CN105374203A - Vehicle fleet control method based on Internet-of-vehicles and on-vehicle device - Google Patents
Vehicle fleet control method based on Internet-of-vehicles and on-vehicle device Download PDFInfo
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- CN105374203A CN105374203A CN201410400787.0A CN201410400787A CN105374203A CN 105374203 A CN105374203 A CN 105374203A CN 201410400787 A CN201410400787 A CN 201410400787A CN 105374203 A CN105374203 A CN 105374203A
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Abstract
An embodiment of the invention provides a vehicle fleet control method based on Internet-of-vehicles and an on-vehicle device, wherein the vehicle fleet control method comprises the steps of through the on-vehicle device of each vehicle in a vehicle fleet in which intercommunication is realized through the Internet-of-vehicles, negotiating with the on-vehicle devices of other vehicles in the vehicle fleet, respectively distributing functions which correspond with vehicle fleet controlling to the on-vehicle device of at least one vehicle; acquiring vehicle control information by the on-vehicle device of the random vehicle in the vehicle fleet, wherein the vehicle control information is transmitted by other on-vehicle device of other vehicles, and performing control operation on the vehicle on which the on-vehicle device is mounted according to the vehicle control information. According to the vehicle fleet control method, vehicle controlling is completed by several functional modules; different expert systems are arranged on different vehicles in the vehicle fleet for the functional modules; the vehicle fleet is considered as an integer when advancing control is performed on the vehicle fleet; and integral driving control is performed on the vehicle fleet according to processing results of different functional modules.
Description
Technical field
The present invention relates to car networking technology, refer to a kind of fleet's control method based on car networking and car-mounted device especially.
Background technology
Comprise guided vehicle for formation vehicle in prior art and automatically follow or many of guided vehicle and follow vehicle, the control mode of fleet is the motion that guided vehicle controls to follow vehicle.Follow the driving information that vehicle collection is real-time, be sent to guided vehicle by communicator, the driving information that vehicle gathers is followed in guided vehicle process, according to result to following vehicle sending controling instruction.
Prior art has following shortcoming:
1, formation vehicle is divided into guided vehicle and non-guide vehicle, by guided vehicle to non-guide vehicle sending controling instruction, the real-time of formation control is poor.
2, guided vehicle controls advancing of fleet, processes the running data that non-guide vehicle gathers simultaneously, requires that the car-mounted device of guided vehicle needs stronger processing power and path planning ability, add the design difficulty of guided vehicle.
3, adopt the centerized fusion mode that guided vehicle control fleet advances, the robustness of system is poor, if guided vehicle fault, causes the collapse of whole system.
4, the centerized fusion mode adopting guided vehicle control fleet to advance, limits the capacity of fleet, and along with the increase of fleet vehicle quantity, cause the traffic load of system and the increase with guided vehicle car-mounted device process load, System Expansion is more difficult.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of fleet's control method based on car networking and car-mounted device.Fleet is controlled to be divided into several functional module, different expert systems being deployed to respectively for each functional module forms into columns in interior different vehicle, carry out fleet advance control time, fleet is looked as a whole, according to the result of difference in functionality module, entirety is carried out to fleet and travel control.
For solving the problems of the technologies described above, embodiments of the invention provide a kind of fleet's control method based on car networking, comprising:
To be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively;
The car-mounted device of any vehicle in fleet, obtains the vehicle control information of the vehicle-mounted transmission of other vehicle, and according to this vehicle control information, carries out control operation to the vehicle belonging to this car-mounted device.
Wherein, the car-mounted device of each vehicle in interconnected fleet of being networked by car, is held consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the step that corresponding function distributes to the car-mounted device of at least one car in fleet respectively and comprises:
To be networked by car the communication module of the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the expert system module that corresponding function distributes to the car-mounted device of at least one car in fleet respectively.
Wherein, the function that the expert system module of the car-mounted device of each vehicle is corresponding is all different.
Wherein, said method also comprises: when the network topology structure of fleet changes, again to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively.
Wherein, the function that fleet's control is corresponding comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.
Wherein, described expert system module is when completing formation controlling functions, the accurate location of this car that the locating module obtaining the car-mounted device of vehicle obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.
Wherein, described belt-like zone length and width are respectively the length of fleet's formation size and wide;
When bend has the situation of radian, the border of fore-and-aft direction is constant, and the border of left and right directions is with travel direction center line for extending to two camber lines of formation dimension width about benchmark, as fleet's outer boundary line.
Embodiments of the invention also provide a kind of car-mounted device, comprising:
Communication module, the communication module for the car-mounted device with other each vehicle in interconnected fleet of networking based on car is held consultation, and obtains and fleet is controlled corresponding function;
Expert system module, is controlled a corresponding function for configuring wherein fleet, and is obtained the vehicle control information of the vehicle-mounted transmission of other vehicle by communication module, and according to this vehicle control information, carry out control operation to the vehicle belonging to this car-mounted device.
Wherein, the function that fleet's control is corresponding comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.
Wherein, above-mentioned car-mounted device also comprises:
Locating module, for obtaining the positional information of vehicle;
Described expert system module is when completing formation controlling functions, obtain the accurate location of this car that described locating module obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.
The above embodiment of the present invention has following beneficial effect:
Such scheme of the present invention is by controlling to be divided into several functional module by fleet, different expert systems being deployed to respectively for each functional module forms into columns in interior different vehicle, carry out fleet advance control time, fleet is looked as a whole, according to the result of difference in functionality module, entirety is carried out to fleet and travel control.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the fleet's control method based on car networking of the present invention;
Fig. 2 is the fleet's networking schematic diagram based on car networking of the present invention;
Outer boundary line schematic diagram when Fig. 3 is the fleet's craspedodrome based on car networking of the present invention;
Fig. 4 is the fleet's turning based on car networking of the present invention is outer boundary line schematic diagram;
Fig. 5 is the specific embodiment process flow diagram of the flow process of the fleet's control method based on car networking of the present invention.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The solution of the present invention is for the centerized fusion mode adopting guided vehicle control fleet to advance in prior art, the problem that the robustness of system is poor, a kind of fleet's control method based on car networking is provided, fleet is controlled to be divided into several functional module, different expert systems being deployed to respectively for each functional module forms into columns in interior different vehicle, carry out fleet advance control time, fleet is looked as a whole, according to the result of difference in functionality module, entirety is carried out to fleet and travel control.
As shown in Figure 1, embodiments of the invention provide a kind of fleet's control method based on car networking, comprising:
Step 11, the car-mounted device of each vehicle in interconnected fleet of being networked by car, is held consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively;
Step 12, the car-mounted device of any vehicle in fleet, obtains the vehicle control information of the vehicle-mounted transmission of other vehicle, and according to this vehicle control information, carries out control operation to the vehicle belonging to this car-mounted device.
The system architecture of this embodiment of the present invention as shown in Figure 2, this system comprises: to network the fleet intercomed mutually based on car, comprise: the vehicle with controlling planning function, the vehicle of peripheral information process, the vehicle that formation controls, the technical program adopts distributed control mode to control fleet, fleet's controlling functions is divided into several subfunctions, coordinated to determine the process division of labor by vehicle in fleet, each subfunction is at least processed by a car in fleet, if subfunction is more complicated, can consider to be processed by more than one vehicle.
To be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively; The car-mounted device of any vehicle in fleet, obtains the vehicle control information of the vehicle-mounted transmission of other vehicle, and according to this vehicle control information, carries out control operation to the vehicle belonging to this car-mounted device; Thus realize fleet to control to be divided into several functional module, different expert systems being deployed to respectively for each functional module forms into columns in interior different vehicle, carry out fleet advance control time, fleet is looked as a whole, according to the result of difference in functionality module, entirety is carried out to fleet and travel control; Thus make the robustness of system better, guided vehicle fault can not then cause the phenomenon of the collapse of whole system, and the vehicle fleet size of fleet can be made to increase, also can not cause the problem of the traffic load of system and the increase with guided vehicle car-mounted device process load, System Expansion is better.
In a specific embodiment of the present invention, above-mentioned steps 11 comprises:
To be networked by car the communication module of the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the expert system module that corresponding function distributes to the car-mounted device of at least one car in fleet respectively.
Wherein, the function that the expert system module of the car-mounted device of each vehicle is corresponding is all different.
Further, in a specific embodiment of the present invention, said method also comprises:
Step 13, when the network topology structure of fleet changes, again to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively.
Wherein, the function that fleet's control is corresponding comprises: controlling planning function (vehicle as the controlling planning function in Fig. 2), fleet's peripheral information processing capacity (vehicle as peripheral information processing capacity middle in Fig. 2) and formation controlling functions (as the vehicle that formation rightmost in Fig. 2 controls); Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.Certainly, fleet controls corresponding function and is not limited to function described above, and can also carry out as the case may be increases the corresponding function controlling correspondence.
Wherein, as shown in Figure 3, described expert system module is when completing formation controlling functions, the accurate location of this car that the locating module obtaining the car-mounted device of vehicle obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.Wherein, described belt-like zone length and width are respectively the length of fleet's formation size and wide.
When bend has the situation of radian, as shown in Figure 4, the border of fore-and-aft direction is constant, and the border of left and right directions is with travel direction center line for extending to two camber lines of formation dimension width about benchmark, as fleet's outer boundary line.
The idiographic flow control chart of the above embodiment of the present invention is as follows:
Step 51, platooning carries out networking by V2V communication; V2V communication needs wireless network, transmit information mutually between automobile over this network, tell what the other side oneself doing, these information comprise speed, position, driving direction, brake etc.V2V technology uses Dedicated Short Range Communications, (DSRC), the standard set up by the mechanism of similar FCC and ISO.Sometimes it can be described as WiFi network, because may use frequency is 5.9GHz, this is also the frequency that WiFi uses.But more precisely, DSRC is class WiFi network, and its coverage is up to 300 meters.V2V is a kind of mesh network, and the node (automobile, intelligent traffic light etc.) in network can be launched, catch also forward signal.On network, the jump of 5-10 node just can collect the traffic outside a distance.
Step 52, networking completes, and carries out subfunction division, is consulted to determine, carry out expert system deployment according to the situation that sub-function module divides by vehicle in fleet; Each vehicle in fleet all has car-mounted device, and this car-mounted device comprises: communication module, locating module and expert system module.Wherein, expert system module, processes for the information obtained fleet, completes the requirement distributing subfunction, and provides the steering order of fleet according to rule; Communication module, for the communication in fleet between vehicle, complete information interaction and share, and the broadcast of steering order with issue; Locating module, adopt hi-Fix module, positioning precision can reach decimeter grade, for determining the relative position in fleet between vehicle, generates the formation outer boundary line of platooning on this basis.Wherein, expert system module comprises: the expert system that multiple function rule is different, and expert system carries out process and the Systematical control of information in platooning's driving process.Need re-start the division of expert system when formation network topology structure changes, in platooning, the function rule of the expert system of each terminal is all not identical.Wherein, fleet's controlling functions can be divided into: controlling planning subfunction, peripheral information process subfunction, formation control subfunction etc., subfunction divides can carry out top by working control demand, and the corresponding expert system of each subfunction, by Implementation of Expert System corresponding function.Embodiments of the invention are not limited to the mode classification of subfunction shown in Fig. 1.Control subfunction and carry out process realization by car-mounted device in vehicle; Fleet is controlled depending on as a whole, in fleet's networking process, needs the accurate location of vehicle in team, and then determine the formation outer boundary line of fleet.Fleet's formation outer boundary line regards as the border of fleet.For formation shown in Fig. 1, formation outer boundary line as shown in Figure 3.
Step 53, carries out formation by the vehicle of the subfunction controlling formation and fleet's outer boundary line controls, by the travel direction of the vehicle determination vehicle of controlling planning subfunction, by the vehicle process fleet peripheral information of peripheral information process subfunction; Wherein, the determining step processing fleet's formation outer boundary line comprises:
1: in fleet, vehicle obtains the accurate location of this car by car-mounted device locating module, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the position data of four corners of this car, be called vehicle dimension position;
2: formation controls the size positions that sub-function module collects all vehicles in fleet, obtains the envelope of fleet;
3: formation controls sub-function module according to fleet's envelope, obtains the longest and the widest position of fleet, with this position for benchmark extension 1m (can determine different extension sizes according to actual conditions), is called fleet's formation size;
4: according to fleet's formation size, formation controls sub-function module and generates the belt-like zone being length with fleet's travel direction, these belt-like zone length and width are respectively the length of fleet's formation size and wide (when bend has radian, the border of fore-and-aft direction is constant, the border of left and right directions is for extending to two camber lines of formation dimension width about benchmark with travel direction center line), this region is called fleet's outer boundary line;
According to above-mentioned steps, the generation principle of fleet's outer boundary line comprises: vehicles all in fleet need be included by outer boundary line; Outer boundary line need keep rectangle when fleet keeps straight on, fleet turn round sequential keep arc, as shown in Figure 4; The left and right width of outer boundary line is determined by the vehicle of the fleet leftmost side and the rightmost side, and anterior-posterior length is determined by first and last vehicle; Outer boundary line need with determine that the vehicle of outer boundary line length and width keeps certain distance, this distance can according to circumstances specifically be arranged;
54, in fleet's traveling process, modules processes driving information in real time, and result is shared to vehicle corresponding to each sub-function module, issues corresponding steering order to vehicle in fleet simultaneously.
In the above embodiment of the present invention, the information of each expert system process is by vehicle collections all in team, and in team, all vehicles install corresponding sensor according to demand for control; Fleet's network topology structure changes, and needs to re-start the division of subfunction and the deployment of expert system.
The above embodiment of the present invention: 1) can solve and carry out fleet by guided vehicle and to advance the problem of centralized control system robustness difference, improve the robust of fleet's control system; 2) problem that centerized fusion mode processing delay is larger can be solved; 3) because fleet's Collaborative Control needs to process a large amount of information, to advance centralized control according to being carried out fleet by guided vehicle, then require that the car-mounted device of guided vehicle has stronger handling property and the logic rules of relative complex, design difficulty is higher.Adopt this programme distributed processing mode to carry out fleet's control, break the whole up into parts, simplify system design complexity.
Embodiments of the invention propose based on multi-expert system distributed deployment mode carry out overall fleet advance control method.Fleet is controlled to be divided into several functional module, different expert systems being deployed to respectively for each functional module forms into columns in interior different vehicle, carry out fleet advance control time, fleet is looked as a whole, according to the result of difference in functionality module, entirety is carried out to fleet and travel control.
Embodiments of the invention also provide a kind of car-mounted device, comprising:
Communication module, the communication module for the car-mounted device with other each vehicle in interconnected fleet of networking based on car is held consultation, and obtains and fleet is controlled corresponding function;
Expert system module, is controlled a corresponding function for configuring wherein fleet, and is obtained the vehicle control information of the vehicle-mounted transmission of other vehicle by communication module, and according to this vehicle control information, carry out control operation to the vehicle belonging to this car-mounted device.
Expert system module is networked by car the communication module of the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the expert system module that corresponding function distributes to the car-mounted device of at least one car in fleet respectively.
Wherein, the function that the expert system module of the car-mounted device of each vehicle is corresponding is all different.
In above-mentioned car-mounted device, when the network topology structure of fleet changes, again to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively.
Wherein, the function that fleet's control is corresponding comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.
Described expert system module is when completing formation controlling functions, the accurate location of this car that the locating module obtaining the car-mounted device of vehicle obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.
Described belt-like zone length and width are respectively the length of fleet's formation size and wide;
When bend has the situation of radian, the border of fore-and-aft direction is constant, and the border of left and right directions is with travel direction center line for extending to two camber lines of formation dimension width about benchmark, as fleet's outer boundary line.
The car-mounted device that embodiments of the invention propose, carries out overall fleet based on multi-expert system distributed deployment mode equally and to advance control.Fleet is controlled to be divided into several functional module, different expert systems being deployed to respectively for each functional module forms into columns in interior different vehicle, carry out fleet advance control time, fleet is looked as a whole, according to the result of difference in functionality module, entirety is carried out to fleet and travel control.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1., based on fleet's control method of car networking, it is characterized in that, comprising:
To be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively;
The car-mounted device of any vehicle in fleet, obtains the vehicle control information of the vehicle-mounted transmission of other vehicle, and according to this vehicle control information, carries out control operation to the vehicle belonging to this car-mounted device.
2. the fleet's control method based on car networking according to claim 1, it is characterized in that, to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, the step that function corresponding for fleet's control distributes to the car-mounted device of at least one car in fleet respectively comprised:
To be networked by car the communication module of the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the expert system module that corresponding function distributes to the car-mounted device of at least one car in fleet respectively.
3. the fleet's control method based on car networking according to claim 1, it is characterized in that, the function that the expert system module of the car-mounted device of each vehicle is corresponding is all different.
4. the fleet's control method based on car networking according to claim 1,2 or 3, it is characterized in that, also comprise: when the network topology structure of fleet changes, again to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively.
5. the fleet's control method based on car networking according to claim 1, is characterized in that, fleet controls corresponding function and comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.
6. the fleet's control method based on car networking according to claim 5, it is characterized in that, described expert system module is when completing formation controlling functions, the accurate location of this car that the locating module obtaining the car-mounted device of vehicle obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.
7. the fleet's control method based on car networking according to claim 6, is characterized in that, described belt-like zone length and width are respectively the length of fleet's formation size and wide;
When bend has the situation of radian, the border of fore-and-aft direction is constant, and the border of left and right directions is with travel direction center line for extending to two camber lines of formation dimension width about benchmark, as fleet's outer boundary line.
8. a car-mounted device, is characterized in that, comprising:
Communication module, the communication module for the car-mounted device with other each vehicle in interconnected fleet of networking based on car is held consultation, and obtains and fleet is controlled corresponding function;
Expert system module, is controlled a corresponding function for configuring wherein fleet, and is obtained the vehicle control information of the vehicle-mounted transmission of other vehicle by communication module, and according to this vehicle control information, carry out control operation to the vehicle belonging to this car-mounted device.
9. car-mounted device according to claim 8, is characterized in that, fleet controls corresponding function and comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.
10. car-mounted device according to claim 9, is characterized in that, also comprises:
Locating module, for obtaining the positional information of vehicle;
Described expert system module is when completing formation controlling functions, obtain the accurate location of this car that described locating module obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.
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