CN106940436A - A kind of method and system of automatic driving vehicle navigation - Google Patents
A kind of method and system of automatic driving vehicle navigation Download PDFInfo
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- CN106940436A CN106940436A CN201710197141.0A CN201710197141A CN106940436A CN 106940436 A CN106940436 A CN 106940436A CN 201710197141 A CN201710197141 A CN 201710197141A CN 106940436 A CN106940436 A CN 106940436A
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- 230000000149 penetrating effect Effects 0.000 claims 4
- 238000010586 diagram Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of method and system of automatic driving vehicle navigation, this method includes：It is fixed on the RF tag on multiple read write lines on the chassis of vehicle scanning predetermined track；According to the read write line of scanning simultaneously to RF tag in the position on the chassis of the vehicle, judge whether the vehicle deviates the predetermined track or whether the course of the vehicle deflects；When judging that the vehicle deviates the predetermined track, the steering wheel for controlling the vehicle according to the offset direction of determination is rotated, until the vehicle is returned in the predetermined track；When the course for judging the vehicle deflects, the steering wheel is controlled according to the yawing moment of determination, until the vehicle course parallel to the predetermined track center line.The method that the present invention is provided can navigate to pilotless automobile, and precision is higher.
Description
Technical field
The present invention relates to automatic driving vehicle field of navigation technology, more particularly to a kind of method of automatic driving vehicle navigation
And system.
Background technology
Pilotless automobile is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, relies primarily on in-car
Intelligent driving instrument based on computer system is unmanned to realize.Pilotless automobile is perceived by vehicle-mounted sensor-based system
Road environment, automatic planning travelling line and the intelligent automobile for controlling vehicle arrival predeterminated target.Pilotless automobile utilizes car
Set sensor perceives vehicle-periphery, and according to obtained road, vehicle location and obstacle information is perceived, controls car
Steering and speed so that enable the vehicle to reliably and securely on road travel.
Existing navigation sensor form is a lot, and just from the point of view of main flow unmanned vehicle well known at present, it is used
Sensor generally comprise the millimetre-wave radar for environment sensing, laser radar, image first-class sensor, and for vehicle body
GPS (Globle Positioning System, GPS)/INS (Inertial Navigation of positioning
System, inertial navigation system) sensor.
During the present invention is realized, the inventors discovered that at least there is problems with the prior art：
Existing navigation sensor positioning precision is relatively low, and navigation poor reliability is carried out using existing navigation sensor.
The content of the invention
In view of this, the present invention provides a kind of method and system of automatic driving vehicle navigation, can be to pilotless automobile
Navigated, precision is higher.
Specifically, including following technical scheme：
On the one hand, the invention provides a kind of method of automatic driving vehicle navigation, the predetermined track of the vehicle traveling
Center line on bearing of trend is provided with multiple RF tags, the vehicle includes being arranged on the multiple of the chassis of the vehicle
Read write line, the read write line is divided into front-seat and heel row from front to back on the chassis of the vehicle, the left side of front-seat and heel row, in
Between and right side be respectively arranged with read write line, the line of the read write line in the front-seat left side with heel row, the reading of the front-seat centre with heel row
Line, front row and the line of the read write line on the right side of heel row for writing device are parallel to each other, and this method includes：
It is fixed on the RF tag on multiple read write lines on the chassis of vehicle scanning predetermined track；
According to the read write line of scanning simultaneously to RF tag in the position on the chassis of the vehicle, whether the vehicle is judged
Whether the course for deviateing the predetermined track or the vehicle deflects；
When judging that the vehicle deviates the predetermined track, the side of the vehicle is controlled according to the offset direction of determination
Rotated to disk, until the vehicle is returned in the predetermined track；
When the course for judging the vehicle deflects, the steering wheel is controlled according to the yawing moment of determination, directly
To center line of the course of the vehicle parallel to the predetermined track.
Selectively, methods described also includes：
The information of the RF tag gathered according to the read write line of scanning to RF tag, determines the position of the vehicle.
Selectively, methods described also includes：
According to two or more read write lines of priority scanning to same RF tag on the chassis of the vehicle
Position, judge the direct of travel of the vehicle.
Selectively, two or more read write lines according to priority scanning to same RF tag are in institute
The position on the chassis of vehicle is stated, the direct of travel of the vehicle is judged, including：
When the chassis for being arranged on the vehicle, front-seat two read write lines of one or adjacent first scan the radio frequency mark
The RF tag is arrived in label, the scanning of two read write lines of one or adjacent that the chassis heel row of the vehicle is fixed on afterwards, then is sentenced
The vehicle that breaks is advanced forward；
When two read write lines of one or adjacent of the chassis heel row for being arranged on the vehicle first scan the radio frequency mark
The RF tag is arrived in label, the scanning of two read write lines of one or adjacent that the chassis front row of the vehicle is fixed on afterwards, then is sentenced
The vehicle that breaks is travelled rearwardly.
Selectively, the basis scans the read write line to RF tag in the position on the chassis of the vehicle simultaneously, sentences
The vehicle that breaks whether deviates the predetermined track or whether the course of the vehicle deflects, including：
When the chassis for being arranged on the vehicle left side two read write lines simultaneously scan to the RF tag and it is middle
Two read write lines do not scan the RF tag, then judge that the vehicle is deviated to the right the predetermined track；
When the chassis for being arranged on the vehicle right side two read write lines simultaneously scan to the RF tag and it is middle
Two read write lines do not scan the RF tag, then judge that the vehicle is deviated to the left the predetermined track；
When the read write line scanning in the front-seat left side in the chassis for being arranged on the vehicle is to the RF tag or front-seat
The same RF tag is arrived in left side and middle read write line scanning, and is fixed on the right side of the chassis heel row of the vehicle
Read write line scan to the right side of the RF tag or heel row and middle read write line to scan simultaneously simultaneously and arrive same institute
RF tag is stated, then judges that the course of the vehicle is deflected to the right relative to the center line in the predetermined track；
When the read write line scanning on the front-seat right side in the chassis for being arranged on the vehicle is to the RF tag or front-seat
The same RF tag is arrived in right side and middle read write line scanning, and is fixed on the left side of the chassis heel row of the vehicle
Read write line scan to the left side of the RF tag or heel row and middle read write line to scan simultaneously simultaneously and arrive same institute
RF tag is stated, then judges that the course of the vehicle is deflected to the left relative to the center line in the predetermined track.
On the other hand, present invention also offers a kind of system of automatic driving vehicle navigation, it is predetermined that the vehicle is travelled
Bearing of trend is provided with multiple RF tags on the center line in track, the system includes read write line and single-chip microcomputer, wherein,
The read write line includes being arranged on the multiple of the chassis of the vehicle, divides from front to back on the chassis of the vehicle
For front-seat and heel row, the left side of front-seat and heel row, middle and right side are respectively arranged with read write line, the reading in the front-seat left side with heel row
Line, front row and the line of the line of the read write line of the centre of heel row, front row and the read write line on the right side of heel row for writing device are mutual
It is parallel；
The read write line is used to scan the RF tag on the predetermined track；
The single-chip microcomputer is used for the read write line according to scanning simultaneously to RF tag in the position on the chassis of the vehicle, sentences
The vehicle that breaks whether deviates the predetermined track or whether the course of the vehicle deflects；It is additionally operable to described when judging
When vehicle deviates the predetermined track, the steering wheel for controlling the vehicle according to the offset direction of determination is rotated, until the car
Return in the predetermined track；And for when the course for judging the vehicle deflects, according to the deflection side of determination
To controlling the steering wheel, until the vehicle course parallel to the predetermined track center line.
Selectively, the read write line is additionally operable to：
The information of the RF tag gathered according to the read write line of scanning to RF tag, determines the position of the vehicle.
Selectively, the read write line is additionally operable to：
According to two or more read write lines of priority scanning to same RF tag on the chassis of the vehicle
Position, judge the direct of travel of the vehicle.
Selectively, the read write line specifically for：
When the chassis for being arranged on the vehicle, front-seat two read write lines of one or adjacent first scan the radio frequency mark
The RF tag is arrived in label, the scanning of two read write lines of one or adjacent that the chassis heel row of the vehicle is fixed on afterwards, then is sentenced
The vehicle that breaks is advanced forward；
When two read write lines of one or adjacent of the chassis heel row for being arranged on the vehicle first scan the radio frequency mark
The RF tag is arrived in label, the scanning of two read write lines of one or adjacent that the chassis front row of the vehicle is fixed on afterwards, then is sentenced
The vehicle that breaks is travelled rearwardly.
Selectively, the read write line is used for the read write line according to scanning simultaneously to RF tag on the chassis of the vehicle
Position, judge whether the vehicle deviates the predetermined track or whether the course of the vehicle deflects, including：
When the chassis for being arranged on the vehicle left side two read write lines simultaneously scan to the RF tag and it is middle
Two read write lines do not scan the RF tag, then judge that the vehicle is deviated to the right the predetermined track；
When the chassis for being arranged on the vehicle right side two read write lines simultaneously scan to the RF tag and it is middle
Two read write lines do not scan the RF tag, then judge that the vehicle is deviated to the left the predetermined track.
When the read write line scanning in the front-seat left side in the chassis for being arranged on the vehicle is to the RF tag or front-seat
The same RF tag is arrived in left side and middle read write line scanning, and is fixed on the right side of the chassis heel row of the vehicle
Read write line scan to the right side of the RF tag or heel row and middle read write line to scan simultaneously simultaneously and arrive same institute
RF tag is stated, then judges that the course of the vehicle is deflected to the right relative to the center line in the predetermined track；
When the read write line scanning on the front-seat right side in the chassis for being arranged on the vehicle is to the RF tag or front-seat
The same RF tag is arrived in right side and middle read write line scanning, and is fixed on the left side of the chassis heel row of the vehicle
Read write line scan to the left side of the RF tag or heel row and middle read write line to scan simultaneously simultaneously and arrive same institute
RF tag is stated, then judges that the course of the vehicle is deflected to the left relative to the center line in the predetermined track.
The beneficial effect of technical scheme provided in an embodiment of the present invention：
The invention provides a kind of method and system of automatic driving vehicle navigation, multiple read-writes of vehicle chassis are fixed on
Device scans the RF tag on predetermined track, and position judgment of the read write line in vehicle chassis of RF tag is arrived by scanning simultaneously
Whether vehicle deviates predetermined track or whether the course of vehicle deflects, and ought judge that vehicle deviates predetermined track or vehicle
Course when being deflected relative to the center line in predetermined track, vehicle is controlled according to the offset direction of determination and yawing moment
Steering wheel, until vehicle return in predetermined track or vehicle course parallel to predetermined track center line.The present embodiment is provided
Automatic driving vehicle navigation method, scan the RF tag on predetermined track to enter pilotless automobile by read write line
Row navigation, precision is higher.
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 the method for automatic driving vehicle navigation in one embodiment of the invention；
Fig. 2 is the schematic diagram of vehicle normally travel on predetermined track in one embodiment of the invention；
Fig. 3 is deviated to the right the schematic diagram in predetermined track for vehicle in one embodiment of the invention；
Fig. 4 is deviated to the left the schematic diagram in predetermined track for vehicle in one embodiment of the invention；
Fig. 5 is vehicle in one embodiment of the invention relative to the schematic diagram that the center line in predetermined track is deflected to the right；
Fig. 6 is vehicle in one embodiment of the invention relative to the schematic diagram that the center line in predetermined track is deflected to the left；
Fig. 7 is a kind of block diagram of the system of automatic driving vehicle navigation in one embodiment of the invention.
Embodiment
To make technical scheme and advantage clearer, below in conjunction with accompanying drawing embodiment of the present invention is made into
One step it is described in detail.
Embodiment one
The method for present embodiments providing a kind of navigation of automatic driving vehicle, as shown in figure 1, including step S101, S102,
S103 and S104.Each step will be specifically introduced below.
Step S101：It is fixed on the RF tag on the predetermined track of multiple read write lines on the chassis of vehicle scanning.
The quantity of RF tag is multiple, on the center line that predetermined track is arranged on according to the bearing of trend in predetermined track.
RF tag can be arranged on road surface, can also be embedded in ground end.As shown in figures 2-6, it is that vehicle is travelled on predetermined track
It is predetermined track between schematic diagram, two lane lines.In order to more directly perceived, RF tag is depicted in figure, in order to just
In difference, RF tag can be numbered, 1. 2. 3. 4. 5. be the numbering of RF tag in such as Fig. 2-6, different numberings are set
Put the diverse location in track.Some RF tags can be obtained by energy from the electromagnetic field that read write line is sent, it is not necessary to electricity
Pond, some RF tags are per se with power supply.Particularly, RF tag can be arranged at predetermined track according to pre-determined distance.Phase
The distance of adjacent RF tag is less than the length on the chassis of vehicle, as shown in figures 2-6, can be set two neighboring RF tag away from
From the half of the length on the chassis for vehicle, so, when vehicle is travelled, front and rear read write line can scan RF tag.
Read write line is arranged on the chassis of vehicle, and front-seat and heel row, left side, the centre of front-seat and heel row are divided into from front to back
Read write line, the line of the read write line in the front-seat left side with heel row, the read-write of the front-seat centre with heel row are respectively arranged with right side
The line of device, the front-seat and read write line on the right side of heel row line it is parallel to each other, three front-seat read write lines and three of heel row
All point-blank, and straight line where front-seat three read write lines is perpendicular to the read write line in the front-seat left side with heel row for read write line
Line.The invention is not restricted to this, front row that also can be on the chassis of vehicle and the middle setting read write line of heel row, such vehicle row
During sailing, more RF tags can be scanned, more information is obtained.
As shown in figures 2-6, it is schematic diagram that vehicle is travelled on predetermined track.Wherein, A, B, C, D, E, F are read write line,
Be separately fixed at the front-seat left side in the chassis of vehicle, front-seat centre and front-seat right side, the left side of heel row, the centre of heel row,
The right side of heel row, wherein, A and D, B and E and C and F is parallel to each other and centerline parallel with vehicle, A, B, C are in straight line
On, D, E, F point-blank, and the straight line perpendicular to A and where D.
Step S102：According to the read write line of scanning simultaneously to RF tag in the position on the chassis of vehicle, judge that vehicle is
Whether the no predetermined track of deviation or the course of vehicle deflect.
In this step, if RF tag is arrived in read write line scanning, information is sent to single-chip microcomputer, single-chip microcomputer is arrived according to scanning
Whether the read write line of RF tag is sent out in the course whether the position judgment vehicle of vehicle chassis deviates predetermined track or track
Raw deflection.
When two read write lines in the left side on the chassis for being arranged on vehicle are scanned to RF tag simultaneously, middle two are read
Write device and do not scan RF tag, then single-chip microcomputer judges that vehicle is deviated to the right predetermined track.As shown in figure 3, being fixed on vehicle
To RF tag, two middle read write lines are that B and E is not scanned for two read write line A and D in the left side on chassis scannings simultaneously
RF tag, then single-chip microcomputer judge that vehicle is deviated to the right predetermined track.
When two read write lines on the right side on the chassis for being arranged on vehicle are scanned to RF tag simultaneously, middle two are read
Write device and do not scan RF tag, then single-chip microcomputer judges that vehicle is deviated to the left predetermined track.As shown in figure 4, being fixed on vehicle
Two read write lines on the right side on chassis are that while scanning is to RF tag, two middle read write line i.e. B and E are not scanned C and F
To RF tag, then single-chip microcomputer judges that vehicle is deviated to the left predetermined track.
When RF tag or left side and middle reading are arrived in the read write line scanning in the front-seat left side in the chassis for being arranged on vehicle
Write device scanning and arrive same RF tag, and be fixed on the read write line on the right side of the chassis heel row of vehicle and arrive radio frequency while scanning
Label or right side and middle read write line are scanned simultaneously arrives same RF tag, then single-chip microcomputer judges that the course of vehicle is relative
Center line in predetermined track is deflected to the right.As shown in figure 5, when the read-write in the front-seat left side in the chassis for being fixed on vehicle
Device A sweep arrives RF tag to RF tag and the right side F of heel row while scanning, then single-chip microcomputer receives the two read write lines
The information of transmission, judges that the course of vehicle is deflected to the right relative to the center line in predetermined track.
When RF tag or right side and middle reading are arrived in the read write line scanning on the front-seat right side in the chassis for being arranged on vehicle
Write device scanning and arrive same RF tag, and be fixed on the read write line in the left side of the chassis heel row of vehicle and arrive radio frequency while scanning
Label or left side and middle read write line are scanned simultaneously arrives same RF tag, then single-chip microcomputer judges that the course of vehicle is relative
Center line in predetermined track is deflected to the left.As shown in fig. 6, when the read-write on the front-seat right side in the chassis for being fixed on vehicle
Device C-scan arrives RF tag to RF tag and the left side D of heel row while scanning, then single-chip microcomputer receives the two read write lines
The information of transmission, judges that the course of vehicle is deflected to the left relative to the center line in predetermined track.
Step S103：When judging that vehicle deviates predetermined track, steering wheel for vehicle is controlled according to the offset direction of determination
Rotate, until vehicle is returned in predetermined track.
In this step, when single-chip microcomputer judges that vehicle deviates predetermined track, according to the offset direction of determination to motor
Sending signal, motor, which is received, controls the steering wheel of vehicle to rotate after signal, until vehicle is returned in predetermined track.Specifically,
If single-chip microcomputer judges that vehicle is deviated to the right, to motor sending signal, so that the steering wheel of motor control vehicle is turned left
It is dynamic, so that vehicle is returned in predetermined track.If single-chip microcomputer judges that vehicle is deviated to the left, to motor sending signal, so that
The steering wheel of motor control vehicle turns right, so that vehicle is returned in predetermined track.
Specifically, during motor control steering wheel is rotated, read write line real time scan RF tag and to single-chip microcomputer
Information is sent, and then single-chip microcomputer monitors the state of vehicle in real time, when vehicle is returned in predetermined track, then sends a signal to electricity
Machine, to leave the motor off steering wheel rotation, normal vehicle operation.If vehicle is not returned in predetermined track, electricity is sent a signal to
Machine, so that motor is rotated further steering wheel.
Specifically, as shown in Fig. 2 two read write lines if placed at the centre on the chassis of vehicle are that B and E is scanned simultaneously
To radiofrequency signal, then single-chip microcomputer determines that vehicle has been returned in the middle of predetermined track, and controllable motor makes steering wheel keep shape now
State.If being fixed on the two read write line B and E of the centre on the chassis of vehicle while scanning two readings to a label and left side
Write device A and D and arrive another RF tag while scanning, then single-chip microcomputer judges that center line of the vehicle in predetermined track is somewhat to the right
Position, can continue controlled motor adjustment direction disk；If being fixed on the two read write line B and E of the centre on the chassis of vehicle simultaneously
Scan to a label and two read write line C and F on right side while scanning and arrive another RF tag, then single-chip microcomputer judges vehicle
Center line somewhat position to the left in predetermined track, can continue controlled motor adjustment direction disk.
Step S104：When the course for judging vehicle deflects, according to the yawing moment control direction disk of determination, directly
To center line of the course of vehicle parallel to predetermined track.
In this step, when single-chip microcomputer judges that the course of vehicle deflects, according to the yawing moment of determination to electricity
Machine sending signal, motor, which is received, controls the steering wheel of vehicle to rotate after signal, until the course of vehicle is parallel to predetermined track
Center line.Specifically, if single-chip microcomputer judges that vehicle is deflected to the right, to motor sending signal, so that motor control car
Steering wheel turn left so that vehicle is returned in predetermined track.If single-chip microcomputer judges that vehicle is deflected to the left, to electricity
Machine sending signal, so that the steering wheel of motor control vehicle turns right, so that vehicle is returned in predetermined track.
When single-chip microcomputer judges that the course of vehicle there occurs deflection to the left relative to the center line in predetermined track, it may be determined that
The course of vehicle and sends a signal to motor relative to the size of the deflection angle of the center line in track, and then motor can basis
Deflection angle size control direction disk, the corresponding direction in course for adjusting vehicle deflects corresponding angle, make the course of vehicle with
The centerline parallel in predetermined track.It so may compare the course of quickly adjustment vehicle.
Determine that the process of the size of deflection angle of the course relative to the center line in track of vehicle is as follows：The course of vehicle
With the line coincident of two read write lines of the centre on the chassis that is arranged on vehicle, in figs. 2-6, the course in predetermined track and read-write
Device D and E line coincident.When a front-seat read write line of the chassis for being fixed on vehicle is scanned to RF tag and is fixed on vehicle
A read write line of chassis heel row scan simultaneously when arriving RF tag, the line between the two read write lines is the first line；
When two front-seat read write lines of the chassis for being fixed on vehicle are while scan to same RF tag and be fixed on the chassis of vehicle
One read write line of heel row is scanned simultaneously arrives RF tag, or is fixed on the front-seat read write line scanning in chassis of vehicle and arrives
RF tag and be fixed on vehicle chassis heel row two read write lines while scanning when arriving RF tag, between two read write lines
The line of a read write line of midpoint and another row of line be the first line；When two of the chassis front row for being fixed on vehicle
Read write line scanning to same RF tag and be fixed on vehicle chassis heel row two read write lines and meanwhile scan arrive it is same
During RF tag, the line at the midpoint of the line of the midpoint of the line of front-seat two read write lines and two read write lines of heel row is
First line.The boat of the corner dimension, as vehicle of the line of two read write lines of the centre on the chassis of the first line and vehicle
To the angular dimension of the center line deflection relative to predetermined track.As shown in figure 5, read write line A and F line are the first line,
First line is the center line in predetermined track, and the corner dimension between the first line and the course in predetermined track is θ, then single-chip microcomputer
The course of vehicle be can determine that relative to the angular dimension θ that the center line in predetermined track is deflected to the right, single-chip microcomputer sends a signal to electricity
Machine, and then motor control steering wheel makes the course of vehicle relative to the center line deflection angle θ to the left in predetermined track.Such as Fig. 6 institutes
Show, the corner dimension between read write line C, D line and B, E line is θ, then single-chip microcomputer can determine that the course of vehicle relative to
The angular dimension θ that the center line in predetermined track is deflected to the left, single-chip microcomputer sends a signal to motor, and then motor control steering wheel makes
Center line to the right deflection angle θ of the course of vehicle relative to predetermined track.
But the invention is not restricted to this, single-chip microcomputer can also monitor the course of vehicle in real time and according to circumstances be adjusted.Work as list
When piece machine judges that the course of vehicle deflects, motor is sent a signal to, and then motor is according to the direction controlling steering wheel of deflection
Gradually adjust the course of vehicle.During motor control steering wheel is rotated, read write line real time scan RF tag and to list
Piece machine sends information, and then single-chip microcomputer monitors the state of vehicle in real time, when the course of vehicle is parallel to the center line in track, then sends out
The number of delivering letters is to motor, to leave the motor off steering wheel rotation, normal vehicle operation.If the center line of the course of vehicle not with track
It is parallel, then motor is sent a signal to, so that motor is rotated further steering wheel.
Improved as one kind of the present embodiment, the letter for the RF tag that can be gathered according to the read write line of scanning to RF tag
Breath, determines the position of vehicle.Read write line sends radiofrequency signal, sends RF tag to, RF tag is received after radiofrequency signal,
Radiofrequency signal is responded, and sends back ripple signal to read write line, the car where the RF tag is included in echo-signal
The positional information in road.Read write line sends the information of the echo-signal received to single-chip microcomputer, and then single-chip microcomputer can be according to read-write
The information that device is sent determines position of the vehicle on predetermined track.
Improved as one kind of the present embodiment, according to priority scanning to the two or more of same RF tag
Read write line judges the direct of travel of vehicle in the position on the chassis of vehicle.
When the chassis for being fixed on vehicle, front-seat two read write lines of one or adjacent are first scanned to a RF tag, it
The RF tag is arrived in the scanning of two read write lines of one or adjacent for being fixed on the chassis heel row of vehicle afterwards, then judges vehicle forward
Advance.As shown in Fig. 2 when 2. read write line B first scans RF tag, read write line E also scans the RF tag, monolithic afterwards
Machine sends the order of information according to read write line B and E, can determine whether out that vehicle is moving forward.When the chassis heel row for being fixed on vehicle
Two read write lines of one or adjacent first scan to a RF tag, be fixed on afterwards vehicle chassis front-seat one or
The RF tag is arrived in adjacent two read write lines scanning, then judges that vehicle is travelled rearwardly.As shown in Fig. 2 when read write line E is first scanned
To RF tag 2., read write line B also scans the RF tag afterwards, and single-chip microcomputer sends the suitable of information according to read write line B and E
Sequence, can determine whether out that vehicle is being stepped back.
Improved as one kind of the present embodiment, when read write line is unable to some or multiple RF tags of normal scan,
Information is sent to single-chip microcomputer.So as to which the information that operating personnel can receive according to single-chip microcomputer goes to correspondence according to the label of RF tag
Place, change normal label.
The method for the automatic driving vehicle navigation that the present embodiment is provided, the multiple read write lines scanning for being fixed on vehicle chassis is pre-
Determine the RF tag on track, by simultaneously scanning to RF tag read write line vehicle chassis position judgment vehicle whether
Whether the course for deviateing predetermined track or vehicle deflects, and when the course phase for judging the predetermined track of vehicle deviation or vehicle
When being deflected for the center line in predetermined track, the steering wheel of vehicle is controlled according to the offset direction of determination and yawing moment,
Until vehicle returns to center line of in the predetermined track or course parallel to predetermined track.The method that the embodiment is provided may further determine that
The position of vehicle and the direct of travel of vehicle.The method for the automatic driving vehicle navigation that the present embodiment is provided, is swept by read write line
Retouch the RF tag on predetermined track to navigate to pilotless automobile, precision is higher.
Embodiment two
Corresponding to embodiment one, a kind of system of automatic driving vehicle navigation is present embodiments provided, as shown in fig. 7, bag
Include read write line 201 and single-chip microcomputer 202.It will be made below specific introduction.
Read write line 201 is fixed on the chassis of vehicle, is divided into front-seat and heel row from front to back on the chassis of vehicle, front-seat
And the left side of heel row, middle and right side are respectively arranged with read write line 201, the line of the read write line 201 in the front-seat left side with heel row,
It is front-seat parallel to each other with the line of the read write line 201 of the centre of heel row, front row and the line of the read write line 201 on the right side of heel row.
Read write line 201 is used for the multiple RF tags for scanning the center line that predetermined track is arranged on according to the bearing of trend in predetermined track,
And for when RF tag is arrived in scanning, sending a signal to single-chip microcomputer 202.
Single-chip microcomputer 202 is used for the read write line 201 according to scanning simultaneously to RF tag in the position on the chassis of vehicle, judges
Whether vehicle deviates predetermined track or whether the course of vehicle deflects；It is additionally operable to work as and judges that vehicle deviates predetermined track
When, control steering wheel for vehicle to rotate according to the offset direction of determination, until vehicle is returned in predetermined track；And judge for working as
When the course of vehicle deflects, according to the yawing moment control direction disk of determination, until the course of vehicle is parallel to predetermined car
The center line in road.
In the present embodiment, the quantity of RF tag is multiple, and predetermined car is arranged on according to the bearing of trend in predetermined track
On the center line in road.RF tag can be arranged on road surface, can also be embedded in ground end.Some RF tags are from read write line 201
Energy is can be obtained by the electromagnetic field sent, it is not necessary to battery, some RF tags are per se with power supply.Particularly, can be by
RF tag is arranged at predetermined track according to pre-determined distance.The distance of adjacent radio frequency label is less than the length on the chassis of vehicle.
In the present embodiment, if RF tag is arrived in the scanning of read write line 201, information, single-chip microcomputer are sent to single-chip microcomputer 202
Whether 202 deviate predetermined track or track according to the read write line of scanning to RF tag in the position judgment vehicle of vehicle chassis
Course whether deflect.
When two of RF tag and centre are arrived in two read write lines 201 scanning simultaneously in the left side on the chassis for being arranged on vehicle
Read write line does not scan RF tag, then single-chip microcomputer 202 judges that vehicle is deviated to the right predetermined track；When the chassis for being arranged on vehicle
Right side two read write lines 201 simultaneously scan to RF tag and centre two read write lines 201 do not scan RF tag,
Then single-chip microcomputer 202 judges that vehicle is deviated to the left predetermined track.
When the front-seat left side in the chassis for being arranged on vehicle the scanning of read write line 201 to RF tag or front-seat left side and
Same RF tag is arrived in the middle scanning of read write line 201, and is fixed on the read write line 201 on the right side of the chassis heel row of vehicle
Scanning simultaneously scans to the right side and middle read write line 201 of RF tag or heel row and arrives same RF tag simultaneously, then
Single-chip microcomputer 202 judges that the course of vehicle is deflected to the right relative to the center line in predetermined track；When the bottom for being arranged on vehicle
RF tag or front-seat right side are arrived in the scanning of read write line 201 on the front-seat right side of disk and the middle scanning of read write line 201 arrives same
One RF tag, and be fixed on the read write line 201 in the left side of the chassis heel row of vehicle and meanwhile scan to RF tag or
The left side of heel row and middle read write line 201 are scanned simultaneously arrives same RF tag, then single-chip microcomputer 202 judges the course of vehicle
Center line relative to predetermined track is deflected to the left.
In the present embodiment, when single-chip microcomputer 202 judge vehicle deviate predetermined track when, according to the offset direction of determination to
Motor sending signal, motor, which is received, controls the steering wheel of vehicle to rotate after signal, until vehicle is returned in predetermined track.Specifically
Ground, if single-chip microcomputer 202 judges that vehicle is deviated to the right, to motor sending signal, so that the steering wheel of motor control vehicle
Turn left, so that vehicle is returned in predetermined track.If single-chip microcomputer 202 judges that vehicle is deviated to the left, sent to motor
Signal, so that the steering wheel of motor control vehicle turns right, so that vehicle is returned in predetermined track.
During motor control steering wheel is rotated, the real time scan RF tag of read write line 201 is simultaneously sent out to single-chip microcomputer 202
Deliver letters breath, and then the state of the monitoring vehicle in real time of single-chip microcomputer 202, when vehicle is returned in predetermined track, then send a signal to electricity
Machine, to leave the motor off steering wheel rotation, normal vehicle operation.If vehicle is not returned in predetermined track, electricity is sent a signal to
Machine, so that motor is rotated further steering wheel.
In the present embodiment, when single-chip microcomputer 202 judges that the course of vehicle deflects, according to the yawing moment of determination
To motor sending signal, motor, which is received, controls the steering wheel of vehicle to rotate after signal, until the course of vehicle is parallel to predetermined
The center line in track.Specifically, if single-chip microcomputer 202 judges that vehicle is deflected to the right, to motor sending signal, so that motor
The steering wheel of control vehicle turns left, so that vehicle is returned in predetermined track.If single-chip microcomputer 202 judges vehicle to the left
Deflection, to motor sending signal, so that the steering wheel of motor control vehicle turns right, so that vehicle returns to predetermined track
It is interior.
, can when single-chip microcomputer 202 judges that the course of vehicle there occurs deflection to the left relative to the center line in predetermined track
The size of deflection angle of the course relative to the center line in track of vehicle is determined, and sends a signal to motor, and then motor can
According to deflection angle size control direction disk, the corresponding direction in course for adjusting vehicle deflects corresponding angle, makes the boat of vehicle
To the centerline parallel with predetermined track.It so may compare the course of quickly adjustment vehicle.
Single-chip microcomputer 202 determines that the process of the size of deflection angle of the course relative to the center line in track of vehicle is as follows：
The line coincident of two read write lines of the centre on chassis of the course of vehicle with being arranged on vehicle.When being fixed on before the chassis of vehicle
A read write line 201 scanning of row is to RF tag and is fixed on the read write line 201 of chassis heel row of vehicle and scans simultaneously
During to RF tag, the line between the two read write lines 201 is the first line；When two of the chassis front row for being fixed on vehicle
Read write line 201 simultaneously scan to same RF tag and be fixed on vehicle chassis heel row a read write line 201 while sweeping
Retouch RF tag, or be fixed on the front-seat read write line 201 in chassis of vehicle and scan to RF tag and be fixed on car
Two read write lines 201 of chassis heel row scan simultaneously when arriving RF tag, the midpoint of the line between two read write lines with
The line of the read write line 201 of another row is the first line；When the chassis for being fixed on vehicle, two front-seat read write lines 201 are swept
Retouch same RF tag and be fixed on two read write lines 201 of the chassis heel row of vehicle and arrive same radio frequency mark while scanning
During label, the line at the midpoint of the line of the midpoint of the line of front-seat two read write lines 201 and two read write lines 201 of heel row is
First line.The corner dimension of the line of two read write lines 201 of the centre on the chassis of the first line and vehicle, as vehicle
Course is relative to the angular dimension that the center line in predetermined track is deflected.
But the invention is not restricted to this, single-chip microcomputer 202 can also monitor the course of vehicle in real time and according to circumstances be adjusted.When
When single-chip microcomputer 202 judges that the course of vehicle deflects, motor is sent a signal to, and then motor is according to the direction controlling side of deflection
The course of vehicle is gradually adjusted to disk.During motor control steering wheel is rotated, the real time scan RF tag of read write line 201
And information is sent to single-chip microcomputer 202, and then single-chip microcomputer 202 monitors the state of vehicle in real time, when the course of vehicle is parallel to track
Center line, then send a signal to motor, with leave the motor off steering wheel rotation, normal vehicle operation.If the course of vehicle is not
With the centerline parallel in track, then motor is sent a signal to, so that motor is rotated further steering wheel.
Single-chip microcomputer 202 can be additionally used in the information of the RF tag gathered according to the read write line 201 of scanning to RF tag, really
Determine the position of vehicle.Read write line 201 sends radiofrequency signal, sends RF tag to, RF tag is received after radiofrequency signal, right
Radiofrequency signal is responded, and sends back ripple signal to read write line 201, and the car where the RF tag is included in echo-signal
The positional information in road.Read write line 201 sends the information of the echo-signal received to single-chip microcomputer 202, and then single-chip microcomputer 202 can
The information sent according to read write line determines position of the vehicle on predetermined track.
Single-chip microcomputer 202 can be additionally used in two or more read write lines according to priority scanning to same RF tag
201, in the position on the chassis of vehicle, judge the direct of travel of vehicle.When one or adjacent of the chassis front row for being fixed on vehicle
Two read write lines 201 are first scanned to a RF tag, and two of one or adjacent of the chassis heel row of vehicle are fixed on afterwards
The RF tag is arrived in the scanning of read write line 201, then judges that vehicle is advanced forward；When one or phase of the chassis heel row for being fixed on vehicle
Two adjacent read write lines 201 are first scanned to a RF tag, and one or adjacent of the chassis front row of vehicle is fixed on afterwards
The RF tag is arrived in two scannings of read write line 201, then judges that vehicle is travelled rearwardly.
Single-chip microcomputer 202 is additionally operable to, when read write line 201 is unable to some or multiple RF tags of normal scan, receive
The information that read write line 201 is sent.So as to operating personnel can according to single-chip microcomputer 202 receive information according to the label of RF tag before
Toward corresponding place, normal label is changed.
The present embodiment is based on identical inventive concept with embodiment one, is that the system corresponding with embodiment of the method one is implemented
Example, therefore it should be appreciated by those skilled in the art that the explanation to embodiment one is similarly adapted to the present embodiment, some technologies are thin
Section is no longer described in detail in the present embodiment.
Because embodiment two is mutually corresponding with embodiment one, so the beneficial effect that can be brought is identical, it will not be repeated here.
The above is for only for ease of it will be understood by those skilled in the art that technical scheme, not to limit
The present invention.Within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements made etc., should be included in this
Within the protection domain of invention.
Claims (10)
1. a kind of method of automatic driving vehicle navigation, it is characterised in that on the center line in the predetermined track of the vehicle traveling
Bearing of trend is provided with multiple RF tags, the vehicle includes the multiple read write lines for being arranged on the chassis of the vehicle, institute
State read write line and be divided into front-seat and heel row, the left side of front-seat and heel row, middle and right side from front to back on the chassis of the vehicle
It is respectively arranged with read write line, the line of the read write line in the front-seat left side with heel row, the company of the read write line of the front-seat centre with heel row
Line, front row and the line of the read write line on the right side of heel row are parallel to each other, and this method includes：
It is fixed on the RF tag on multiple read write lines on the chassis of vehicle scanning predetermined track；
According to the read write line of scanning simultaneously to RF tag in the position on the chassis of the vehicle, judge whether the vehicle deviates
Whether the predetermined track or the course of the vehicle deflect；
When judging that the vehicle deviates the predetermined track, the steering wheel of the vehicle is controlled according to the offset direction of determination
Rotate, until the vehicle is returned in the predetermined track；
When the course for judging the vehicle deflects, the steering wheel, Zhi Daosuo are controlled according to the yawing moment of determination
State center line of the course parallel to the predetermined track of vehicle.
2. the method for automatic driving vehicle navigation according to claim 1, it is characterised in that methods described also includes：
The information of the RF tag gathered according to the read write line of scanning to RF tag, determines the position of the vehicle.
3. the method for automatic driving vehicle navigation according to claim 1, it is characterised in that methods described also includes：
Position of two or more read write lines on the chassis of the vehicle of same RF tag is arrived according to priority scanning
Put, judge the direct of travel of the vehicle.
4. the method for automatic driving vehicle navigation according to claim 3, it is characterised in that described to be arrived according to priority scanning
Two or more read write lines of same RF tag judge the row of the vehicle in the position on the chassis of the vehicle
Enter direction, including：
When the chassis for being arranged on the vehicle, front-seat two read write lines of one or adjacent first scan the RF tag, it
The RF tag is arrived in the scanning of two read write lines of one or adjacent for being fixed on the chassis heel row of the vehicle afterwards, then judges described
Vehicle is advanced forward；
When two read write lines of one or adjacent of the chassis heel row for being arranged on the vehicle first scan the RF tag, it
The RF tag is arrived in the scanning of two read write lines of one or adjacent for being fixed on the chassis front row of the vehicle afterwards, then judges described
Vehicle is travelled rearwardly.
5. the method that the automatic driving vehicle according to claim 1-4 any of which navigates, it is characterised in that described
According to the read write line of scanning simultaneously to RF tag in the position on the chassis of the vehicle, judge whether the vehicle deviates described pre-
Whether the course for determining track or the vehicle deflects, including：
The two of the RF tag and centre is arrived when two read write lines in the left side on the chassis for being arranged on the vehicle are scanned simultaneously
Individual read write line does not scan the RF tag, then judges that the vehicle is deviated to the right the predetermined track；
The two of the RF tag and centre is arrived when two read write lines on the right side on the chassis for being arranged on the vehicle are scanned simultaneously
Individual read write line does not scan the RF tag, then judges that the vehicle is deviated to the left the predetermined track；
When the RF tag or front-seat left side are arrived in the read write line scanning in the front-seat left side in the chassis for being arranged on the vehicle
The same RF tag is arrived with middle read write line scanning, and is fixed on the reading on the right side of the chassis heel row of the vehicle
Device is write while scanning to the right side of the RF tag or heel row and middle read write line while scanning to penetrating described in same
Frequency marking label, then judge that the course of the vehicle is deflected to the right relative to the center line in the predetermined track；
When the RF tag or front-seat right side are arrived in the read write line scanning on the front-seat right side in the chassis for being arranged on the vehicle
The same RF tag is arrived with middle read write line scanning, and is fixed on the reading in the left side of the chassis heel row of the vehicle
Device is write while scanning to the left side of the RF tag or heel row and middle read write line while scanning to penetrating described in same
Frequency marking label, then judge that the course of the vehicle is deflected to the left relative to the center line in the predetermined track.
6. a kind of system of automatic driving vehicle navigation, it is characterised in that on the center line in the predetermined track of the vehicle traveling
Bearing of trend is provided with multiple RF tags, the system includes read write line and single-chip microcomputer, wherein,
The read write line includes being arranged on the multiple of the chassis of the vehicle, before being divided into from front to back on the chassis of the vehicle
Row and heel row, the left side of front-seat and heel row, middle and right side are respectively arranged with read write line, the read write line in the front-seat left side with heel row
Line, front-seat parallel to each other with the line of the read write line of the centre of heel row, front row and the read write line on the right side of heel row line；
The read write line is used to scan the RF tag on the predetermined track；
The single-chip microcomputer is used for the read write line according to scanning simultaneously to RF tag in the position on the chassis of the vehicle, judges institute
State whether vehicle deviates the predetermined track or whether the course of the vehicle deflects；It is additionally operable to work as and judges the vehicle
When deviateing the predetermined track, the steering wheel for controlling the vehicle according to the offset direction of determination is rotated, until the vehicle is returned
Into the predetermined track；And for when the course for judging the vehicle deflects, according to the yawing moment control of determination
Make the steering wheel, until the vehicle course parallel to the predetermined track center line.
7. the system of automatic driving vehicle navigation according to claim 6, it is characterised in that the read write line is additionally operable to：
The information of the RF tag gathered according to the read write line of scanning to RF tag, determines the position of the vehicle.
8. the system of automatic driving vehicle navigation according to claim 6, it is characterised in that the read write line is additionally operable to：
Position of two or more read write lines on the chassis of the vehicle of same RF tag is arrived according to priority scanning
Put, judge the direct of travel of the vehicle.
9. the system of automatic driving vehicle navigation according to claim 8, it is characterised in that the read-write implement body is used
In：
When the chassis for being arranged on the vehicle, front-seat two read write lines of one or adjacent first scan the RF tag, it
The RF tag is arrived in the scanning of two read write lines of one or adjacent for being fixed on the chassis heel row of the vehicle afterwards, then judges described
Vehicle is advanced forward；
When two read write lines of one or adjacent of the chassis heel row for being arranged on the vehicle first scan the RF tag, it
The RF tag is arrived in the scanning of two read write lines of one or adjacent for being fixed on the chassis front row of the vehicle afterwards, then judges described
Vehicle is travelled rearwardly.
10. the system that the automatic driving vehicle according to claim 6-9 any of which navigates, it is characterised in that described
Read write line is used for the read write line according to scanning simultaneously to RF tag in the position on the chassis of the vehicle, judges that the vehicle is
Whether the no deviation predetermined track or the course of the vehicle deflect, including：
The two of the RF tag and centre is arrived when two read write lines in the left side on the chassis for being arranged on the vehicle are scanned simultaneously
Individual read write line does not scan the RF tag, then judges that the vehicle is deviated to the right the predetermined track；
The two of the RF tag and centre is arrived when two read write lines on the right side on the chassis for being arranged on the vehicle are scanned simultaneously
Individual read write line does not scan the RF tag, then judges that the vehicle is deviated to the left the predetermined track.
When the RF tag or front-seat left side are arrived in the read write line scanning in the front-seat left side in the chassis for being arranged on the vehicle
The same RF tag is arrived with middle read write line scanning, and is fixed on the reading on the right side of the chassis heel row of the vehicle
Device is write while scanning to the right side of the RF tag or heel row and middle read write line while scanning to penetrating described in same
Frequency marking label, then judge that the course of the vehicle is deflected to the right relative to the center line in the predetermined track；
When the RF tag or front-seat right side are arrived in the read write line scanning on the front-seat right side in the chassis for being arranged on the vehicle
The same RF tag is arrived with middle read write line scanning, and is fixed on the reading in the left side of the chassis heel row of the vehicle
Device is write while scanning to the left side of the RF tag or heel row and middle read write line while scanning to penetrating described in same
Frequency marking label, then judge that the course of the vehicle is deflected to the left relative to the center line in the predetermined track.
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| CN201710197141.0A CN106940436A (en) | 2017-03-29 | 2017-03-29 | A kind of method and system of automatic driving vehicle navigation |
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| CN201710197141.0A CN106940436A (en) | 2017-03-29 | 2017-03-29 | A kind of method and system of automatic driving vehicle navigation |
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Application publication date: 20170711 |