【摘要】：為了提高勘探質(zhì)量,得到更加準(zhǔn)確的地質(zhì)信息,人們利用了多輛震源車協(xié)同工作來(lái)采集微弱地震信號(hào)。在震源車隊(duì)勘測(cè)過(guò)程中,如果從開(kāi)動(dòng)到停止的過(guò)程只有車隊(duì)的第一輛車有人駕駛,后面的車輛自動(dòng)跟蹤前面的車輛行駛,那么將大大節(jié)省人力資源,提高生產(chǎn)效率。由于測(cè)量獲得的信息比人為判斷的信息更加準(zhǔn)確,因此需要研究一種無(wú)人駕駛的震源車車隊(duì)。 現(xiàn)今主流的無(wú)人駕駛汽車已具備世界上最先進(jìn)的技術(shù)以及儀器,并在這一領(lǐng)域內(nèi)發(fā)展得相當(dāng)成熟。然而,這類智能無(wú)入車只適用于公路行駛,其研制成本非常高(100萬(wàn)元以上),且初次應(yīng)用于特殊環(huán)境的適應(yīng)性不強(qiáng)。而本文所研究的是針對(duì)野外環(huán)境下的無(wú)人駕駛的震源車的車隊(duì)跟車,這與目前谷歌等公司最新研發(fā)的無(wú)人車的應(yīng)用背景截然不同。目前,尚無(wú)人對(duì)震源車在特定環(huán)境下的車隊(duì)跟車進(jìn)行研究,因此,針對(duì)震源車隊(duì)野外工作環(huán)境和技術(shù)指標(biāo),需要人們來(lái)研究可行的低成本車隊(duì)跟車方案。 本論文的課題來(lái)源于國(guó)家863項(xiàng)目：高精度可控震源研制子課題跟車系統(tǒng)研究,我主要重點(diǎn)研究了適用于自主震源車隊(duì)的跟車系統(tǒng)。 本課題主要研究成果有以下幾個(gè)方面： 第一,對(duì)智能車各種信息檢測(cè)技術(shù)進(jìn)行了優(yōu)劣性比較,并結(jié)合了震源車隊(duì)在行駛速度、運(yùn)行環(huán)境等方面的要求,最后選定了激光測(cè)量技術(shù)作為主要檢測(cè)技術(shù),同時(shí)使用其他傳感器進(jìn)行輔助檢測(cè)。 第二,進(jìn)行了震源車隊(duì)跟車系統(tǒng)的整體構(gòu)建,確立了跟車控制模型,提出了該課題的總體設(shè)計(jì)方案。 第三,根據(jù)車距控制理論設(shè)計(jì)了一個(gè)基于Visual Studio的車距自動(dòng)控制系統(tǒng),經(jīng)過(guò)9種狀態(tài)測(cè)試,跟車距離較好地控制在限定的車距范圍內(nèi),滿足震源車隊(duì)車距控制的要求。 第四,通過(guò)LabVIEW圖形化設(shè)計(jì)環(huán)境構(gòu)建了震源車隊(duì)跟車系統(tǒng),實(shí)現(xiàn)了集界面、算法、數(shù)據(jù)保存為一體的軟件仿真,并實(shí)時(shí)顯示出無(wú)人震源車的各個(gè)參數(shù)信息。 考慮到震源車數(shù)量較多,總體試驗(yàn)成本較高,所以我通過(guò)使用軟件的方法來(lái)實(shí)現(xiàn)對(duì)震源車隊(duì)的控制。 本文所設(shè)計(jì)的車距自動(dòng)控制系統(tǒng)以及模擬野外路況的震源車隊(duì)控制系統(tǒng)在理想勻加速、勻速、勻減速的狀態(tài)下能夠使前后兩車間距穩(wěn)定控制在要求范圍內(nèi),滿足了震源車隊(duì)各項(xiàng)技術(shù)指標(biāo)要求,初步實(shí)現(xiàn)了跟車系統(tǒng)的控制,也為進(jìn)一步實(shí)現(xiàn)全程無(wú)人駕駛震源車隊(duì)安全勘測(cè)工作打下了良好的基礎(chǔ),對(duì)于低成本的高精度車隊(duì)控制還有待于深層研究。
[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.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U495

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