CN103625471B - Method and device for drawing road reference line - Google Patents
Method and device for drawing road reference line Download PDFInfo
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- CN103625471B CN103625471B CN201310632223.5A CN201310632223A CN103625471B CN 103625471 B CN103625471 B CN 103625471B CN 201310632223 A CN201310632223 A CN 201310632223A CN 103625471 B CN103625471 B CN 103625471B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
Abstract
The invention provides a method and a device for drawing a road reference line. The method comprises the following steps of acquiring a predetermined running route of a marking vehicle on a to-be-planned road; and controlling the marking vehicle to draw the road reference line according to the predetermined running route. By adopting the technical scheme, the technical problems in the prior art that the road reference line drawing method is low in precision and high in labor cost can be solved.
Description
Technical field
Lines on road surface field of the present invention, more particularly, it relates to a kind of method for drafting of road datum line and device.
Background technology
In recent years, developing rapidly with national economy, highway, particularly high-grade highway construction scale is increasing,
Highway mileage increases year by year.It is lines on road surface in the process of construction most important of which one of highway, that is, pass through lines on road surface
Machine is used to carry out the road traffic safety sign such as zebra crossing such as highway, footpath, the mapping of the road surface such as track Warning Mark.
Course that wider lines on road surface scheme be using a nun's thread as road line marker is used at present, that is,
Lines on road surface datum line.Road line marker can pass through the technology for detection such as machine vision and follow the trail of this nun's thread, so that road is drawn
Line machine is rule along this nun's thread.And the method drawing lines on road surface datum line mainly adopts artificial method, such as hand push
Formula line etc..Need the distance every a segment distance one-point measurement datum line and roadbed, the method efficiency is low, person works' intensity
Greatly, and easily mark the datum line of mistake after personnel's visual fatigue, make troubles to follow-up work, or even can cause the accident, prolong
Delay work the heavy losses such as phase.
In prior art, mainly employed technical scheme comprise that using Disoto type diastimeter, with highway central isolation
On the basis of band or guard rail, measuring vehicle is taken out with the distance between datum line value and measurement distance value, is shown in driver's cabin
Liquid crystal display on.Lateral coordinates are had on display screen, the benchmark of middle is 0, the scale of the one ± 2CM in left and right is all over the screen
For ± 15CM, when vehicle of ruling travels, if when deviation in reference position, the display highlighting in LCDs moves therewith
Dynamic, when deviation is less than 2CM, light is marked on and moves between -2 to+2, when deviation superelevation 2CM, then moves between 2CM-15CM
Dynamic.Graticule vehicle driver to control line-marking vehicle travel direction according to moving left and right of active cursor.Technique scheme is one
Determine the working strength of highway graticule is alleviated on degree, improve precision and the efficiency of graticule.But, the method is not considered to mark
Line vehicle is turning round or under continued curve travel situations, the consecutive variations between measurement distance value, and vehicle driver is difficult to control
The accuracy of system line, precision is difficult to be protected.Simultaneously as line vehicle manually operates, with prolonging of working time
Length occurs some deviations unavoidably.The full-automatic requirement of whole process can not be reached.
For in correlation technique, the method for drafting precision of road datum line is low, the too high technical problem of cost of labor, not yet
Effective solution is proposed.
Content of the invention
The invention provides a kind of method for drafting of road datum line and device, at least to solve in correlation technique, road
The method for drafting precision of datum line is low, the too high technical problem of cost of labor.
In order to achieve the above object, according to an aspect of the invention, it is provided a kind of method for drafting of road datum line,
Including：Obtain preset travel route on road to be planned for the graticule vehicle；Control described graticule vehicle according to described default row
Sail route and draw road datum line.
Preferably, obtain preset travel route on road to be planned for the graticule vehicle, including：Obtain described road to be planned
The positional information of each anchor point on road；Generate described preset travel route according to described positional information.
Preferably, before controlling described graticule vehicle to draw road datum line according to described preset travel route, also include：
Obtain the first angle of described graticule vehicle, wherein, described first angle is waited to advise with described for described graticule vehicle forward direction
Draw the angle of center line of road bearing of trend；Adjust the vehicle attitude of described graticule vehicle according to described first angle, after adjusting
Described vehicle attitude be set to the first level posturing of described graticule vehicle.
Preferably, described graticule vehicle is controlled to draw road datum line according to described preset travel route, including：Described
In graticule vehicle travel process, obtain the second angle of described graticule vehicle, wherein said second angle is described graticule vehicle
Direction of advance and the angle of described center line of road bearing of trend to be planned；Described graticule vehicle is controlled to exist according to described second angle
Road datum line is drawn on described projected route.
Preferably, described first angle is drawn by equation below：Wherein, θ is institute
State the angular dimension of first angle, L1For the first diastimeter in described graticule vehicle with will reach Road wing base away from
From β is the angle of described first diastimeter installation direction and described graticule carbody vertical direction, L2It is and described graticule car
The distance of direction of advance vertically corresponding described road foundation to be planned and the second diastimeter, d be described first diastimeter with
The distance of described second diastimeter, wherein, described first diastimeter becomes β to install with the car body of described graticule vehicle, and described second
Diastimeter is installed perpendicular to described graticule carbody.
Preferably, described second angle is drawn by equation below：Wherein,For institute
State the angular dimension of second angle, L1For the first diastimeter in described graticule vehicle with will reach Road wing base away from
From β is the angle of described first diastimeter installation direction and described graticule car body vertical direction, L2Be with described graticule vehicle before
Enter the distance of direction vertically corresponding described road foundation to be planned and the second diastimeter, wherein, described first diastimeter and institute
The car body stating graticule vehicle becomes β to install, and described second diastimeter is installed perpendicular to described graticule carbody.
Preferably, obtain the current driving direction of described graticule vehicle；When described current driving direction and described default row
When sailing the deviation angle of the current bearing of trend of route and exceeding predetermined threshold value, alert.
Preferably, obtain the distance of the roadside roadbed with respect to described road to be planned for the described graticule vehicle；According to described
Whether graticule vehicle described in Distance Judgment deviates described preset travel route.
In order to achieve the above object, according to a further aspect of the invention, additionally provide a kind of drafting of road datum line
Device, including：Acquisition module, for obtaining preset travel route on road to be planned for the graticule vehicle；Control module, is used for
Described graticule vehicle is controlled to draw road datum line according to described preset travel route.
Preferably, described acquisition module, including：First acquisition unit, for obtaining on described road to be planned, each is determined
The positional information in site；Signal generating unit, for generating described preset travel route according to described positional information.
Preferably, described control module, including：Second acquisition unit, for, in described graticule vehicle travel process, obtaining
Take the second angle of described graticule vehicle, wherein said second angle is described graticule vehicle forward direction and described road to be planned
The angle in road center line direction；Control unit, for controlling described graticule vehicle in described projected route according to described second angle
Upper drafting road datum line.
By the present invention, employ by arranging anchor point information and then generating preset travel route；Then control described
Graticule vehicle draws the technological means of road datum line according to described preset travel route, solves in correlation technique, Road Base
The method for drafting precision of directrix is low, the too high technical problem of cost of labor.
Brief description
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description is used for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the method for drafting of the road datum line according to the embodiment of the present invention；
Fig. 2 is the drawing apparatus structured flowchart of road datum line according to embodiments of the present invention；
Fig. 3 is another structured flowchart of the drawing apparatus of road datum line according to embodiments of the present invention；
Fig. 4 is the operating diagram of the method for drafting of the road datum line according to the preferred embodiment of the present invention；
Fig. 5 is another operating diagram of the method for drafting of the road datum line according to the preferred embodiment of the present invention；
Fig. 6 is the another operating diagram of the method for drafting of the road datum line according to the preferred embodiment of the present invention.
Specific embodiment
To describe the present invention in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the embodiment in the application and the feature in embodiment can be mutually combined.
Fig. 1 is the flow chart of the method for drafting of the road datum line according to the embodiment of the present invention.As shown in figure 1, the method
Including：Step S102 to step S104,
S102：Obtain preset travel route on road to be planned for the graticule vehicle；
This step is realized by procedure below：First, obtain the position letter of each anchor point on above-mentioned circuit to be planned
Breath, wherein, the number of anchor point can need designed, designed, if precision prescribed is high according to user, then anchor point individual
Number just should be many accordingly, if precision prescribed is relatively low, then the number of corresponding anchor point just can be relatively less；Its
Secondary, above-mentioned preset travel route is generated according to above-mentioned positional information.
S104：Above-mentioned graticule vehicle is controlled to draw road datum line according to above-mentioned preset travel route.
In addition it is also necessary to vehicle attitude initialization be carried out to above-mentioned graticule vehicle, detailed process is as follows before implementing this step：
Obtain the first angle of graticule vehicle, wherein, above-mentioned first angle is above-mentioned graticule vehicle forward direction and above-mentioned road to be planned
The angle of road center line bearing of trend；Adjust the vehicle attitude of above-mentioned graticule vehicle according to above-mentioned first angle, will be upper after adjustment
State vehicle attitude and be set to above-mentioned vehicle first level posturing.
Wherein, above-mentioned first angle can be calculated by formula：Wherein, θ is
The angular dimension of above-mentioned first angle, L1Will reach with above-mentioned road roadside to be planned for the first diastimeter in above-mentioned graticule vehicle
The distance of the roadbed arriving, β is the angle of above-mentioned first diastimeter installation direction and above-mentioned graticule carbody vertical direction, L2For
Corresponding above-mentioned to be planned road foundation vertical with above-mentioned graticule vehicle forward direction and the distance of the second diastimeter, d is above-mentioned
First diastimeter and the distance of above-mentioned second diastimeter, wherein, above-mentioned first diastimeter becomes β to pacify with the car body of above-mentioned graticule vehicle
Dress, above-mentioned second diastimeter is installed with perpendicular to above-mentioned graticule carbody.Wherein, above-mentioned first diastimeter and the second diastimeter
Can be all multiple, when measuring above-mentioned angle, its meansigma methods can be taken, to improve certainty of measurement.
For step S104, this step can be realized by following process：In above-mentioned graticule vehicle travel process, obtain
The second angle of above-mentioned vehicle, wherein above-mentioned second angle is that above-mentioned vehicle forward direction is extended with above-mentioned center line of road to be planned
The angle in direction；Control above-mentioned vehicle that road datum line is drawn on above-mentioned projected route according to above-mentioned second angle.
Wherein, second angle can be obtained by equation below：Wherein,For above-mentioned
The angular dimension of second angle, L1The roadbed that will reach for the first diastimeter in above-mentioned vehicle and above-mentioned road to be planned away from
From β is the angle of above-mentioned first diastimeter installation direction and above-mentioned graticule carbody vertical direction, L2For the second diastimeter with
The distance of above-mentioned road foundation to be planned, wherein, above-mentioned first diastimeter becomes β to install with the car body of above-mentioned graticule vehicle, above-mentioned
Second diastimeter is installed with perpendicular to above-mentioned graticule carbody.
It should be noted that in addition it is also necessary to guarantee graticule with process in the following way in graticule vehicular motion
The high accuracy of the final road datum line drawn of vehicle：First, process graticule vehicle being travelled is adjusted roughly：In acquisition
State the current driving location information of vehicle；When above-mentioned current driving direction and the current bearing of trend of above-mentioned preset travel route
When deviation angle exceedes predetermined threshold value, alert.This procedure ensures that track route and global positioning system (Global
PositionSystem, referred to as GPS) general orientation of position is consistent, in the event of inconsistent situation it is necessary to report
Alert prompting staff carries out manual intervention.
Secondly, intense adjustment is carried out to the traveling process of graticule vehicle：Obtain above-mentioned graticule vehicle to wait to advise with respect to above-mentioned
The distance of the roadside roadbed on road plan road；Whether above-mentioned preset travel route is deviateed according to above-mentioned Distance Judgment above-mentioned graticule vehicle.
To the detection of graticule vehicle both sides roadbed distance, this process to judge whether graticule vehicle offsets mainly in combination with range sensor pre-
The road first designing.
By each step above-mentioned, to control the running orbit of graticule vehicle with diastimeter, complete in combination with GPS technology
Become graticule vehicle path planning, auxiliary prompting turns round, the information such as starting point, terminal.Solve in correlation technique, road datum line
Method for drafting precision is low, the too high problem of cost of labor, and provided in an embodiment of the present invention is that a kind of new road datum line is drawn
Scheme.Manpower can be replaced in most cases to be automatically performed the line work of road baseline, and on linear road
Graticule car can reliably draw high-precision roadmarking datum line at a high speed.
Additionally provide a kind of drawing apparatus of road datum line in the present embodiment, be used for realizing above-described embodiment and preferably
Embodiment, had carried out repeating no more of explanation, below the module being related in this device had been illustrated.As following institute
Use, the software of predetermined function and/or the combination of hardware can be realized in term " module ".Although described by following examples
Device preferably to be realized with software, but hardware, or the realization of the combination of software and hardware is also may and to be contemplated.
Fig. 2 is the drawing apparatus structured flowchart of road datum line according to embodiments of the present invention.As shown in Fig. 2 this device includes：
Acquisition module 22, for obtaining preset travel route on road to be planned for the graticule vehicle；
Control module 24, is connected with acquisition module 20, for controlling above-mentioned graticule vehicle according to above-mentioned preset travel route
Draw road datum line.
The present embodiment further improvement is that to technique scheme, as shown in figure 3, acquisition module 22 includes：
First acquisition unit 222, for obtaining the positional information of each anchor point on above-mentioned road to be planned；
Signal generating unit 224, for generating above-mentioned preset travel route according to above-mentioned positional information.
In the present embodiment, control module 24, including：
Second acquisition unit 242, for, in above-mentioned graticule vehicle travel process, obtaining second jiao of above-mentioned graticule vehicle
Degree, wherein above-mentioned second angle is the angle of above-mentioned graticule vehicle forward direction and above-mentioned center line of road direction to be planned；
Control unit 244, for controlling above-mentioned vehicle to draw road in above-mentioned projected route according to above-mentioned second angle
Datum line.
By the comprehensive function of above-mentioned module, to control the running orbit of graticule vehicle with diastimeter, in combination with GPS
Technology completes graticule vehicle path planning, and auxiliary prompting turns round, the information such as starting point, terminal.Solve in correlation technique, Road Base
The method for drafting precision of directrix is low, the too high problem of cost of labor, and provided in an embodiment of the present invention is a kind of new road benchmark
Scheme drawn by line.Manpower can be replaced in most cases to be automatically performed the line work of road baseline, and in straight line
Road upper graticule car can reliably draw high-precision roadmarking datum line at a high speed.
In order to more fully understand the drawing process of the road datum line in above-described embodiment, detailed below in conjunction with preferred embodiment
Describe in detail bright.It should be noted that the scheme of the preferred embodiment does not constitute limitation of the invention.Specifically：
Fig. 4 is the operating diagram of the method for drafting of the road datum line according to the preferred embodiment of the present invention, as Fig. 4 institute
Show：
First with GPS to automatic graticule car prepare graticule highway geometry plan in advance vehicle travel route so as to
Can according to projected route faster and better complete work.Projected route is that had necessarily according to one that moves towards to draw of road
The broken line of width.
As Fig. 4, GPS location point A, B, C, D are set in the end points of road, are sequentially connected A, B, C, D-shaped become broken line graph (dotted line
Represent), the width of broken line is the positioning precision of differential GPS.I.e. automatic graticule vehicle-mounted will according to from A point eastwards straight-line travelling L1 to
B point, B point according to vehicle-mounted laser diastimeter matching bend route (see) advance to C point, by C point straight-line travelling L2 to D to the south
Point, reaches E point in D point according to the bend route of vehicle-mounted laser diastimeter matching, by the side of E point straight-line travelling L3 to F point eastwards
Formula travels in the range of dotted line.The longitude and latitude of A, B, C, D is input to the navigation system of graticule vehicle according to certain form.I.e.
The path planning of graticule vehicle can be completed in advance.Meanwhile, in graticule vehicular motion real-time monitoring graticule vehicle longitude and latitude,
Judge it whether on preset travel route, when graticule vehicle deviate from preset travel route, graticule vehicle can send warning
Information.
Laser range finder is arranged on totally 2 groups on the right side of vehicle bottom, wherein diastimeter 1 and car body installation at an angle β, diastimeter 2
Install perpendicular to car body.Diastimeter 1 is used for measuring curve ahead, and the measurement object of diastimeter 2 is the roadside roadbed on the right side of road,
Relative position in the middle of road for the car body can be obtained by laser range finder, of course for the precision improving measurement, can be upper
State graticule vehicle right side and separately perpendicular to graticule direction of traffic, one diastimeter is installed again, can effectively monitor vehicle original state
And its position is modified.Technique scheme is formed an angle with graticule vehicle by the installation of the first diastimeter 1, permissible
It is the folder between road and graticule vehicle using the angle that at least two stadia surveyings go out graticule vehicle and curve ahead circular arc
Angle, matching above-mentioned graticule vehicle course of finding range in advance, control above-mentioned graticule vehicle (for example passing through to control steering wheel to realize) to exist
The steering of bend.
In initial time, when dolly is placed in the middle of road, for ensureing that measurement is strict during advancing, baseline row is installed
Enter, by the angle of stadia surveying vehicle and road, for adjusting dolly attitude it is ensured that dolly direct of travel and road are put down
OK.Meeting crossing of turning round, the angle theta of the curve ahead being obtained by laser range finder 1 and vehicle, simulating dolly will travel
Route.
In initial time, as shown in figure 5, laser range finder measures, obtain positional information, between each diastimeter
Mounting distance d be known, by the measurement of kerb it can be determined that going out dolly direction of advance and road direction of advance
Angle theta.Calculated by equation below：Then by measurement feedback to graticule vehicle
Control unit, vehicle makes corresponding action according to measurement result, completes initial attitude adjustment.The position of vehicle and road is made to protect
Water holding is put down.
When graticule vehicle travels to bend, laser range finder 1 as shown in Figure 6 measures the distance away from dolly for the bend first
L1, bend residing for dolly can be equivalent to one section of circular arc, and dolly should adjust travel direction to the tangential direction of circular arc.Curved
Road length, compared to being very big for graticule automobile body, can resolve into infinite many segments bend, by diastimeter 2 institute
Place's position roadbed is equivalent to parallel with vehicle location straightway, therefore can foundationCalculate little
Car and the angle of forward march, after obtaining angle information, constantly adjust dolly direction of advance, complete graticule vehicle travel track
Adjustment.
Above-mentioned steps with induction and conclusion can be：
The first step：Obtain the longitude and latitude of road to be rule in advance with equipment such as Portable GPSs.True according to the longitude and latitude obtaining
Make one and there is the course of one fixed width as projected route.
Second step：Projected route is input to the control system of graticule vehicle.
3rd step：Graticule vehicle is put into scene, starts graticule vehicle, the folder of diastimeter automatic measurement vehicle and road
Angle, completes the adjustment of original state vehicle attitude it is ensured that parallel with road with vehicle forward direction.
4th step：After entering preset travel route, graticule vehicle starts to advance according to preset travel route and draw road
Datum line.Precognition bend calculates the angle of vehicle and bend in advance, carries out track of vehicle according to measurement distance value when reaching bend
Control.
5th step：GPS real-time positioning monitors automatic graticule car longitude and latitude, if significantly deviateing path in advance, automatically reports
Alert, carry out manual intervention.
In sum, technique scheme provided in an embodiment of the present invention has reached following effect：A kind of new road is provided
The solution that datum line is drawn.Manpower can be replaced in most cases to be automatically performed the line work of road baseline,
Effectively save cost of labor, and can reliably draw high-precision roadmarking at a high speed in linear road upper graticule car
Datum line.
Obviously, those skilled in the art should be understood that each device of the above-mentioned present invention or each step can be with general
Computing device realizing, they can concentrate on single computing device, or be distributed in multiple computing devices and formed
Network on, alternatively, they can be realized with the executable program code of computing device, it is thus possible to they are stored
To be executed by computing device in the storage device, and in some cases, can be with different from shown in order execution herein
The step going out or describing, or they are fabricated to respectively each integrated circuit modules, or by the multiple modules in them or
Step is fabricated to single integrated circuit module to realize.So, the present invention is not restricted to any specific hardware and software combination.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For member, the present invention can have various modifications and variations.All any modifications within the spirit and principles in the present invention, made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of method for drafting of road datum line is it is characterised in that include：
Obtain preset travel route on road to be planned for the graticule vehicle；Wherein, described preset travel route is global location
System GPS is planned in advance；
Described graticule vehicle is controlled to draw road datum line according to described preset travel route；
Wherein, described graticule vehicle is controlled to draw road datum line according to described preset travel route, including：In described graticule vehicle
During traveling, obtain the second angle of described graticule vehicle, wherein said second angle is described graticule vehicle forward direction
Angle with described center line of road bearing of trend to be planned；Described graticule vehicle is controlled described default according to described second angle
Road datum line is drawn on travel route；Described second angle is drawn by equation below：
Wherein,For the angular dimension of described second angle, L1For the first diastimeter in described graticule vehicle with will reach road roadside
The distance of roadbed, β is the angle of described first diastimeter installation direction and described graticule car body vertical direction, L2It is and described mark
The distance of line vehicle forward direction vertically corresponding described road foundation to be planned and the second diastimeter, wherein, described first survey
Distance meter becomes β to install with the car body of described graticule vehicle, and described second diastimeter is installed perpendicular to described graticule carbody.
2. method according to claim 1 is it is characterised in that obtain preset travel on road to be planned for the graticule vehicle
Route, including：
Obtain the positional information of each anchor point on described road to be planned；
Generate described preset travel route according to described positional information.
3. method according to claim 1 is it is characterised in that control described graticule vehicle according to described preset travel route
Before drawing road datum line, also include：
Obtain the first angle of described graticule vehicle, wherein, described first angle be described graticule vehicle forward direction with described
The angle of center line of road bearing of trend to be planned；
Adjust the vehicle attitude of described graticule vehicle according to described first angle, the described vehicle attitude after adjustment is set to institute
State the first level posturing of graticule vehicle.
4. method according to claim 3 is it is characterised in that described first angle is drawn by equation below：
Wherein, θ is the angular dimension of described first angle, L1For in described graticule vehicle
One diastimeter and the distance that will reach Road wing base, β is described first diastimeter installation direction and described graticule vehicle
The angle of car body vertical direction, L2It is corresponding described to be planned road foundation vertical with described graticule vehicle forward direction and
The distance of two diastimeters, d is the distance of described first diastimeter and described second diastimeter, wherein, described first diastimeter with
The car body of described graticule vehicle becomes β to install, and described second diastimeter is installed perpendicular to described graticule carbody.
5. the method according to any one of claim 1-4 is it is characterised in that also include：
Obtain the current driving direction of described graticule vehicle；
When the deviation angle in described current driving direction and the current bearing of trend of described preset travel route exceedes predetermined threshold value
When, alert.
6. the method according to any one of claim 1-4 is it is characterised in that also include：
Obtain the distance of the roadside roadbed that described graticule vehicle is with respect to described road to be planned；
According to described graticule vehicle with respect to the roadside roadbed of described road to be planned graticule vehicle described in Distance Judgment whether
Deviate described preset travel route.
7. a kind of drawing apparatus of road datum line are it is characterised in that include：
Acquisition module, for obtaining preset travel route on road to be planned for the graticule vehicle；Wherein, described preset travel road
Line is planned in advance for global position system GPS；
Control module, for controlling described graticule vehicle to draw road datum line according to described preset travel route；
Wherein, described control module includes：Second acquisition unit, for, in above-mentioned graticule vehicle travel process, obtaining above-mentioned
The second angle of graticule vehicle, wherein above-mentioned second angle is above-mentioned graticule vehicle forward direction and above-mentioned center line of road to be planned
The angle in direction；Control unit, for controlling above-mentioned vehicle to draw on above-mentioned preset travel route according to above-mentioned second angle
Road datum line；Wherein, described second angle is drawn by equation below：Wherein,For institute
State the angular dimension of second angle, L1For the first diastimeter in described graticule vehicle with will reach Road wing base away from
From β is the angle of described first diastimeter installation direction and described graticule car body vertical direction, L2Be with described graticule vehicle before
Enter the distance of direction vertically corresponding described road foundation to be planned and the second diastimeter, wherein, described first diastimeter and institute
The car body stating graticule vehicle becomes β to install, and described second diastimeter is installed perpendicular to described graticule carbody.
8. device according to claim 7 is it is characterised in that described acquisition module, including：
First acquisition unit, for obtaining the positional information of each anchor point on described road to be planned；
Signal generating unit, for generating described preset travel route according to described positional information.
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| CN201310632223.5A CN103625471B (en) | 2013-11-29 | 2013-11-29 | Method and device for drawing road reference line |
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| CN201310632223.5A CN103625471B (en) | 2013-11-29 | 2013-11-29 | Method and device for drawing road reference line |
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| CN105136153B (en) * | 2015-09-11 | 2018-06-26 | 江苏大学 | A kind of lane line exact position harvester and acquisition method |
| CN105922994B (en) * | 2016-04-21 | 2018-08-03 | 深圳市元征科技股份有限公司 | A kind of method and device generating instruction straight line travel direction |
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| CN110726401A (en) * | 2018-07-17 | 2020-01-24 | 米亚索乐装备集成（福建）有限公司 | Positioning line drawing method |
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