CN113110169A - Vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicle - Google Patents
Vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicle Download PDFInfo
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Abstract
The invention discloses a vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicles, which comprises a plurality of intelligent miniature vehicles, signal lamps, signal lamp controllers, routers, a master control platform and rubber runways, wherein the intelligent miniature vehicles are connected with the signal lamps through the signal lamp controllers; the intelligent miniature vehicle consists of a sensing module, a trolley computing module, a trolley main body and a trolley control module, and the trolley computing module can run an algorithm to be verified; the signal lamp consists of a base, a shell and an LED colored lamp; the signal lamp controller consists of a signal lamp calculation module and a signal lamp control module, and an algorithm to be verified can be operated in the calculation module; the master control platform consists of a remote control module and an analysis processing module; the rubber track is black, and a white adhesive tape is pasted on the rubber track; the method can conveniently and safely verify the feasibility, real-time performance and stability of the vehicle-road cooperative algorithm, and optimally adjust the related algorithm to make the algorithm more fit with practical application, thereby solving the problems of high difficulty, high cost, low safety and the like of vehicle-road cooperative related algorithm real vehicle verification.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicles.
Background
Most of the existing vehicle-road collaborative algorithm verification platforms are real vehicle verification, from the transformation of an intelligent vehicle to the transformation of a signal lamp and then to the transformation of a runway suitable for algorithm verification, the whole process has very high difficulty, long time consumption, high cost and low safety, and if only a real vehicle is used for verifying a related algorithm, the optimization speed of the algorithm is hindered, and the research of scientific researchers is limited. Meanwhile, an intelligent miniature vehicle verification platform is provided, but the existing platform cannot realize vehicle-road communication, the time length of a roadside unit such as a signal lamp cannot be controlled, parameters required by vehicle-road cooperative algorithm verification cannot be completely acquired in real time, and the vehicle-road cooperative algorithm cannot be truly verified.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicles, so that the feasibility, the real-time performance and the stability of a vehicle-road cooperative algorithm can be verified conveniently and safely, and the related algorithm is optimized and adjusted, so that the algorithm is more suitable for practical application, and the problems of high difficulty, high cost, low safety and the like of vehicle-road cooperative related algorithm real vehicle verification can be solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicles, which is characterized by comprising the following steps: the system comprises a router, a master control platform and a rubber runway adhered with lane lines; a signal lamp and a signal lamp controller are arranged on one side of the rubber track, a plurality of positioning base stations are arranged on two sides of the rubber track, and a plurality of intelligent miniature cars are arranged on the rubber track;
the signal lamp controller consists of a signal lamp calculation module and a signal lamp control module;
the signal lamp consists of a base, a shell and an LED colored lamp;
the intelligent miniature vehicle consists of a sensing module, a positioning module, a trolley calculating module, a trolley main body and a trolley control module;
the router is used for establishing a local area network of the verification platform, and the signal lamp and the intelligent miniature vehicle are respectively connected to the local area network through a wireless module of the signal lamp calculation module and a wireless module of the trolley calculation module, so that data transmission and data reception between the signal lamp and the intelligent miniature vehicle are realized by utilizing the local area network;
the master control platform comprises a remote control module and an analysis processing module;
the remote control module remotely controls a signal lamp calculation module of a signal lamp controller and a trolley calculation module of an intelligent miniature vehicle through the IP addresses of the signal lamp calculation module and the trolley calculation module in the local area network;
the analysis processing module acquires and displays the state information of the signal lamp and the vehicle speed information and the position information of each intelligent miniature vehicle in real time by using a UDP (user Datagram protocol) or TCP (Transmission control protocol) protocol through the IP (Internet protocol) address and the port number of the signal lamp calculation module and the vehicle calculation module;
the signal lamp calculation module includes: the system comprises a signal lamp remote control unit, a trolley information acquisition unit, a signal lamp algorithm operation unit to be verified and an LED colored lamp control signal output unit;
the signal lamp remote control unit receives a remote control signal of a master control platform through a local area network, so that the trolley information acquisition unit acquires trolley speed information and position information sent by the trolley calculation module through the local area network under the remote control of the master control platform;
under the remote control of the master control platform, the signal lamp algorithm running unit to be verified runs a signal lamp algorithm to be verified submitted by a user, the signal lamp algorithm running unit to be verified provides the signal lamp algorithm to be verified with the trolley speed information and the position information acquired by the trolley information acquisition module, and the signal lamp algorithm running unit to be verified takes an LED colored lamp control signal as an output result of the signal lamp algorithm to be verified;
under the remote control of the master control platform, the signal lamp control signal output unit sends the LED colored lamp control signal to a signal lamp control module, and meanwhile, the signal lamp control signal is sent to the intelligent miniature vehicle through a local area network;
the signal lamp control module receives the LED colored lamp control signal so as to control the on and off of the LED colored lamp;
the sensing module is a downward-inclined camera, is arranged at the top of the trolley main body and is used for acquiring the shot front road information and transmitting the information to the trolley calculating module;
the positioning module is a positioning tag, transmits data with a positioning base station, obtains the position information of the positioning tag through calculation and transmits the position information to the trolley calculation module;
the cart calculation module includes: the system comprises a trolley remote control unit, an information acquisition unit, a trolley positioning unit, a trolley lane keeping unit, a trolley algorithm running unit to be verified, a trolley control signal output unit and a trolley information sending unit;
the trolley remote control unit receives a remote control signal of a master control platform through a local area network, so that the information acquisition unit acquires an LED colored lamp control signal sent by the signal lamp calculation module and trolley speed information and position information sent by other trolley calculation modules through the local area network under the control of the master control platform;
under the control of the master control platform, the trolley positioning unit acquires and processes position information sent by a positioning module to obtain the position of the intelligent miniature trolley on the rubber track;
under the control of the master control platform, the trolley lane keeping unit acquires and processes front road information sent by the sensing module to obtain lane line information of the rubber track, and calculates a real-time corner of the intelligent miniature vehicle at the same time, so that a corner control signal of the trolley control module is generated;
under the control of the master control platform, the trolley algorithm running unit to be verified runs a trolley algorithm to be verified submitted by a user, the trolley algorithm running unit to be verified provides the LED colored lamp control signal, the trolley speed information and the position information for the trolley algorithm to be verified, and the trolley algorithm running unit to be verified takes a vehicle speed control signal of a trolley control module as an output result of the trolley algorithm to be verified;
under the control of the master control platform, the trolley control signal output unit sends the corner control signal and the vehicle speed control signal to a trolley control module;
under the control of the master control platform, the trolley information sending unit sends the collected trolley speed information and position information to the signal lamp calculation module and other trolley calculation modules in real time;
the trolley main body is arranged on the rubber track and consists of a supporting plate, two encoder motors, two motor drivers, a steering engine and wheels;
the supporting plate is fixed by a bolt and a supporting frame; the two encoder motors are respectively connected with the two rear wheels and are used for directly driving the two rear wheels so as to push the trolley to move forwards or backwards;
the two motor drivers are connected with the trolley control module and the encoder motor and are used for receiving a vehicle speed control signal sent by the trolley control module in real time, converting the vehicle speed control signal into a control signal of the motor and sending the control signal to the encoder motor so as to control the rotating speed of the motor;
one side of the steering engine is connected with the trolley control module through a DuPont wire, and the other side of the steering engine is connected with the front wheels through a steering rod and used for receiving corner control signals from the trolley control module in real time so as to push the front wheels to steer;
one side of the trolley control module is connected with the trolley calculation module through a usb data line, and the other side of the trolley control module is connected with the two motor drivers and the steering engine through DuPont lines respectively and used for collecting front wheel corners and trolley speed information while sending control signals, so that the collected front wheel corners and the trolley speed information are used for correcting corner control signals and vehicle speed control signals, and closed-loop control of corners and speed is achieved.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a method for verifying a vehicle-road cooperative algorithm by adopting a platform comprising a plurality of intelligent miniature vehicles, signal lamps, a master control platform, a router, a rubber runway and the like, wherein the vehicles and the signal lamps can be remotely controlled by the master control platform, the vehicles and the vehicles as well as the vehicles and the signal lamps can communicate, running test is carried out by running a to-be-verified signal lamp control algorithm and a to-be-verified multi-vehicle control algorithm, the real-time performance, the stability and the feasibility of the algorithm are verified, and the verification is more convenient and safer than that of a real vehicle;
2. according to the method, intelligent miniature vehicles are adopted to replace real vehicles to verify the vehicle-road cooperation algorithm, so that the problems of high difficulty, high cost, low safety and the like of real vehicle verification of the current vehicle-road cooperation algorithm are solved, the algorithm verification is more convenient and faster, and the safety of the test is improved;
3. according to the invention, by adopting the scheme that the intelligent miniature vehicle is provided with the double-encoder motor to directly drive the wheels, the trolley control module can directly read the rotating speed of the motor so as to obtain the most accurate speed of the trolley, and the wheels are directly driven, so that the middle transmission part is omitted, the motor runs more stably, and the effect of smaller speed fluctuation is achieved;
4. the invention adopts the scheme of additionally installing the trolley calculation module, and designs the trolley calculation module, so that a user can remotely control the trolley calculation module, and control the speed, the turning angle and the like of the trolley by using the algorithm of the user, thereby achieving the effect of controllable trolley;
5. the scheme of additionally installing the signal lamp calculation module is adopted, and the signal lamp calculation module is designed, so that a user can remotely control the signal lamp calculation module and control the state of the signal lamp by using an algorithm of the user, and the effect of controlling the signal lamp is achieved;
6. the invention adopts the scheme that the master control platform controls the platform through the IP address of the calculation module in the local area network, so that the algorithm and the test process of the whole platform can be conveniently controlled on the master control platform, and the operability of the platform is improved;
7. the invention adopts the scheme that the analysis processing module is additionally arranged in the master control platform, the analysis processing module can acquire the signal lamp state and the position, speed and other information of each trolley in real time and display the information, the verification effect of the algorithm is visually displayed, and a user can further improve and optimize the algorithm according to the verification effect.
Drawings
FIG. 1 is an overall schematic diagram of a vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicles according to the present invention;
FIG. 2 is a schematic structural diagram of an intelligent miniature vehicle based on a vehicle-road cooperative algorithm verification platform of the intelligent miniature vehicle;
FIG. 3 is a schematic diagram of a signal lamp control principle of a vehicle-road cooperative algorithm verification platform based on an intelligent miniature vehicle according to the present invention;
FIG. 4 is a schematic diagram of a lane keeping principle of a vehicle-road cooperative algorithm verification platform based on an intelligent miniature vehicle according to the present invention;
FIG. 5 is a schematic diagram of the control principle of the intelligent miniature vehicle based on the verification platform of the vehicle-road cooperative algorithm of the intelligent miniature vehicle;
FIG. 6 is a schematic diagram of platform information transmission of a vehicle-road cooperative algorithm verification platform based on intelligent miniature vehicles according to the present invention;
FIG. 7 is a result diagram of an analysis processing module of a verification platform of a vehicle-road cooperative algorithm based on intelligent miniature vehicles according to the present invention;
reference numbers in the figures: 1, a signal lamp controller; 2, signal lamps; 3, a router; 4, positioning a base station; 5, intelligent miniature vehicle; 6, a master control platform; 7, a rubber track; 8, a sensing module; 9 a trolley calculation module; 10 positioning the label; 11 trolley supporting plates; 12 an encoder motor; 13 a motor driver; 14 a trolley control module; 15 a lithium battery; and 16 steering engines.
Detailed Description
In this embodiment, a verification platform for vehicle-road cooperation algorithm based on intelligent miniature vehicles, as shown in fig. 1, includes: the system comprises a router 3, a master control platform 6 and a rubber runway 7 attached with a lane line; a signal lamp 2 and a signal lamp controller 1 are arranged on one side of the rubber track 7, a plurality of positioning base stations 4 are arranged on two sides of the rubber track 7, and a plurality of intelligent miniature cars 5 are arranged on the rubber track 7;
the signal lamp controller 1 is composed of a signal lamp calculating module and a signal lamp control module, and the signal lamp calculating module is a control panel containing an operating system, such as: the raspberry of operation Linux system is sent or the notebook mainboard of operation Windows system etc. nevertheless signal lamp calculation module, dolly calculation module and total control platform should use the same control panel, the wireless transmission of remote control and information of being convenient for, signal lamp control module use have IO mouthful the singlechip can, if: arduino or STM32 singlechip;
the signal lamp 2 consists of a base, a shell and an LED colored lamp, wherein the base and the shell can be manufactured by adopting a 3D printing technology, and the LED colored lamp is set to be red, green and yellow;
the intelligent miniature vehicle 5, as shown in fig. 2, is composed of a sensing module, a positioning module, a vehicle calculating module, a vehicle main body and a vehicle control module 14;
the router 3 is used for establishing a local area network of a verification platform, the signal lamp 2 and the intelligent miniature vehicle 5 are respectively connected to the local area network through a wireless module of a signal lamp calculation module and a wireless module of a trolley calculation module, so that mutual data transmission and reception are realized by using the local area network, a control panel with an operating system is generally provided with a wireless module or can be externally connected with the wireless module, and the data can be accurately transmitted and received by inquiring an IP address and a port number of an object by using a UDP protocol of the control panel;
the master control platform 6 comprises a remote control module and an analysis processing module;
the remote control module remotely controls the signal lamp calculation module of the signal lamp controller 1 and the trolley calculation module of the intelligent miniature vehicle 5, such as a notebook computer mainboard running a Windows system, to have a remote control function, sets the controlled module in a state of allowing remote control, and remotely controls other control panels through the IP address, the user name and the password;
the analysis processing module acquires and displays the state information of the signal lamp 2 and the speed information and the position information of each intelligent miniature vehicle 5 in real time by using a UDP (user datagram protocol) or TCP (transmission control protocol) protocol through the IP (Internet protocol) address and the port number of the signal lamp calculation module and the trolley calculation module, firstly designing a display interface, reserving the display position of related information, and then reading the related information in real time through an algorithm and expressing the related information by using a data frame or an image as shown in figure 7;
the signal light calculation module, as shown in fig. 3, includes: the system comprises a signal lamp remote control unit, a trolley information acquisition unit, a signal lamp algorithm operation unit to be verified and an LED colored lamp control signal output unit;
the signal lamp remote control unit receives a remote control signal of the master control platform 6 through the local area network, so that the trolley information acquisition unit acquires the speed information and the position information of the trolley sent by the trolley calculation module through the local area network under the remote control of the master control platform 6;
under the remote control of the master control platform 6, the signal lamp algorithm running unit to be verified runs the signal lamp algorithm to be verified submitted by a user, the signal lamp algorithm running unit to be verified provides the signal lamp algorithm to be verified with the vehicle speed information and the position information acquired by the vehicle information acquisition module, the signal lamp algorithm running unit to be verified takes the LED colored lamp control signal as the output result of the signal lamp algorithm to be verified, one of the core algorithms verified by the verification platform is the signal lamp control algorithm, the platform provides the accurate vehicle speed and position information for the user to design the algorithm and specifies the output result of the LED colored lamp control signal, i.e. the total duration of one period of traffic lights and the respective durations of red and green lights, the platform can verify a plurality of signal light control algorithms, signal lamp control algorithms such as those based on reinforcement learning, deep learning, model predictive control, etc.;
under the remote control of the master control platform 6, the signal lamp control signal output unit sends the LED colored lamp control signal to the signal lamp control module through serial port communication, and meanwhile, the signal lamp control signal is sent to the intelligent miniature vehicle 5 through the IP address and the port number of a trolley calculation module of each trolley in the local area network;
the signal lamp control module receives the LED colored lamp control signals, calculates the on-off conditions of the red lamp, the green lamp and the yellow lamp in the LED colored lamp at each moment according to the duration of the traffic lights, and sends control signals to the LED colored lamp at each moment so as to control the on-off of the LED colored lamp;
the sensing module is a downward-inclined camera and is arranged at the top of the trolley main body and used for acquiring shot front road information and transmitting the shot front road information to the trolley calculating module, the camera is inclined downwards, the inclined angle is determined according to the height of the camera, the fact that a lane line in front of the trolley can be shot clearly no matter the lane line is in a straight road or a curve is guaranteed, and the trolley calculating module uses a shot image function to obtain a front photo in real time, such as a snapshot function in Matlab;
the positioning module is a positioning tag 10 which sends data with the positioning base station 4, the position information of the positioning tag 10 is obtained through calculation and is transmitted to the trolley calculation module, the positioning technology can adopt a UWB indoor positioning suite, the tag can transmit signals to the base station, the base station returns the signals to the tag after receiving the signals, the distance between the tag and the base station is calculated according to the time difference, the distances between the tag and the base stations are measured, and then the current position of the tag can be obtained according to the position of the base station;
the cart calculation module is shown in fig. 5, and includes: the system comprises a trolley remote control unit, an information acquisition unit, a trolley positioning unit, a trolley lane keeping unit, a trolley algorithm running unit to be verified, a trolley control signal output unit and a trolley information sending unit;
the trolley remote control unit receives the remote control signal of the master control platform 6 through the IP address and port number of the master control platform in the local area network, so that the information acquisition unit acquires the LED colored lamp control signal sent by the signal lamp calculation module and the trolley speed information and position information sent by other trolley calculation modules through the local area network under the control of the master control platform 6;
under the control of the master control platform 6, the trolley positioning unit acquires and processes position information sent by the positioning module to obtain the position of the intelligent miniature vehicle 5 on the rubber track 7, the positioning module sends the distance between the label and a plurality of base stations to the trolley positioning unit, and the position of the label on the rubber track, namely the position of the intelligent miniature vehicle, can be obtained by conversion according to the position information of the base stations;
under the control of the master control platform, the car lane keeping unit obtains and processes the front road information sent by the sensing module to obtain the lane line information of the rubber runway 7, and calculates the real-time turning angle of the intelligent miniature car 5, so as to generate a turning angle control signal of the car control module 14, as shown in fig. 4, the processing process is as follows:
step 1: the camera shoots a lane picture in front of the intelligent miniature trolley in real time, and the picture is transmitted to a trolley lane keeping unit through a usb data line;
step 2: the intelligent miniature vehicle lane holding unit is used for preprocessing the picture, including dividing an interested region, and carrying out graying and binarization processing on the image, so that the final result of the preprocessing of the picture is displayed as two white lane lines and the rest of black parts;
and step 3: the intelligent miniature vehicle lane keeping unit establishes a world coordinate system and a picture coordinate system and converts the world coordinate system and the picture coordinate system so that each pixel point on a picture corresponds to one coordinate;
and 4, step 4: the intelligent miniature vehicle lane keeping unit detects the edge points of the lane lines by using an edge detection algorithm, and sets a pixel point threshold value to distinguish the edge points of the lane lines from other rubber parts so as to obtain the coordinates of a series of points belonging to the edges of the lane lines in the pixel points;
and 5: the intelligent miniature vehicle lane keeping unit obtains a linear equation formed by fitting the edge points of the lane line by using a certain linear fitting method, obtains an equation of the central line of the lane line through conversion, and obtains the included angle between the course of the vehicle and the central line of the lane line and the distance of the center of the vehicle deviating from the central line of the lane line through comparison;
step 6: the intelligent miniature car lane keeping unit obtains the real-time corner of the car through calculation according to the included angle and the distance obtained in the step 5, and sends the real-time corner to the car control module 14 through a usb data line;
and 7: the intelligent miniature trolley control module converts the received control signal into a control signal of a steering engine 16 and sends the control signal to the steering engine 16 through a DuPont line;
and 8: the intelligent miniature car trolley control module 14 acquires the turning angle of the steering engine 16 in real time, and the turning angle of the steering engine 16 is controlled in a closed loop manner to quickly reach a pre-controlled turning angle, so that a lane keeping function is realized;
under the control of the master control platform 6, the trolley algorithm running unit to be verified runs a trolley algorithm to be verified submitted by a user, the trolley algorithm running unit to be verified provides an LED colored lamp control signal, trolley speed information and position information for the trolley algorithm to be verified, the trolley algorithm running unit to be verified takes a vehicle speed control signal of a trolley control module 14 as an output result of the trolley algorithm to be verified, one of core algorithms verified by the verification platform is a multi-trolley cooperative control algorithm, the platform provides accurate signal lamp state information, self speed and position information and speed and position information of other trolleys for a user to design the algorithm, the output result of the vehicle speed control signal is regulated, and the multi-trolley control algorithm with high real-time performance can be verified on the platform;
under the control of the master control platform 6, the trolley control signal output unit sends a corner control signal and a vehicle speed control signal to the trolley control module 14, the corner control signal is a rotation angle, the vehicle speed control signal is a vehicle speed, and the signals are converted into hexadecimal data according to a certain communication protocol and sent to the trolley control module 14, such as an STM32 singlechip;
under the control of the master control platform 6, the trolley information sending unit sends the collected trolley speed information, the IP address and the port number in the position information local area network to the signal lamp calculation module and other trolley calculation modules in real time;
the trolley main body is arranged on the rubber track 7, as shown in fig. 2, and consists of a supporting plate, two encoder motors, two motor drivers 13, a steering engine 16 and wheels;
the supporting plate is fixed by a bolt and a supporting frame; the two encoder motors are respectively connected with the two rear wheels and used for directly driving the two rear wheels to push the trolley to advance or retreat, on one hand, the encoder motors can accurately read the rotating speed of the motors so as to obtain the accurate real-time speed of the trolley, on the other hand, the encoder motors directly drive the wheels to save an intermediate transmission part, so that the wheels are more stably operated, and the speed fluctuation is smaller;
the two motor drivers 13 are connected with the trolley control module 14 and the encoder motor, and are used for receiving a vehicle speed control signal sent by the trolley control module in real time, converting the vehicle speed control signal into a motor control signal and sending the motor control signal to the encoder motor so as to control the rotating speed of the motor;
one side of the steering engine 16 is connected with the trolley control module through a DuPont wire, and the other side of the steering engine is connected with the front wheel through a steering rod and used for receiving a corner control signal from the trolley control module in real time so as to push the front wheel to steer;
one side of the trolley control module is connected with the trolley calculation module through a usb data line, and the other side of the trolley control module is connected with the two motor drivers 13 and the steering engine 16 through DuPont lines respectively and used for sending control signals and collecting front wheel corner and trolley speed information at the same time, so that the collected front wheel corner and trolley speed information are used for correcting corner control signals and vehicle speed control signals to realize closed-loop control of corners and speeds, and PID control, sliding mode control or fuzzy control can be used.
As shown in fig. 6, a message delivery description for the verification platform is shown. Firstly, a control signal of a master control platform is sent to a signal lamp calculation module and a calculation module of each intelligent miniature vehicle through a router for control, secondly, timing information of the signal lamp calculation module is sent to the calculation module of each intelligent miniature vehicle through the router for use by a trolley algorithm operation unit to be verified of the trolley calculation module, and meanwhile, speed information and position information collected by the calculation module of the intelligent miniature vehicle are sent to the signal lamp calculation module and other intelligent miniature vehicle calculation modules through the router for use by the signal lamp algorithm operation unit to be verified and the trolley algorithm operation unit to be verified.
As shown in fig. 7, an example verification result is shown. Before verification, the initial information of the intelligent miniature cars and the initial information of signal lamps are input into an analysis processing module of a master control platform, a signal lamp control algorithm adopts reinforcement learning, a multi-car cooperative control algorithm adopts a rapid model prediction algorithm, relevant parameters are adjusted to obtain a speed-time image and a position-time image of each car, a red transverse line in the position-time image is a red light interval, the rest of the position-time image is a green light interval, and the result shows that the cars can pass through the green light interval, namely the feasibility of the relevant algorithms is verified.
Claims (1)
1. The utility model provides a car road cooperation algorithm verification platform based on intelligent miniature car which characterized in that includes: the system comprises a router (3), a master control platform (6) and a rubber track (7) adhered with a lane line; a signal lamp (2) and a signal lamp controller (1) are arranged on one side of the rubber track (7), a plurality of positioning base stations (4) are arranged on two sides of the rubber track (7), and a plurality of intelligent miniature vehicles (5) are arranged on the rubber track (7);
the signal lamp controller (1) consists of a signal lamp calculating module and a signal lamp control module;
the signal lamp (2) consists of a base, a shell and an LED colored lamp;
the intelligent miniature vehicle (5) consists of a sensing module, a positioning module, a trolley computing module, a trolley main body and a trolley control module;
the router (3) is used for establishing a local area network of a verification platform, the signal lamp (2) and the intelligent miniature vehicle (5) are respectively connected to the local area network through a wireless module of a signal lamp calculation module and a wireless module of a trolley calculation module, and therefore data transmission and data reception between the signal lamp and the intelligent miniature vehicle are achieved through the local area network;
the master control platform (6) comprises a remote control module and an analysis processing module;
the remote control module remotely controls a signal lamp calculation module of the signal lamp controller (1) and a trolley calculation module of the intelligent miniature trolley (5) through IP addresses of a signal lamp calculation module and the trolley calculation module in the local area network;
the analysis processing module acquires and displays the state information of the signal lamp (2) and the trolley speed information and the position information of each intelligent miniature vehicle (5) in real time by using a UDP (user datagram protocol) or TCP (transmission control protocol) through the IP (Internet protocol) address and the port number of the signal lamp calculation module and the trolley calculation module;
the signal lamp calculation module includes: the system comprises a signal lamp remote control unit, a trolley information acquisition unit, a signal lamp algorithm operation unit to be verified and an LED colored lamp control signal output unit;
the signal lamp remote control unit receives a remote control signal of a master control platform (6) through a local area network, so that the trolley information acquisition unit acquires trolley speed information and position information sent by the trolley calculation module through the local area network under the remote control of the master control platform (6);
under the remote control of the master control platform (6), the signal lamp algorithm running unit to be verified runs a signal lamp algorithm to be verified submitted by a user, the signal lamp algorithm running unit to be verified provides the signal lamp algorithm to be verified with the trolley speed information and the position information acquired by the trolley information acquisition module, and the signal lamp algorithm running unit to be verified takes an LED colored lamp control signal as an output result of the signal lamp algorithm to be verified;
under the remote control of the master control platform (6), the signal lamp control signal output unit sends the LED colored lamp control signal to a signal lamp control module, and meanwhile, sends the LED colored lamp control signal to the intelligent miniature vehicle (5) through a local area network;
the signal lamp control module receives the LED colored lamp control signal so as to control the on and off of the LED colored lamp;
the sensing module is a downward-inclined camera, is arranged at the top of the trolley main body and is used for acquiring the shot front road information and transmitting the information to the trolley calculating module;
the positioning module is a positioning tag, data is sent between the positioning module and the positioning base station (4), and position information of the positioning tag is obtained through calculation and is transmitted to the trolley calculation module;
the cart calculation module includes: the system comprises a trolley remote control unit, an information acquisition unit, a trolley positioning unit, a trolley lane keeping unit, a trolley algorithm running unit to be verified, a trolley control signal output unit and a trolley information sending unit;
the trolley remote control unit receives a remote control signal of a master control platform (6) through a local area network, so that the information acquisition unit acquires an LED colored lamp control signal sent by the signal lamp calculation module and trolley speed information and position information sent by other trolley calculation modules through the local area network under the control of the master control platform (6);
under the control of the master control platform (6), the trolley positioning unit acquires and processes position information sent by a positioning module to obtain the position of the intelligent miniature trolley (5) on the rubber track (7);
under the control of the master control platform (6), the trolley lane keeping unit acquires and processes front road information sent by the sensing module to obtain lane line information of the rubber track (7), and simultaneously calculates a real-time corner of the intelligent miniature vehicle (5) so as to generate a corner control signal of the trolley control module;
under the control of the master control platform (6), the trolley algorithm running unit to be verified runs a trolley algorithm to be verified submitted by a user, the trolley algorithm running unit to be verified provides the LED colored lamp control signal, the trolley speed information and the position information for the trolley algorithm to be verified, and the trolley algorithm running unit to be verified takes a vehicle speed control signal of a trolley control module as an output result of the trolley algorithm to be verified;
under the control of the master control platform (6), the trolley control signal output unit sends the corner control signal and the vehicle speed control signal to a trolley control module;
under the control of the master control platform (6), the trolley information sending unit sends the acquired trolley speed information and position information to the signal lamp calculation module and other trolley calculation modules in real time;
the trolley main body is arranged on the rubber track (7) and consists of a supporting plate, two encoder motors, two motor drivers, a steering engine and wheels;
the supporting plate is fixed by a bolt and a supporting frame; the two encoder motors are respectively connected with the two rear wheels and are used for directly driving the two rear wheels so as to push the trolley to move forwards or backwards;
the two motor drivers are connected with the trolley control module and the encoder motor and are used for receiving a vehicle speed control signal sent by the trolley control module in real time, converting the vehicle speed control signal into a control signal of the motor and sending the control signal to the encoder motor so as to control the rotating speed of the motor;
one side of the steering engine is connected with the trolley control module through a DuPont wire, and the other side of the steering engine is connected with the front wheels through a steering rod and used for receiving corner control signals from the trolley control module in real time so as to push the front wheels to steer;
one side of the trolley control module is connected with the trolley calculation module through a usb data line, and the other side of the trolley control module is connected with the two motor drivers and the steering engine through DuPont lines respectively and used for collecting front wheel corners and trolley speed information while sending control signals, so that the collected front wheel corners and the trolley speed information are used for correcting corner control signals and vehicle speed control signals, and closed-loop control of corners and speed is achieved.
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