为当前时刻。
模型预测控制可通过设置不同权重系数将多优化目标进行有效结合，根据给定的车辆当前状态和约束条件，设计优化目标函数如下：
式中：vd为期望车速，m/s；K1为加速度项权重系数；K2为速度项权重系数；K3为碰撞项权重系数；K4为风险场项权重系数。
通过调整权重关系，可以构建以通行风险最小（碰撞成本、总行车风险成本最低）为主要目标，通行效率（加速度成本、速度成本较低）为次要目标的优化目标函数。求得该函数最优解，即可实现对露天矿山无人驾驶运输中无信号交叉口的多车安全高效通行控制。
（4）协同控制系统实现流程。协同控制系统算法架构如图4所示。
3　仿真验证与分析
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3.1　仿真参数设置
研究基于PreScan/Simulink搭建了无信号交叉口协同控制联合仿真平台。十字型双向双车道无信号交叉口道路环境：道路宽度为27 m，右转转弯半径为60 m，左转转弯半径为70 m。
车辆模型尺寸按照大型矿用卡车的一般尺寸：宽7 m，长11 m，高6 m。
车辆在不同路段行驶的速度：干线道路速度为40 km/h，支线道路速度为35 km/h，交叉路口限速为20 km/h，不同道路间切换时的加速度为0.4~0.6 m/s2。
3.2　通行风险最小化功能验证
通行风险最小化是协同控制算法最重要的目标功能，通行风险最小化功能试验验证可分为以下3大基本步骤：冲突检测、路权判断、冲突消解。暂不考虑环境因素影响，依次对这三步控制算法进行试验验证。
3.2.1　冲突检测功能仿真试验验证
圆形检测模型的安全裕度设定为20 m，设计典型相交冲突、换道冲突、追尾冲突和综合冲突4类冲突试验，冲突检测结果如图5所示。
由图5可知，冲突检测功能对于多种冲突类型与多车多冲突情况都具有良好的适应性，并且能根据车辆速度变化实时更新预测结果，在安全裕度为20 m条件下，综合预测距离大于100 m。
3.2.2　路权判断功能仿真试验验证
根据1.3节多级路权决策模型，从低到高逐级添加影响条件，依次验证优先路权决策库、负载车辆优先于空载车辆、先到先离的路权判断功能。
（1）优先路权决策库试验。设置如图5(a)所示场景，两车皆为负载状态，且同时到达路径交叉点，此时依据优先路权决策库，应当判定车辆2具有高优先级，控制目标为车辆1。
（2）负载车辆优先于空载车辆试验。在优先路权决策库试验基础上，调整车辆2为空载状态。此时应当判定车辆1具有高优先级，控制目标为车辆2。
（3）先到先离试验。在负载车辆优先于空载车辆试验基础上，调整车辆2的出发位置，使其能够较早到达路径交叉点。此时应当判定车辆2具有高优先级，控制目标为车辆1。
路权判断试验结果如图6所示。
由图6可知，三次路权判断结果与预期一致，部分判断偏差的原因是车辆通过交叉口时速度发生变化，体现了路权判断功能的时效性。
3.2.3　冲突消解功能仿真试验验证
协同控制算法的冲突消解功能不仅要能有效消解单次冲突，而且要能应对连续冲突情况的发生。
（1）两车单次冲突消解仿真试验。设置如图5(a)所示的场景，其中车辆1为负载状态，车辆2为空载状态。两车单次冲突消解试验结果如图7所示。
由图7可知，协同控制算法通过控制车辆2的行驶速度实现了两车单次冲突消解。
（2）多车多次冲突消解仿真试验。在两车单次冲突消解试验的基础上，增加车辆3、车辆4。车辆3为负载状态，在车辆1后从同一路口驶入，行驶路线为左转，即与减速后的车辆2形成路线合流的换道冲突；车辆4为空载状态，从右侧路口驶入，行驶路线为直行，与车辆2、车辆3都存在潜在冲突。多车多次冲突消解试验车辆通行状态布置如图8所示，试验结果如图9所示。
由图9可知，车辆2、车辆4作为空载车辆，且行驶轨迹不具备时空优势，存在潜在冲突时处于低优先级，是主要的控制目标。协同控制算法使车辆2减速至约2 m/s，使车辆4减速至约3 m/s。通过调整，所有车辆之间的冲突均得以消解，各车辆的最短直线距离保持在20 m以上。其中车辆3、车辆4距离在前10 s为0是由于此时两车距离大于传感器设置的感知范围。
3.3　环境因素影响仿真试验验证
在两车单次冲突消解试验的基础上，布置如图10所示的道路环境与通行场景。其中天气条件为晴天，粉尘浓度为低浓度，车辆1为负载状态，车辆2为空载状态。
环境影响因素试验结果如图11所示。结果显示，车辆1经过灰砂路段时，由于天气条件良好且粉尘浓度低，模糊推理模块给出的约束因子并未发生变化；车辆1在33 s左右到达积水区，此时约束因子下降至约0.6，对应的车辆行驶最大速度也下降；车辆1速度变化后，车辆2作为控制目标及时减速，以保持两车的安全距离，其加速度约为－1.7 m/s2，仍在约束因子影响下的最大加速度范围内；车辆2进入积水区时，其速度已低于约束因子作用下的最大速度，所以未产生速度波动。试验过程中，两车最小距离为20 m。
4　结论
收起
（1）通过分析矿区无人驾驶车辆的冲突特点，建立了基于安全裕度的圆形碰撞检测模型；构建了“先到先离-负载优先-优先路权决策库”的三级路权体系，可以在满足矿山安全法规和矿区行驶规程的前提下，为冲突消解提供依据，保证运输效率。
（2）依据矿山工况特征建立行车风险场，并融合环境影响因素对车辆最大加速度与最大速度进行约束，建立了以通行风险最小为主要目标，通行效率为次要目标的优化目标函数。
（3）基于PreScan/Simulink搭建了无信号交叉口协同控制联合仿真平台，对协同控制算法的冲突检测、路权判断、冲突消解进行仿真试验，验证该算法的同行风险最小化功能。结果显示：设定车辆安全裕度为20 m时，冲突检测距离大于100 m；路权判断结果与预期一致且具有时效性；协同控制算法通过控制车辆的行驶速度和加速度，可实现多台车辆保持最小安全距离(20 m)的前提下协同有序地不停车通过无信号交叉口。

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2025年第45卷第9期
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  • 接收时间：2024-10-21
  • 首发时间：2026-10-28
  • 出版时间：2025-09-25
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    1.榆林职业技术学院 矿业工程系，陕西　榆林市　719000
    2.国能榆林能源有限责任公司 信息智能管理中心，陕西　榆林市　719000
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