露天矿山无人驾驶技术及系统架构研究

结合我国露天矿山无人驾驶卡车系统开发及应用现状，梳理了露天矿山无人驾驶场景、技术及系统架构。分析了露天矿山协同作业场景，包括3种道路形态及6种露天矿设备协同作业场景。总结了无人驾驶定位、感知及路径模型算法技术及无人驾驶系统平台架构和作业流程。无人驾驶系统的开发建设投入应用，是大型露天矿山实现智能化的一个重要组成部分。

Unmanned driving technology and system architecture in open-pit mines

Combining with the development and application status of unmanned truck systems in open-pit mines in China,the unmanned driving scenarios,technologies and system architecture in open-pit mines are sorted out.The open-pit mine collaborative operation scenarios are introduced,including 3 road forms and 6 equipment collaborative operation scenarios;the unmanned driving positioning,perception and path model algorithm technology,the unmanned driving system platform architecture and operation process are summarized.The development and construction of the unmanned driving system is put into application,which is an important part of the intelligentization of large open-pit mines.