Collision Avoidance System 3

The aim of this project was to continue the work initiated in project C7012 - Collision Avoidance System 1 (CAS 1) and Project C8034 Collision Avoidance System 2 (CAS 2). In particular, the extension from RF tagging on individuals and vehicles to the demonstration of the utility of radar and ultrasonic based object detection CAS 2 to object detection and location systems CAS 3 and an indication of their potential in the early determination of collision events. The main goal of the project was to determine the appropriate use of each of the commercially available technologies and, if possible, produce a low cost variant suitable for use in proximity detection on large mine haul trucks. Any such variant was to be subjected to a field demonstration and link seamlessly to the output from CAS 1, viz. Applied Mining Technologies Ltd. (AMT) production high-definition in-cabin video monitor. Following an overview of the state of the literature, a collision avoidance system for use in heavy vehicles in the mining industry is presented. The novelty of the system is in the original design of 3 separate, though interconnected, modules. The modules are 8 radar antennae module's located one in the rear of the truck, 3 on either side of the haul truck and one mounted on the front of the truck for speed reference and object detection, a smart micro-controlled front-end, and a software information system to interface with the end user (in this project, the drivers of the trucks). This modularization was used to enable the components to be independently tested and evaluated. The radar antennae modules are described in detail. We then present the hardware module as a series of schematics. We follow with a presentation of the first set of empirical tests of the system. The tests, necessarily drawing on Monte-Carlo simulation techniques, demonstrate both the correctness of the implementations and the effectiveness of the system.

The results of the testing of the final prototype unit are then presented and discussed. It is noted that the field-testing was hugely successful. A number of points that flowed from the field test, are reviewed and their application to future projects discussed. We conclude with a brief summary of the results of the project and suggested direction for future research projects.