外文翻譯--除雪機的自動駕駛系統(tǒng)

除雪機的自動駕駛系統(tǒng) Hirofumi HIRASHITA, Takeshi ARAI, Tadashi YOSHIDA摘要: 在冷和多雪的部分的日本，大多數雪被從除雪機器道路中除去，同時，處理路邊條件并且保證安全的操作,操作這些機器被兩個人正常地操作：一名話務員和一個助手。工作在進行中為了除雪機器開發(fā)自動的駕駛系統(tǒng)在操作人員的雪移去上使負擔為了減輕并且減少未來的勞動要求。這報告描述一個自動的駕駛系統(tǒng)結合三種技術： 在最近幾年作為一種ITS技術已被發(fā)展的通路記號系統(tǒng)，RTKGPS技術和GIS技術, 這駕駛的系統(tǒng)已被發(fā)展為旋轉除雪機器：雪移去的類型考慮最困難操作。報告也評價基于確證的結果的三種控制 使 的除雪機器,同時這些的 控制 被 一個工作的系統(tǒng)的系統(tǒng)。：雪旋轉移去，自動的駕駛，ITS，通路記號，GIS，GPS在 冷的多雪部分的日本，雪通 機 的手 被從道路上除 保證 道路。為了保證機 雪 要除雪在道路上的currency1“的被除通，fifl 的控制 被 ，并且機 正確地操作。自動的駕駛系統(tǒng)發(fā)展被fl 于旋轉的除雪機器：一種操作的 的一類型 類型除雪機”，已被發(fā)展為減少工作人人員除雪負擔 的保。發(fā)展雪移去被兩個工作人員操作： 使移去的一名話務員同時，控制的的一個助手。話務員使機器 于道路的控制 雪處，助手雪“雪進機器的時 。除雪機器雪的部分” 。 的使 的部分自動自動 在操作工作 行中話務員 助手控制雪 。未來 一人操作。這報告 已被發(fā)展為自動的駕駛系統(tǒng)的基 的 技術和控制技術，同時， 一種評價基于確證 的結果的系統(tǒng) 行的雪移去并且描述 一個工作的系統(tǒng)。自動操系統(tǒng) 已被開發(fā)的自動的駕駛系統(tǒng)使雪的除為自動 ，駕駛也為了話務員的務一。3.1 駕駛并且雪除的控制 旋轉自動除雪機的駕駛的機制 同于正常的 進和 部分被 系， 機制被安 ，這 在 。駕駛被確的 和被的時 轉換控制效的制一 活動的 的 程。 這控制 被受整的約束影響的運動的一個 程代并且基于非 的控制理 。但 ，一共 15 頁 第 1 頁訂個雪移去側翼滑行，因為“移去雪時，作為雪筑堤圍攔受橫向的反應力量影響被顯示 。小路滑動使 下被描述的綜合的伺 機構系統(tǒng)來將這“ 一場外部騷亂對待控制滑動。除雪機部 除雪機除雪3.3 顯示駕駛機制除雪的一個 型。在未來， 子和對于 部 子距離和除雪的 接的 距離被L代，“ 代 程時,駕駛的角度 除雪的半徑的一個弧R=L/tan a ?！?子的中fi點P的 程正 向速度矢量被代和正 向角度被代時，點P的運動的 程被寫 下。 （ ） 公式（1）被 便 行currency1反饋控制。從等式中義除學時駕駛的數量駕駛的角度中的 / 個。（2）在等式（2）中橫向滑動將 考慮。為了除去 橫向的滑動造的穩(wěn)currency1的偏差， 果綜合的伺 機構系統(tǒng)被使 ，駕駛的數量被 下 程代（3）為了除去穩(wěn)currency1的偏差符號f 控制獲得，同時，基于公式（ ），f 代“例的獲得，f 代派生物獲得， f 代整的獲得。PID控制被 來 造系統(tǒng)共 15 頁 第 2 頁訂 協(xié)調系統(tǒng) 3.4 集伺 機構系統(tǒng)控制塊 3.2 發(fā)現一種 為了 行自動的駕駛的信息 要的 并且確 向駕駛。已被開發(fā)的系統(tǒng) 備兩種功： 指導 使 通路記號傳感器發(fā)現使GPS和GIS來發(fā)現 和駕駛的 。通路記號傳感器指導 一臺通路記號傳感器 為了使 作為先進的運輸系統(tǒng)( ITS )的部分被開發(fā)的高級的巡航幫助公路系統(tǒng)( AHS )的一種基本的技術。這技術包括 歇地被埋在一個道路下的通路記號， 爬升發(fā)現被這些通路記號傳送的信號沿著被記號 的 程指引 的傳感器。這系統(tǒng)的兩種版本： 無電波 和 的 。（ ） 角度fl ，通路記號 的距離將 常的，但 ，道路的 和傳感器邊的要求被 。因 ，這系統(tǒng) 備兩臺行的傳感器，這 “通路記號安 被 道， 除雪機器傳 控制 行。 ：共 15 頁 第 3 頁訂 通路記號傳感器指導 對于 一 一的行的傳感器駕駛的控制， （第 邊）通 程為控制 要的橫向的 分和 的差 的 和m協(xié)調系統(tǒng) ( )除傳感器外要求 于記號 的 的信息發(fā)信號 被 量 協(xié)調系統(tǒng) f ( f f )接受。但 ， 兩臺行的傳感器(第 邊)，系統(tǒng)fl 橫向的 分和 程的 的差 的 和m通 兩協(xié)調系統(tǒng) ( )反對“傳 a a， 傳 下一個記號時，被 量的 和 協(xié)調系統(tǒng) f ( f f )的傳感器控制兩個傳感器信號 ，這 駕駛控制被 行使記號 的 未 的。（ ）電波記號傳感器 了無電波 ，一個 在 上的傳感器部著道路傳送 臺H無電波 ， currency1“一臺無電波 記號( )“ 這轉， Hfi的fl 的一個信號。 在傳感器部的一個“ 的 “ 這無電波 發(fā)現 的 ( )。著 的運動的 向的高 價。 在中發(fā)現 通 通 基于在被兩感 的無電波 的“ 的力量的 的三角 fl 的距離橫向的“ 向 無電動記號 無電波 記號傳感器（ ） 的記號傳感器 了 的 ， 記的” ”( )安 在地 下，”上安 一臺 的傳感器。分 的記號顯示將記號的中fi“ 最大度 力量對待的 。這 的 的部分( fi )和 度 向部分( )的 的度被 的傳感器和 記號發(fā)現被fl 的距離發(fā)現,基于 約的fi 系的 程傳感器和記號。( )共 15 頁 第 4 頁訂 的記號 fi 系 GPSGIS 發(fā)現 基于GPSGIS 的一個系統(tǒng)發(fā)現 的 通 旋轉的雪移去 控制操作 從一個GPS 被“ 的數 協(xié)調為了 被道路GIS 的道路協(xié)調 的數。（ ） 路GIS道路GIS 于道路 的結構和通理的信息的一個數。為了開發(fā)這系統(tǒng)，旋轉的雪移去 程信旋轉的雪 的話務員移去雪通 動息被 ，這 被處理作為GIS數。 展 的道路的被雪 除邊 ( )指引的 因為雪 除邊 常沿著道路的fl 人行道的控制，被使 的GIS數 控制數。道路GIS數 （2）TK-GPSRTK GPS，高 度的 ( 點和 點 ) 的差 半徑的力的一個系統(tǒng)，包括“ 的兩GPS，一個 一個 在運 工 (在除雪機)上。 的 傳送基于已“ 運 工 的GPS數的 正信息。系統(tǒng)幾 行 時 ，因為GPS數 Hfi的速度被 正。共 15 頁 第 5 頁訂 4.1 備一種自動的駕駛 功的除雪機 確證的 除在一和 年 在 道使 備駕駛的控制系統(tǒng)的旋下的自動的駕駛 的 和 一條 的道路( 速，橫向滑動)上的一個雪移去 的。轉的雪移去被 行。4.1 確證 的 （ ） 被機器移去除雪機器的分為大中小型 常被使 在 的公路上，正常的造部分地被 ( )。 （ ） 證的 程確證的 程包括 的 ， ，( R )， currency1( R )，這 在公路上”制條件下， 通路記號 和 。除雪的工作條件 的工作的些同， 工作 兩種速度被 ，公 和 公 。雪行被 備 “一個移去被 來 展除的部分的一條道路時，發(fā)生的工作 和橫向的滑動。 程的 4.2 確證的 的結果證 通路記號著點 向 (無電波 和因為駕駛的控制系統(tǒng)發(fā)共 15 頁 第 6 頁訂展 的一個系統(tǒng) 程，控制 從 程(橫向的偏差)的數量被評價為雪移去的偏差的數量。 示從被 的 結果顯示橫向的偏差的數量。)指導 和GPSGIS 。這子展 的來，偏差和 的偏差的數量在 的 上 小的，但 兩個 在 上在高。 這 大 地 被 行的事 的一種結果在 的一條小的半徑的 中，大量的駕駛，并且雪 除 可造橫GPSGIS 優(yōu)于通路記號 。 因為 的 幾取得幾 Hfi的 時 和駕駛控制， 對作反應減少偏差的數量橫向滑動。 了 ，駕駛被延遲因為系統(tǒng) 發(fā)現沒通路記號 的信號，在大量的橫向的偏差中導致的橫向的滑動。 因 ， 被， ，除 傳感器 正橫向的滑動外，“傳感器傳記號時，協(xié)調下一個記號( 程信息)。導致橫向的滑動的分揭示作為這時被領進 ， (: 的 分) 沒 程信息的 ， 程信息的 ： 極端來 度的一大的 進和接近個GPSGIS 。在 的 中的沒 距速度公 和 被 察。結 和未來挑戰(zhàn)已被確認自動的駕駛系統(tǒng)使 通路記號或者GPS的，GIS等等通除雪機取得正常的雪 除工作的一個一般地 的水平的控制。 但 ，為了 的工作的系統(tǒng)， 下挑戰(zhàn) 被解決。( ) GPSGIS 顯示發(fā)現 度 暫時在敞開的空 中落下。 “GPS 在一個狹窄的范圍中被集中時， 這發(fā)生。 同時，在 期 無電波 記號 ，認為 上的高的輸傳輸器的一種結果無 言的行為被 察。 要功“這 反常的操作的信號被生產時，沒干涉話務員 自動地停止操作。( ) 為GPSGIS情況，靠通路 進控制的 度 要通 進通路記號的記號 協(xié)調 雪移去系統(tǒng)向 程信息。 每次系統(tǒng)傳 記號，記錄在每一記號上的通道 也分重要。( ) 進一步 進控制 度(減少偏差的數量)，努力量 諸 的騷亂橫向的滑動，雪 除 等等在 雪 除工作的 型的細節(jié)的程度增加旋轉的雪移去 并且 行仿真 要雪移去。共 15 頁 第 7 頁訂 橫向的偏差(無電波 )在最近幾年，各種各 的已 運 信息技術( IT ) 進 設機 。 “時在些情況中看見，信息在這種情況中處理 被運 于系統(tǒng)，除非 每一系統(tǒng)的橫向的差異獨 的操作(工作加速公 ， 傳感器的偏差的數量)在最近幾年，各種各 的已 運 信息技術( IT ) 進 設機 。 “時在些情況中看見，信息在這種情況中處理 被運 于系統(tǒng)，除非的途在 時被 。 因為被這項 發(fā)展的除雪機通路記號的新的道路基 設施，道路GIS數。同時，通信系統(tǒng)和通信 被 ，發(fā)展 ITS領域中的通信技術已被協(xié)調。 作者希望這研究發(fā)展將促進作為一個工作的共 15 頁 第 8 頁訂系統(tǒng) 。最 ，作者希望向Huiu地達 的深的感激地基 設施的部的發(fā)展 和 道地的發(fā)展 ，和運輸幫助確證的 和對于幫助系統(tǒng)和 的工作的 造的每個人。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 頁 第 9 頁訂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 頁 第 10 頁訂 (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 頁 第 11 頁訂 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 頁 第 12 頁訂 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 頁 第 13 頁訂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