Abstract
Accurate prediction of the throttle value and state for wheel loaders can help to achieve autonomous operation, thereby reducing the cost and accident rate. However, existing methods based on a physical model cannot accurately reflect the operator’s driving habits and the interaction between wheel loaders and the environment. In this paper, a deep-learning-based prediction model is developed to predict the throttle value and state for wheel loaders by learning from driving data. Multiple long−short-term memory (LSTM) networks are used to extract the temporal features of different stages during the operation of the wheel loader. Two backward-propagation neural networks (BPNNs), which use the temporal feature extracted by LSTM as the input, are designed to output the final prediction results of throttle value and state, respectively. The proposed prediction model is trained and tested using the data from two different conditions. The end-to-end LSTM prediction model and BPNNs are used as benchmark models. The results indicate that the proposed prediction model has good prediction accuracy and adaptability. Furthermore, the relationship between the prediction performance and signal sampling frequency is also studied. The proposed prediction method that combines driving data and deep learning can make the throttle action conform to the decisions of an experienced operator, providing technical support for the autonomous operation of construction machinery.