Abstract:

Current selfdriving shields lack systematic, objective, and comprehensive evaluation methods. To address this issue, a selfdriving shield performance evaluation system is developed. This system can evaluate five aspects of selfdriving shields: tunnel quality, environmental safety, excavation efficiency, control performance, and user experience. Furthermore, a case study is conducted on the selfdriving system of shield Zhiyu used in Nanjing and Zhengzhou, China, to assess and analyze its selfdriving performance. The evaluation results show the following: (1) The selfdriving system of shield Zhiyu exhibits good control effect in all dimensions and strong adaptability to various conditions; however, it requires improvement regarding the control of downhill vertical attitude, settlement control of poor selfsupporting soil, and speed and torque control in sandy soil. (2) Moreover, tunneling efficiency should be improved in future. The proposed evaluation system can reasonably and accurately identify the performance characteristics of shield selfdriving systems with concise scoring. Further, the system not only helps to quantitatively analyze the characteristics of each control system but also helps developers and users to determine problems of a shield selfdriving system and provides a reference for the development and industrial application of shield selfdriving technology.

Key words: shield, intelligence, selfdriving performance, evaluation system