CN106774290A - A kind of automatic pick-up method and device - Google Patents
A kind of automatic pick-up method and device Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims abstract description 13
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses a kind of automatic pick-up method and device, belong to technical field of automobile control.Automatic pick-up method includes：Obtain the positional information of target terminal and vehicle；According to target terminal and the positional information of vehicle, the angle between vehicle-to-target terminal is obtained；Detection du vehicule whether there is barrier, if du vehicule has barrier, obtain the minimum range of vehicle and barrier；Obtained strengthening signal according to angle and minimum distance calculation, enhancing signal is used to represent vehicle smooth degree in the process of moving；According to angle, minimum range and the enhancing signal being calculated, traveling strategy is determined using machine learning method；Travelled to target terminal location according to traveling policy control vehicle.The present invention realizes automatic pick-up, and practicality is stronger.
Description
Technical field
The invention belongs to technical field of automobile control, more particularly to a kind of automatic pick-up method and device.
Background technology
In daily life, car owner would generally be by storing cycle in underground garage, because the landform of underground garage is general
It is complex, and wherein parked vehicle is a lot, once so car owner forgets storing cycle position, will take for the substantial amounts of time goes
Find vehicle.
Now with a kind of automatic pick-up scheme, stored to car running computer by by the route of underground garage, when picking up the car,
Start vehicle first with mobile terminal, the location of vehicle is then determined by the alignment system on vehicle, be finally expert at
Selection route corresponding with vehicle present position in car computer so that automobile according to set circuit, from parking stall automatic running
To the outlet of underground garage, the substantial amounts of time is wasted because finding vehicle so as to avoid car owner.
However, because the automatic pick-up scheme can only be adapted to the underground garage for having stored circuit, for other cars
Storehouse cannot then realize the function of automatic pick-up, so practicality is poor.
The content of the invention
In order to solve the problems, such as that car owner wastes the plenty of time because finding vehicle, the embodiment of the invention provides a kind of automatic
Pick-up method and device.The technical scheme is as follows：
On the one hand, a kind of automatic pick-up method is the embodiment of the invention provides, the automatic pick-up method includes：
Obtain the positional information of target terminal and vehicle；
According to the target terminal and the positional information of the vehicle, the front-wheel direction and the vehicle of the vehicle are obtained
And the angle of the line between the target terminal；
Detect that the du vehicule, with the presence or absence of barrier, if the du vehicule has the barrier, obtains institute
State the minimum range of vehicle and the barrier；
Obtained strengthening signal according to the angle and the minimum distance calculation, the enhancing signal is used to represent the car
In the corresponding angle and the minimum range, the degree of reliability that the vehicle is travelled towards the target terminal；
It is true using nitrification enhancement according to the angle, the minimum range and the enhancing signal being calculated
Fixed traveling strategy；
The driving trace of vehicle according to the traveling policy control, until the vehicle is travelled to the target terminal
The location of.
Further, the detection du vehicule whether there is barrier, including：
Actual detection distance and maximum detectable range are obtained, the actual detection distance is the distance detection on the vehicle
The distance between device and the described barrier being actually detected, the maximum detectable range be the distance detection device most
Big detection range；
When actual detection distance is equal to the maximum detectable range, the du vehicule does not exist the obstacle
Thing；
When actual detection distance is less than the maximum detectable range, there is the barrier in the du vehicule.
Further, it is described to be obtained strengthening signal according to the angle and the minimum distance calculation, including：
According to below equation, the enhancing signal is calculated,
Wherein, r is enhancing signal, and β is weights, and θ is the angle between the target terminal and the vehicle, and l is described
Maximum detectable range, diIt is actual detection distance, i is the quantity of the distance detection device.
Further, according to below equation, the weights are obtained：
Further, it is described according to the angle, the minimum range and the enhancing signal being calculated, using strong
Change learning algorithm and determine traveling strategy, the driving trace of vehicle according to the traveling policy control, including：
According to the angle and the minimum range, it is determined that traveling strategy, the traveling strategy is including being directed to the vehicle
Direction regulation and the amplitude of accommodation, according to it is described traveling policy control described in vehicle driving trace；
Obtain the front-wheel direction of the vehicle after adjustment and the folder of the line between the vehicle and the target terminal
The vehicle and the minimum range of the barrier behind angle, and adjustment, are calculated the enhancing signal after adjustment；
Compare the enhancing signal after the enhancing signal and the adjustment, to obtain comparative result；
If the degree of reliability that the enhancing signal after the adjustment is represented is higher than the degree of reliability that the enhancing signal is represented,
The traveling strategy is recorded as correct traveling strategy,
If the degree of reliability that the enhancing signal after the adjustment is represented is less than the degree of reliability that the enhancing signal is represented,
The traveling strategy is recorded as the traveling strategy of mistake；
According to the comparative result adjustment traveling strategy；
The driving trace of vehicle according to the traveling policy control after adjustment.
On the other hand, there is provided a kind of automatic pickup device, the automatic pickup device includes：
Position acquisition module, the positional information for obtaining target terminal and vehicle；
Angle acquisition module, for the positional information according to the target terminal and the vehicle, obtains the vehicle
The angle of front-wheel direction and the line between the vehicle and the target terminal；
Minimum range acquisition module, for detecting the du vehicule with the presence or absence of barrier, if the du vehicule is deposited
In the barrier, then the minimum range of the vehicle and the barrier is obtained；
Computing module, for being obtained strengthening signal, the enhancing signal according to the angle and the minimum distance calculation
For representing the vehicle in the corresponding angle and the minimum range, the vehicle is travelled towards the target terminal
The degree of reliability；
Determining module, for according to the angle, the minimum range and the enhancing signal being calculated, using strong
Change learning algorithm and determine traveling strategy；
Traveling module, for the driving trace of the vehicle according to the traveling policy control, until the vehicle is travelled
To target terminal location.
Specifically, the minimum range acquisition module includes：
Probe unit, for obtaining actual detection distance and maximum detectable range, the actual detection distance is the car
The distance between distance detection device on and the described barrier being actually detected, the maximum detectable range for it is described away from
From the maximum detectable range of detection means；
When actual detection distance is equal to the maximum detectable range, the du vehicule does not exist the obstacle
Thing；
When actual detection distance is less than the maximum detectable range, there is the barrier in the du vehicule.
Specifically, the computing module includes：
First computing unit, for according to below equation, being calculated the enhancing signal,
Wherein, r is enhancing signal, and β is weights, and θ is the angle between the target terminal and the vehicle, and l is described
Maximum detectable range, diIt is actual detection distance, i is the quantity of the distance detection device.
Specifically, the computing module also includes：
Second computing unit, for according to below equation, obtaining the weights：
Specifically, the determining module also includes：
Determining unit, for according to the angle and the minimum range, it is determined that traveling is tactful, the traveling strategy to include
For the direction regulation of the vehicle and the amplitude of accommodation, the driving trace of vehicle according to the traveling policy control；
The computing module, is additionally operable to obtain the front-wheel direction and the vehicle and the target of the vehicle after adjustment
The vehicle and the minimum range of the barrier after the angle of the line between terminal, and adjustment, are calculated adjustment
Enhancing signal afterwards；
Comparing unit, for comparing the enhancing signal after the enhancing signal and the adjustment, to obtain comparative result, if
The degree of reliability that enhancing signal after the adjustment is represented strengthens the degree of reliability that signal is represented higher than described, then by the traveling
Strategy is recorded as correct traveling strategy, if the degree of reliability that the enhancing signal after the adjustment is represented is less than the enhancing signal
The degree of reliability of expression, then the traveling strategy is recorded as the traveling strategy of mistake；
Unit, for according to the comparative result adjustment traveling strategy.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
When the automatic pick-up method provided by the embodiment of the present invention is picked up the car, first, target terminal and vehicle are obtained
Positional information, by the positional information of target terminal and vehicle obtain the front-wheel of the vehicle towards with the vehicle and described
The angle of the line between target terminal, it is then detected that du vehicule whether there is barrier, if there is obstacle in du vehicule
Thing, then obtain the minimum range of vehicle and barrier, then, is obtained strengthening signal according to angle and minimum distance calculation, according to
Angle, minimum range and the enhancing signal being calculated, determine traveling strategy, finally, according to traveling using nitrification enhancement
The driving trace of policy control vehicle, until vehicle is travelled to target terminal location.Due to the process travelled in vehicle
In can be autonomous real-time detection periphery with the presence or absence of angle between barrier and vehicle-to-target terminal, and according to detection
Result determines traveling strategy using nitrification enhancement, to realize the control to vehicle driving trace, accomplishes that collisionless takes automatically
Car.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of flow chart of automatic pick-up method provided in an embodiment of the present invention；
Fig. 2 is vehicle traveling provided in an embodiment of the present invention towards schematic diagram；
Fig. 3 is the flow chart of another automatic pick-up method provided in an embodiment of the present invention；
Fig. 4 is vehicle detection barrier schematic diagram provided in an embodiment of the present invention；
Fig. 5 is a kind of wire figure of automatic pickup device provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
A kind of automatic pick-up method provided in an embodiment of the present invention, the method is applied to takes out vehicle from garage, car
Storehouse can be underground garage and ground garage etc., the invention is not limited in this regard.
Fig. 1 is a kind of flow chart of automatic pick-up method, as shown in figure 1, automatic pick-up method includes：
Step 101：Obtain the positional information of target terminal and vehicle.
In above-mentioned implementation, target terminal can be the terminal with positioning function, for example mobile phone, panel computer
Deng such that it is able to pass through the positional information of the positioning function acquisition target terminal of target terminal itself, by determining for vehicle itself
Bit function obtains the positional information of vehicle.
Step 102：According to target terminal and the positional information of vehicle, front-wheel direction and vehicle and the target end of vehicle are obtained
The angle α (referring to Fig. 2) of the line between end.
In above-mentioned implementation, the mobile terminal device that target terminal can be carried with for car owner, such as above-mentioned hand
Machine, panel computer etc., in the case, the front-wheel direction and the angle of the line between vehicle and target terminal of vehicle, as
The front-wheel direction and the angle of the line between vehicle and car owner of vehicle.It should be noted that in other embodiments, target end
It can also be fixed terminal equipment to hold, such as computer at garage exit etc., the invention is not limited in this regard.
Step 103：Detection du vehicule whether there is barrier, if there is barrier in du vehicule, obtain vehicle with
The minimum range of barrier.
In above-mentioned implementation, ultrasonic radar can be set on vehicle, so as to pass through ultrasonic radar monitoring car
Nearby whether there is barrier, du vehicule can, with vehicle as the center of circle, the formed scope of circle, half be drawn with certain radius
The concrete numerical value in footpath can be adjusted according to actual conditions, such as 3m, 4m etc., the invention is not limited in this regard.
Step 104：Obtained strengthening signal according to angle and minimum distance calculation, enhancing signal is used to represent vehicle in correspondence
Angle and during minimum range, the degree of reliability that vehicle is travelled towards target terminal.
In above-mentioned implementation, vehicle can be showed towards the degree of reliability that target terminal is travelled by two aspects,
It is on one side the absolute value of the angle between vehicle-to-target terminal, the value is smaller, then it represents that vehicle is got over towards target terminal
The direction running at place, i.e. vehicle are higher to the accuracy to target terminal, are on the other hand the barrier and car of du vehicule
The distance between, the distance is bigger, then it represents that vehicle is less susceptible to be collided with barrier, i.e. the reliability of vehicle traveling
It is higher.
Step 105：According to angle, minimum range and the enhancing signal being calculated, determine to go using nitrification enhancement
Sail strategy.
It is understood that intensified learning is by an Autonomous Agent that can perceive environment (agent), autonomous learning choosing
Select the optimal action that can reach its target.The process of specific autonomous learning is that agency makes action in its environment, and environment can be given
Feedback is given, agency is recognized and learnt according to the feedback (successfully award, unsuccessfully give and punish) of environment to action, from
And correct behavior is paid the utmost attention in follow-up action and avoids the behavior of mistake from occurring, so constantly study may finally
Optimal action is determined, that is, obtains optimal traveling strategy.
Then corresponding, step 105 can be realized by following steps：
Step 1051：According to angle and minimum range, it is determined that traveling strategy, traveling is tactful to be included being adjusted for the direction of vehicle
Section and the amplitude of accommodation, according to the driving trace of traveling policy control vehicle.
Step 1052：The corresponding angle of vehicle and minimum range after adjustment are obtained, the enhancing letter after adjustment is calculated
Number.
Step 1053：Compare the enhancing signal after enhancing signal and adjustment, to obtain comparative result, if the enhancing after adjustment
Traveling strategy then is recorded as correctly travelling plan by the degree of reliability that signal is represented higher than the degree of reliability that enhancing signal is represented
Slightly, if the degree of reliability that the enhancing signal after adjustment is represented is less than the degree of reliability that enhancing signal is represented, traveling strategy is remembered
It is the traveling strategy of mistake to record.
Step 1054：According to comparative result adjustment traveling strategy.
Step 1055：According to the driving trace that policy control vehicle is travelled after adjustment.
Step 106：According to the driving trace of traveling policy control vehicle, until vehicle travels the position residing for target terminal
Put.
When the automatic pick-up method provided by the embodiment of the present invention is picked up the car, first, target terminal and vehicle are obtained
Positional information, the front-wheel of vehicle is obtained towards and vehicle and target terminal between by the positional information of target terminal and vehicle
Line angle, it is then detected that du vehicule whether there is barrier, if du vehicule has barrier, obtain vehicle
With the minimum range of barrier, then, obtained strengthening signal according to angle and minimum distance calculation, according to angle, minimum range
With the enhancing signal being calculated, traveling strategy is determined using nitrification enhancement, finally, according to traveling policy control vehicle
Driving trace, until vehicle is travelled to target terminal location.Reality that can be autonomous during due to being travelled in vehicle
When detection periphery with the presence or absence of angle between barrier and vehicle-to-target terminal, and extensive chemical is used according to result of detection
Practise algorithm and determine traveling strategy, to realize the control to vehicle driving trace, accomplish that collisionless is picked up the car automatically.
Fig. 2 is the flow chart of another automatic pick-up method, as shown in Fig. 2 automatic pick-up method includes：
Step 201：Enabled instruction and instruction of picking up the car that vehicle receiver is sent by target terminal.
When implementing, when target terminal is mobile terminal, such as mobile phone, can be opened by the application program in mobile phone
Motor-car simultaneously sends pick-up instruction, when target terminal is fixed terminal, such as computer, can be started by the software in computer
Vehicle simultaneously sends pick-up instruction, and specifically starting method can realize that vehicle remote is opened for now common by vehicle Internet of Things
Dynamic method, will not be described here.
It should be noted that after vehicle launch, low vehicle speeds, such as with speed traveling less than 5km/h etc., from
And further ensured the security of vehicle automatic running.
It should be noted that enabled instruction and pick-up instruction can be instructed using same and realized, it would however also be possible to employ two
Instruction is realized.
Step 202：Obtain the positional information of target terminal and vehicle.
Step 203：According to target terminal and the positional information of vehicle, front-wheel direction and vehicle and the target end of vehicle are determined
The angle of the line between end.
When implementing, can be by detecting that the rotational angle of the steering wheel of vehicle obtains the front-wheel direction of vehicle.
Step 204：Detection du vehicule whether there is barrier, if there is barrier in du vehicule, obtain vehicle with
The minimum range of barrier.
When implementing, step 204 can be achieved by the steps of：
Step 2041：Actual detection distance and maximum detectable range are obtained, actual detection distance is the distance inspection on vehicle
Survey the distance between device and the barrier being actually detected, maximum detectable range for distance detection device maximum probe away from
From.
Fig. 3 is vehicle detection barrier schematic diagram, as shown in figure 3, distance detection device can be ultrasonic radar, in car
Front bumper at, can be respectively provided with left-hand door and at right car door the first ultrasonic radar, the second ultrasonic radar and
3rd ultrasonic radar, the maximum detectable range for setting three ultrasonic radars is l.
Step 2042：Compare the actual detection distance and respective maximum detectable range of each ultrasonic detector, work as reality
When border detection range is equal to maximum detectable range, du vehicule does not exist barrier, when actual detection distance is less than maximum probe
Apart from when, there is barrier in du vehicule, and the distance between barrier and vehicle are actual detection distance.
In above-mentioned implementation, for example, situation as shown in Figure 3, the actual detection of the first ultrasonic radar is apart from d1
Equal to its maximum detectable range l, the actual detection of the second ultrasonic radar is apart from d2Equal to its maximum detectable range l, then show
Do not exist barrier near the front bumper and left-hand door of vehicle, and the actual detection of the second ultrasonic radar is apart from d3Less than it
Maximum detectable range l, then show there is barrier near the right car door of vehicle.
Step 205：Obtained strengthening signal according to angle and minimum distance calculation, enhancing signal is used to represent vehicle in correspondence
Angle and during minimum range, the degree of reliability that vehicle is travelled towards target terminal.
In above-mentioned implementation, vehicle can be showed towards the degree of reliability that target terminal is travelled by two aspects,
It is on one side the absolute value of the angle between vehicle-to-target terminal, the value is smaller, then it represents that vehicle is got over towards target terminal
The direction running at place, i.e. vehicle are higher to the accuracy to target terminal, are on the other hand the barrier and car of du vehicule
The distance between, the distance is bigger, then it represents that vehicle is less susceptible to be collided with barrier, i.e. the reliability of vehicle traveling
It is higher.
When implementing, according to below equation, enhancing signal is calculated,
Wherein, r is enhancing signal, and β is weights, and θ is the angle between target terminal and vehicle, and l is maximum detectable range,
diIt is actual detection distance, i=1,2,3.
In above-mentioned formula,RepresentWithBetween take minimum value.
More specifically, according to below equation, obtaining weights：
In above-mentioned formula, when the vicinity of vehicle is in the absence of barrier, β is 0, now main equivalent to what vehicle was travelled
Task is pathfinding, i.e. alignment target terminal, and when the vicinity of vehicle has barrier, β is 0.75, is now appointed equivalent to main
Business is avoidance, and pathfinding is secondary task.
Step 206：According to angle, minimum range and the enhancing signal being calculated, determine to go using nitrification enhancement
Sail strategy.
When implementing, step 206 can be achieved by the steps of：
Step 2061：According to angle and minimum range, it is determined that traveling strategy, traveling is tactful to be included being adjusted for the direction of vehicle
Section and the amplitude of accommodation, according to the driving trace of traveling policy control vehicle.
During specific reality, using angle and minimum range as input quantity, corresponding first enhancing signal is calculated, according to
Input quantity, it is determined that traveling strategy.
Step 2062：The front-wheel direction of the vehicle after adjustment and the angle of the line between vehicle and target terminal are obtained,
And the vehicle after adjustment and the minimum range of barrier, it is calculated the enhancing signal after adjustment.
When implementing, using angle corresponding with the vehicle after adjustment and minimum range as input quantity, it is right to be calculated
The second enhancing signal (the enhancing signal after adjustment) answered.
Step 2063：Compare the enhancing signal after enhancing signal and adjustment, to obtain comparative result, if the enhancing after adjustment
Traveling strategy then is recorded as correctly travelling plan by the degree of reliability that signal is represented higher than the degree of reliability that enhancing signal is represented
Slightly, if the degree of reliability that the enhancing signal after adjustment is represented is less than the degree of reliability that enhancing signal is represented, traveling strategy is remembered
It is the traveling strategy of mistake to record.
Step 2064：According to comparative result adjustment traveling strategy.
In above-mentioned implementation, if comparative result represents that the traveling strategy is correct traveling strategy, then vehicle
The traveling strategy is continued executing with step 207, until the traveling strategy is during vehicle is travelled, because of the change of road environment
Change and be judged as wrong traveling strategy, if comparative result represents the traveling strategy that the traveling strategy is mistake, then adjust
The whole traveling strategy, that is, change for the direction regulation of vehicle and the amplitude of accommodation, so as to improve vehicle be travelled towards target terminal
The degree of reliability.It should be noted that in strategy is travelled, the direction regulation for vehicle can include the side of left and right two
Unspecified angle from gyration to most I gyration to the maximum that, the amplitude of accommodation can be vehicle that can be in.
Specifically, if comparative result represents the traveling strategy that the traveling strategy is mistake, it is necessary to be carried out to traveling strategy
Adjustment, then another traveling strategy can be randomly choosed, and the traveling strategy of mistake is stored, so as to avoid vehicle
During follow-up traveling, repetition selects the traveling strategy of the mistake.
If it should be noted that the automatic pick-up method that vehicle is provided by the present embodiment for the first time performs stream of picking up the car
Journey, then the traveling strategy in step 2061 can randomly choose, then again by the method for step 2062- steps 2064, constantly
Regulation traveling strategy, to allow the vehicle to autonomous study, so as to realize that collisionless is picked up the car in different garages.
Step 207：According to the driving trace of traveling policy control vehicle, until vehicle travels the position residing for target terminal
Put.
In above-mentioned implementation, because vehicle is during traveling, constantly judge current according to enhancing signal
Whether traveling strategy is correct, is continued executing with if correct, and correct traveling strategy is stored in correct form, such as
Fruit mistake is then adjusted to traveling strategy, the adjustment to traveling strategy, can be a kind of other traveling strategies of random selection,
And the traveling strategy of mistake is stored with ill-formalness, so as to avoid vehicle during follow-up traveling, repeat to select
The traveling strategy of the mistake, and then autonomous study is allowed the vehicle to, so as to adapt to different garages.
When the automatic pick-up method provided by the embodiment of the present invention is picked up the car, first, target terminal and vehicle are obtained
Positional information, the front-wheel of vehicle is obtained towards and vehicle and target terminal between by the positional information of target terminal and vehicle
Line angle, it is then detected that du vehicule whether there is barrier, if du vehicule has barrier, obtain vehicle
With the minimum range of barrier, then, obtained strengthening signal according to angle and minimum distance calculation, according to angle, minimum range
With the enhancing signal being calculated, traveling strategy is determined using nitrification enhancement, finally, according to traveling policy control vehicle
Driving trace, until vehicle is travelled to target terminal location.Reality that can be autonomous during due to being travelled in vehicle
When detection periphery with the presence or absence of angle between barrier and vehicle-to-target terminal, and extensive chemical is used according to result of detection
Practise algorithm and determine traveling strategy, to realize the control to vehicle driving trace, accomplish that collisionless is picked up the car automatically.
Fig. 4 is the wire figure of automatic pickup device, as shown in figure 4, the automatic pickup device includes：
Position acquisition module 310, the positional information for obtaining target terminal and vehicle.
Angle acquisition module 320, for the positional information according to target terminal and vehicle, obtain the front-wheel of vehicle towards with
The angle of the line between vehicle and target terminal.
Minimum range acquisition module 330, for detecting du vehicule with the presence or absence of barrier, if du vehicule has obstacle
Thing, then obtain the minimum range of vehicle and barrier.
Computing module 340, for being obtained strengthening signal according to angle and minimum distance calculation, enhancing signal is used to represent car
In corresponding angle and minimum range, the degree of reliability that vehicle is travelled towards target terminal.
Determining module 350, for according to angle, minimum range and the enhancing signal being calculated, being calculated using intensified learning
Method determines traveling strategy.
Traveling module 360, for the driving trace according to traveling policy control vehicle, until vehicle is travelled to target terminal
The location of.
In the present embodiment, minimum range acquisition module 330 includes：Probe unit 331, for obtaining actual detection distance
And maximum detectable range, actual detection distance between the distance detection device on vehicle and the barrier being actually detected away from
From maximum detectable range is the maximum detectable range of distance detection device；When actual detection distance is equal to maximum detectable range,
Du vehicule does not exist barrier；When actual detection distance is less than maximum detectable range, there is barrier in du vehicule.
In the present embodiment, computing module 340 includes：First computing unit 341, for according to below equation, calculating
To enhancing signal,
Wherein, r is enhancing signal, and β is weights, and θ is the angle between target terminal and vehicle, and l is maximum detectable range,
diIt is actual detection distance, i is the quantity of distance detection device.
In the present embodiment, computing module 340 also includes：Second computing unit 342, for according to below equation, obtaining
Weights：
In the present embodiment, determining module 350 also includes：
Determining unit 351, for according to the angle and the minimum range, it is determined that traveling strategy, the traveling strategy
Including the direction regulation for the vehicle and the amplitude of accommodation, the driving trace of vehicle according to the traveling policy control.
Computing module 340, is additionally operable to obtain the front-wheel direction and the vehicle and the target of the vehicle after adjustment
The vehicle and the minimum range of the barrier after the angle of the line between terminal, and adjustment, are calculated adjustment
Enhancing signal afterwards.
Comparing unit 352, for comparing the enhancing signal after the enhancing signal and the adjustment, to obtain comparing knot
Really, if the degree of reliability that the enhancing signal after the adjustment is represented strengthens the degree of reliability that signal is represented higher than described, by institute
State traveling strategy and be recorded as correct traveling strategy, if the degree of reliability that the enhancing signal after the adjustment is represented is less than the increasing
The degree of reliability that strong signal is represented, then the traveling strategy is recorded as the traveling strategy of mistake.
Unit 353, for according to the comparative result adjustment traveling strategy.
When the automatic pickup device provided by the embodiment of the present invention is picked up the car, first, target terminal and vehicle are obtained
Positional information, the front-wheel of vehicle is obtained towards and vehicle and target terminal between by the positional information of target terminal and vehicle
Line angle, it is then detected that du vehicule whether there is barrier, if du vehicule has barrier, obtain vehicle
With the minimum range of barrier, then, obtained strengthening signal according to angle and minimum distance calculation, according to angle, minimum range
With the enhancing signal being calculated, traveling strategy is determined using nitrification enhancement, finally, according to traveling policy control vehicle
Driving trace, until vehicle is travelled to target terminal location.Reality that can be autonomous during due to being travelled in vehicle
When detection periphery with the presence or absence of angle between barrier and vehicle-to-target terminal, and extensive chemical is used according to result of detection
Practise algorithm and determine traveling strategy, to realize the control to vehicle driving trace, accomplish that collisionless is picked up the car automatically.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of automatic pick-up method, it is characterised in that the automatic pick-up method includes：
Obtain the positional information of target terminal and vehicle；
According to the target terminal and the positional information of the vehicle, front-wheel direction and the vehicle and the institute of the vehicle are obtained
State the angle of the line between target terminal；
Detect that the du vehicule, with the presence or absence of barrier, if the du vehicule has the barrier, obtains the car
Minimum range with the barrier；
Obtained strengthening signal according to the angle and the minimum distance calculation, the enhancing signal is used to represent that the vehicle exists
When the corresponding angle and the minimum range, the degree of reliability that the vehicle is travelled towards the target terminal；
According to the angle, the minimum range and the enhancing signal being calculated, determine to go using nitrification enhancement
Sail strategy；
The driving trace of vehicle according to the traveling policy control, until the vehicle is travelled to residing for the target terminal
Position.
2. automatic pick-up method according to claim 1, it is characterised in that the detection du vehicule whether there is
Barrier, including：
Actual detection distance and maximum detectable range are obtained, the actual detection distance is the distance detection device on the vehicle
The distance between with the barrier being actually detected, the maximum detectable range is the maximum spy of the distance detection device
Find range from；
When actual detection distance is equal to the maximum detectable range, the du vehicule does not exist the barrier；
When actual detection distance is less than the maximum detectable range, there is the barrier in the du vehicule.
3. automatic pick-up method according to claim 2, it is characterised in that described according to the angle and the most narrow spacing
From being calculated enhancing signal, including：
According to below equation, the enhancing signal is calculated,
Wherein, r is enhancing signal, and β is weights, and θ is the angle between the target terminal and the vehicle, and l is the maximum
Detection range, diIt is actual detection distance, i is the quantity of the distance detection device.
4. automatic pick-up method according to claim 3, it is characterised in that according to below equation, obtain the weights：
5. automatic pick-up method according to claim 2, it is characterised in that described according to the angle, the most narrow spacing
From with the enhancing signal being calculated, using nitrification enhancement determine traveling strategy, according to the traveling policy control
The driving trace of the vehicle, including：
According to the angle and the minimum range, it is determined that traveling strategy, the tactful side included for the vehicle of traveling
To regulation and the amplitude of accommodation, the driving trace of vehicle according to the traveling policy control；
The front-wheel direction of the vehicle after adjustment and the angle of the line between the vehicle and the target terminal are obtained, with
And the vehicle after adjustment and the minimum range of the barrier, it is calculated the enhancing signal after adjustment；
Compare the enhancing signal after the enhancing signal and the adjustment, to obtain comparative result；
If the degree of reliability that the enhancing signal after the adjustment is represented is higher than the degree of reliability that the enhancing signal is represented, by institute
State traveling strategy and be recorded as correct traveling strategy,
If the degree of reliability that the enhancing signal after the adjustment is represented is less than the degree of reliability that the enhancing signal is represented, by institute
State the traveling strategy that traveling strategy is recorded as mistake；
According to the comparative result adjustment traveling strategy；
The driving trace of vehicle according to the traveling policy control after adjustment.
6. a kind of automatic pickup device, it is characterised in that the automatic pickup device includes：
Position acquisition module, the positional information for obtaining target terminal and vehicle；
Angle acquisition module, for the positional information according to the target terminal and the vehicle, obtains the front-wheel of the vehicle
The angle of direction and the line between the vehicle and the target terminal；
Minimum range acquisition module, for detecting the du vehicule with the presence or absence of barrier, if the du vehicule has institute
Barrier is stated, then obtains the minimum range of the vehicle and the barrier；
Computing module, for being obtained strengthening signal according to the angle and the minimum distance calculation, the enhancing signal is used for
The vehicle is represented in the corresponding angle and the minimum range, the vehicle towards the target terminal travel can
By degree；
Determining module, for according to the angle, the minimum range and the enhancing signal being calculated, using extensive chemical
Practise algorithm and determine traveling strategy；
Traveling module, for the driving trace of the vehicle according to the traveling policy control, until the vehicle is travelled to institute
State the location of target terminal.
7. automatic pickup device according to claim 6, it is characterised in that the minimum range acquisition module includes：
Probe unit, for obtaining actual detection distance and maximum detectable range, the actual detection distance is on the vehicle
The distance between distance detection device and the barrier being actually detected, the maximum detectable range is the distance inspection
Survey the maximum detectable range of device；
When actual detection distance is equal to the maximum detectable range, the du vehicule does not exist the barrier；
When actual detection distance is less than the maximum detectable range, there is the barrier in the du vehicule.
8. automatic pickup device according to claim 7, it is characterised in that the computing module includes：
First computing unit, for according to below equation, being calculated the enhancing signal,
Wherein, r is enhancing signal, and β is weights, and θ is the angle between the target terminal and the vehicle, and l is the maximum
Detection range, diIt is actual detection distance, i is the quantity of the distance detection device.
9. automatic pickup device according to claim 8, it is characterised in that the computing module also includes：
Second computing unit, for according to below equation, obtaining the weights：
10. automatic pickup device according to claim 6, it is characterised in that the determining module also includes：
Determining unit, for according to the angle and the minimum range, it is determined that traveling strategy, the traveling strategy to be including being directed to
The direction regulation of the vehicle and the amplitude of accommodation, the driving trace of vehicle according to the traveling policy control；
The computing module, is additionally operable to obtain the front-wheel direction and the vehicle and the target terminal of the vehicle after adjustment
Between line angle, and adjustment after the vehicle and the barrier minimum range, be calculated adjustment after
Enhancing signal；
Comparing unit, for comparing the enhancing signal after the enhancing signal and the adjustment, to obtain comparative result, if described
The degree of reliability that enhancing signal after adjustment is represented is higher than the degree of reliability that the enhancing signal is represented, then tactful by the traveling
Correct traveling strategy is recorded as, if the degree of reliability that the enhancing signal after the adjustment is represented is represented less than the enhancing signal
The degree of reliability, then by it is described traveling strategy be recorded as mistake traveling strategy；
Unit, for according to the comparative result adjustment traveling strategy.
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