CN106959692A - A kind of override control avoidance intelligent vehicle and its control method based on wireless Internet of Things - Google Patents
A kind of override control avoidance intelligent vehicle and its control method based on wireless Internet of Things Download PDFInfo
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- G05D1/0276—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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Abstract
The invention discloses a kind of override control avoidance intelligent vehicle and its control method based on wireless Internet of Things, belong to wireless Internet of Things field, state aware module, wireless Internet of Things module, regulation and control module, override control module are installed on the avoidance intelligent vehicle；Suitable for the traffic of crossroad, it is allowed to which avoidance intelligent vehicle Lothrus apterus passes through crossroad.Especially, override control module can reach timely traveling, smooth deceleration, the smooth effect for accelerating, smoothly stopping with the gentle special feelings of velocity variations processing；The synchronization of avoidance intelligent vehicle clock, schedule synchronization, greatly reduce the signal lag of traffic control and the time constant of traffic system, contribute to the simplification and unified management of traffic system model in wireless Internet of Things net.
Description
Technical field
Present invention design Internet of Things field, the more particularly to a kind of override control avoidance intelligent vehicle based on wireless Internet of Things
And its control method.
Background technology
Surrounding environment can be perceived in recent years, it is more popular with the intelligent barrier avoiding intelligent vehicle of avoidance, but due to shortage thing
The support of networking, the scheduling of many car systems is difficult to realize.This intelligent vehicle system realizes many car networkings, and all vehicles are in net
Integrating action, United Dispatching are realized, the regulation and control real-time and system time constant of traffic system are substantially reduced, and contribute to traffic system
The simplification and unified management of system model.
The content of the invention
It is an object of the invention to provide a kind of technology of Internet of things in the simulation application scene of transportation industry, multiple intelligence keep away
Barrier intelligent vehicle can carry out state aware and information sharing, and reach the function of smooth avoidance by override control module, have
Larger application prospect.
To achieve the goal, the present invention adopts the following technical scheme that as follows：A kind of override control based on wireless Internet of Things is kept away
Hinder intelligent vehicle, including avoidance intelligent vehicle and state aware module on avoidance intelligent vehicle, wireless Internet of Things module, regulation and control
Module, override control module；
The state aware module is used for the attitude parameter for measuring avoidance intelligent vehicle, and the attitude parameter includes avoidance intelligent vehicle
Position, traffic direction, distance, the speed of the car and front truck or barrier；
The wireless Internet of Things module is used for reiving/transmitting state and perceives message, and the state aware message is by state aware module
Measure the attitude parameter composition of obtained avoidance intelligent vehicle；
The state aware message from other avoidance intelligent vehicles that the regulation and control module is provided according to the Internet of Things module
The information extraction of other avoidance intelligent vehicles is carried out, and the information of extraction is counted, obtain north and south, Bei Nan, thing, Xi Dong
The magnitude of traffic flow is divided to the transit time piece of crossroad, if the time that avoidance intelligent vehicle reaches crossing is located at current window
It is interior, then assign that " current/PASS " instructions, make avoidance intelligent vehicle pass through to override control module；If the time of avoidance intelligent vehicle is not
In current window, then " stopping/STOP " instructions is assigned to override control module；
The override control module includes attitude and keeps module and rate control module, for controlling avoidance intelligent vehicle timely
Traveling, smooth deceleration, smooth acceleration, smooth parking.
Further, the avoidance intelligent vehicle includes battery pack, motor, voltage transformation module, motor drive module, wheel
And vehicle frame；Four wheels are symmetrically installed on the vehicle frame；The battery pack is connected with voltage transformation module；The motor drives mould
Block is connected with motor and voltage transformation module respectively；The motor output shaft is connected with wheel, and the motor is arranged on vehicle frame,
The motor drive module is connected by wireless Internet of Things module with override control module.
Using the control method of the above-mentioned override control avoidance intelligent vehicle based on wireless Internet of Things, following step is specifically included
Suddenly：
(1) state of vehicle includes five states：Configuration state, motion state, ride state, resolution state, stopping shape
State, avoidance intelligent vehicle is switched between this five states；
(2) when each grand cycle starts, vehicle enters configuration state, and now the state aware module of vehicle enters row information
Collection, wireless network module carries out the transmitting-receiving of state aware message, and transit time piece is calculated by regulation and control module；
(3) after configuration state terminates, vehicle enters motion state, and now vehicle keeps module control, vehicle by attitude
Moved in track；
(4) it is less than default minimum threshold with leading vehicle distance when vehicle receives the STOP instructions of regulation and control module or detected
ThresholdminWhen, avoidance intelligent vehicle enters halted state, now avoidance intelligent vehicle left side wheel speedWith right side wheels speed
Degree0 is, avoidance intelligent vehicle is static；
(5) when vehicle detection with leading vehicle distance to when being less than given threshold Threshold, avoidance intelligent vehicle enters override shape
State, speed control is carried out by rate control module；
(6) during the intersection of crossroad, vehicle according to the judgement pass-through command of regulation and control module with determining to be transferred to motion shape
State or halted state.
Further, the attitude of the step (3) keeps module control vehicle specific as follows：It is characterized in that：It is described to adjust
Control module calculating transit time piece specific as follows：There are East and West direction and the current window T1 and T2 in two, north-south in one grand cycle T,
If system time is located at the current window of East and West direction, East and West direction and western east orientation vehicle can pass through crossing；If system time is located at
Pass through window in north-south, then north and south and northern south orientation vehicle can be by crossings, if thing, Xi Dong, north and south, Bei Nan vehicle fleet size
For n1,n2,n3,n4, the quantity of vehicle can obtain by the step (2), then：
The East and West direction transit time piece is
The north-south transit time piece is
If the speed under vehicle local coordinate systemIt is expressed as：
WhereinFor the relative coordinate of vehicle,For the direction of motion angle of vehicle, R is vehicle wheel radius, and l is the half of avoidance intelligent vehicle transverse width,For avoidance intelligence
Speed of the energy car left-hand wheel under local coordinate system,For speed of the avoidance intelligent vehicle right-hand wheel under local coordinate system；
Movement velocity in the barycenter P global coordinate systems of vehicleEquation is：
Wherein, whereinFor the coordinate under absolute coordinate system of vehicle, longitude and latitude are represented by,For vehicle
In direction of motion angle under global coordinate system, formulaθ is vehicle under absolute coordinate system
Deflection；
(3.1) when detecting vehicle and track right side is excessively near, two motors on the left of control shut down, and the two of right side
Individual motor runs well, now(wherein v0For the movement velocity of setting),Increase, vehicle attitude is to the left
Fine setting；
(3.2) when detecting vehicle and track left side is excessively near, it can be stopped by two motors on the right side of Single-chip Controlling
Only operate, two motors in left side run well, Reduce, vehicle attitude is finely tuned to the right；
(3.3) (3.1) and (3.2) are repeated, carries out carrying out closed-loop control with cycle T.
Further, the attitude of the step (3) keeps module control vehicle specific as follows：
When this car of state aware module survey calculation is more than the threshold value of setting with the distance of front truck or barrier
During Threshold, vehicle left side wheel rotor speedWith vehicle right side wheel rotor speedControl signal by attitude keep module it is defeated
Go out；Attitude keeps module to be made up of position formula control algolithm, attitude parameter and the side of place track both sides that it is measured using vehicle
Boundary line enters runway and keeps control, and specific algorithm is as follows：
Further, the rate control module of the step (5) is specific as follows：
As Ben Che and when being less than the threshold value Threshold of setting apart from Distance of front truck or barrier, By bar
Te Wozi low orders filtering algorithm is controlled, specific as follows：
(5.1) when this is more than threshold value Threshold apart from Distance and regulation and control module instruction is PASS, by described
Track keeps function to carry out motion control to avoidance intelligent vehicle, and now the movement velocity of avoidance intelligent vehicle is
(5.2) when being less than threshold value Threshold apart from Distance and regulation and control module instruction is PASS, avoidance intelligent vehicle
SpeedShould be with successively decreasing apart from Distance in the fertile hereby low order filtering algorithm of Bart：With Distance reduction
And reduce；
(5.3) when being reduced to minimum range Threshold apart from DistanceminWhen or regulation and control module instruction be STOP when,
(5.4) according to (5.1)-(5.3),Following relation should be met with Distance：
(5.5) (5.1)-(5.3) are repeated, carry out carrying out closed-loop control with cycle T.
Beneficial effects of the present invention are as follows：
(1) wireless Internet of Things module involved in the present invention uses the industrial real time ethernet protocols of EPAWireless, networking
Agreement is reliable, and robustness is good；In addition, avoidance intelligent vehicle clock is synchronous in networking net, schedule synchronization, traffic control is greatly reduced
Signal lag and traffic system time constant, contribute to the simplification and unified management of traffic system model；
(2) override control module involved in the present invention can allow avoidance intelligent vehicle to handle special with gentle velocity variations
Feelings, reach timely traveling, smooth deceleration, the smooth effect for accelerating, smoothly stopping, so as to avoid the avoidance that place intrusion occurs
The problems such as intelligent vehicle collision, scheduling confusion, improve the safety in operation and robustness of traffic simulating system；
Brief description of the drawings
Fig. 1 show it is provided by the present invention can avoidance intelligent barrier avoiding intelligent vehicle system schematic；
Fig. 2 show intelligent barrier avoiding intelligent vehicle system structure diagram provided by the present invention；
Fig. 3 show the intelligent car bottom plate top view of intelligent barrier avoiding provided by the present invention；
Fig. 4 show the intelligent roof panels top view of intelligent barrier avoiding provided by the present invention；
Fig. 5 show the intelligent car bottom plate upward view of intelligent barrier avoiding provided by the present invention；
Fig. 6 show intelligent barrier avoiding intelligent vehicle front view provided by the present invention；
Fig. 7 show intelligent barrier avoiding intelligent vehicle side view provided by the present invention；
Fig. 8 show avoidance intelligent vehicle motion state transfer figure provided by the present invention；
The attitude that Fig. 9 is shown in override control module provided by the present invention keeps module workflow diagram；
Figure 10 show avoidance intelligent vehicle motion control block diagram provided by the present invention；
In figure：Single-chip microcomputer 1, electric power driving module 2, speed measuring module 3, node 4, infrared line walking module 5, voltage transformation module
6th, battery pack 7, Hall sensor 8, ultrasonic sensor 9, reducing motor 10, infrared ray sensor 11.
Embodiment
The essence of the present invention is more fully understood for convenience of those skilled in the art, below in conjunction with the accompanying drawings to the specific of the present invention
Embodiment is described in detail.
As shown in figure 1, the override control avoidance intelligent vehicle based on Internet of Things, including avoidance intelligent vehicle and installed in avoidance intelligence
State aware module, wireless Internet of Things module, regulation and control module on energy car, override control module.Wherein state aware module can
To carry out azimuthal measurement, measurement, tachometric survey and the body gesture measurement with leading vehicle distance；Wireless Internet of Things module has information
The function of exchange, encryption and time service；Regulation and control module judges the condition that avoidance intelligent vehicle passes through by way of calculating timeslice,
And carry out assigning for movement instruction；Override control module can control the holding into runway by position formula, pass through override control
Avoid anticollision；Override control module is the actuator of avoidance intelligent vehicle system；When avoidance intelligent vehicle is operated, state aware
Module can carry out information gathering to current traffic behavior, and transmit information to wireless Internet of Things by 9600bps serial ports
Module, wireless Internet of Things module carries out message transmission after information is encrypted, when the information of other avoidance intelligent vehicles is transmitted, nothing
Line Internet of Things module can be decrypted to information and the status information of other avoidance intelligent vehicles is submitted into regulation and control module, regulation and control
Module be computed after by instruction issuing to override control module, will pass through after boundary condition when is met in override control module check
Motor is performed, and the effect after execution will change traffic behavior, hence into the calculating of next cycle.
It is avoidance intelligent vehicle system structure diagram as shown in Figure 2.Wherein described wireless Internet of Things module is chosen as EPA
Wireless agreements, hardware is chosen as EPA Wireless rf boards；The state aware module is chosen as Hall sensor use
In measurement physical location, ultrasonic wave module is used to measure the distance with front truck or barrier, and photoelectric velocity measurement module is kept away for measurement
Hinder the gait of march of intelligent vehicle；The override control module, single-chip microcomputer model Arduino Mega 2560R3 single-chip microcomputers, institute
Electric power driving module model L293D is stated, the voltage transformation module is model 2596,2 3700mAh's of Selection of Battery
18650 batteries are powered；The override control module is using infrared line walking module using LM339 potential comparators as basic
Sensor.The electric power driving module is connected with electric pressure converter, and power drives M1, M2 port is connected with the forward and backward motor in left side,
Power drives M3, M4 port is connected with the forward and backward motor in right side, and the photoelectric velocity measurement module passes through numeral with Arduino single-chip microcomputers
Port is connected, by the code-disc detection speed to being connected on axle, and the infrared line walking module uses LM339 potential comparators,
It is connected with Arduino single-chip microcomputers by FPDP and SCL ports, detection road boundary and stop line, the YS-27 Halls are passed
Sensor, is connected with Arduino single-chip microcomputers by SDA ports, measurable by arranging magnet quantity on the ground come so as to obtain
Know the physical location of avoidance intelligent vehicle, the ultrasonic wave module model HC-SR04 passes through data terminal with Arduino single-chip microcomputers
Mouth is connected, and can detect the distance with barrier；2596 voltage transformation module is logical with battery pack and electric power driving module respectively
Power line is crossed to be connected；The EPA Wireless rf boards single-chip microcomputer model CC2530, serial ports is passed through with Arduino single-chip microcomputers
It is connected；The vehicle frame is the carrier of Arduino single-chip microcomputers, EPA Wireless rf boards and sensor, the Selection of Battery 2
3700mAh 18650 batteries are powered.
It is the three-view diagram of avoidance intelligent vehicle as shown in Figure 3.Component includes YS-27 Hall sensors 8, HC-SR049, subtracted
Speed motor 10, infrared ray sensor 11.Chassis and component deployment way should be installed according to mode as depicted, be owned
It is attached between sensor and Arduino Mega 2560R3 single-chip microcomputers by the way of Du Pont's line；The power drives mould
Block is connected with the line of motor, 18650 battery packs using electric wire.
The intelligent car bottom plate top view of intelligent barrier avoiding provided by the present invention is illustrated in figure 3, component includes Arduino
Mega2560R3 single-chip microcomputers 1, electric power driving module 2, speed measuring module 3, speed measuring module 3 and Arduino Mega2560R3 single-chip microcomputers
1 is attached by way of Du Pont's line；Electric power driving module 2 and Arduino Mega2560R3 single-chip microcomputers 1 are connected by contact pin
Connect；
The intelligent roof panels top view of intelligent barrier avoiding provided by the present invention is illustrated in figure 4, component includes EPA
The infrared line walking module 5 of Wireless nodes 4, LM339,2596 voltage transformation modules 6, battery pack 7；EPA Wireless nodes 4,
The infrared line walking modules 5 of LM339 are attached by Du Pont's line with Arduino Mega2560 R3 single-chip microcomputers 1 in Fig. 3；2596 electricity
Pressure modular converter 6 is attached with battery pack 7 by power line；
The intelligent car bottom plate upward view of intelligent barrier avoiding provided by the present invention is illustrated in figure 5, component includes YS-27 Halls
Sensor 8, HC-SR04 ultrasonic sensors 9, reducing motor 10；Wherein YS-27 Hall sensors 8, HC-SR04 ultrasonic waves are passed
Sensor 9 is attached by Du Pont's line with Arduino Mega2560 R3 single-chip microcomputers 1 in Fig. 3；
It is illustrated in figure 6 intelligent barrier avoiding intelligent vehicle front view provided by the present invention；Component includes infrared ray sensor
11；Infrared ray sensor 11 is attached by Du Pont's line with the infrared line walking modules 5 of LM339 shown in Fig. 4；
It is illustrated in figure 7 intelligent barrier avoiding intelligent vehicle side view provided by the present invention；
The state transition diagram of intelligent barrier avoiding intelligent vehicle as shown in Figure 8, including configuration state, motion state, resolution state,
5 states of halted state and ride state.During configuration state avoidance intelligent vehicle can by wireless Internet of Things module obtain and with
Other avoidance intelligent vehicles exchange traffic state information, and calculating avoidance intelligent vehicle can be by the transit time piece at crossing；During configuration
Between terminate after avoidance intelligent vehicle enter motion state, by gesture stability module realize track keep function；When avoidance intelligent vehicle with
When leading vehicle distance is less than given threshold Threshold, avoidance intelligent vehicle enters ride state, and avoidance is controlled by rate control module
The speed of intelligent vehicle；When the distance of avoidance intelligent vehicle and front truck is less than minimum given threshold ThresholdminWhen, avoidance intelligent vehicle
Into halted state；When avoidance intelligent vehicle arrives at crossroad, avoidance intelligent vehicle enters resolution state, now avoidance intelligent vehicle
Need to judge whether avoidance intelligent vehicle is located in transit time piece, if in colleague's timeslice, returning to motion state, otherwise
Into halted state, now avoidance intelligent vehicle is static, it is necessary to can be just transferred to after next grand cycle configuration time starts
Configuration state；
As shown in Fig. 9 the attitude in override control module keeps the track of module to keep function, every certain week
Phase, T was regulated and controled, after starting, and all motors are operated, can when detecting avoidance intelligent vehicle and track right side is excessively near
To be finely tuned to the left by Single-chip Controlling avoidance intelligent vehicle；When detecting avoidance intelligent vehicle and track left side is excessively near, Ke Yitong
Cross Single-chip Controlling avoidance intelligent vehicle to finely tune to the right, the closed-loop control using certain time as the cycle is thus carried out, so as to realize car
Road keeps function.
The motion control block diagram of avoidance intelligent vehicle as shown in Figure 10, the input of system for direction setting and with front truck away from
From setting, correspondence attitude keeps module (direction controlling) and override control module (distance controlling), and direction is kept under normal circumstances
Output signal by low device can be selected to choose, so as to realize gesture stability function, when detecting excessively near with leading vehicle distance, distance
The output signal of control can be reduced gradually, when signal less than attitude keep module output signal when, override control module it is defeated
Going out signal will be selected, and keep function to be controlled vehicle so as to instead of attitude, realize anticollision；When detect with before
When car is at a distance sufficiently large, the signal of override control module can gradually rise, so that control is given back into attitude keeps control
Device processed, it is achieved thereby that override control, realizes the function that same control object is controlled with various control module.
Operation principle：On avoidance intelligent vehicle after electricity, its EPA Wireless rf board 4 carried carries out same with master clock
Step, when all avoidance intelligent vehicles from clock after completing synchronization, avoidance intelligent vehicle can set out, by running four-wheel intelligent vehicle
Traveling module, travelled on track using the infrared line walking modules of LM339, while being surpassed using YS-27 Hall sensors, HC-SR04
Sonic sensor carries out self-position, the measurement with leading vehicle distance.It is less than setting threshold with front truck or obstacle distance if detecting
Value Threshold, then maintained a certain distance by override control module with front truck or barrier.In addition avoidance intelligent vehicle can be with
Pass through the EPA Wireless agreements progress direct of travel in wireless Internet of Things module, the state tying of position.Opened in the grand cycle
Intelligent barrier avoiding intelligent vehicle can receive the state circular of other intelligent barrier avoiding intelligent vehicles successively within the 1s of beginning, and by regulating and controlling module
Judge whether avoidance intelligent vehicle should be by crossroad.Each intelligent barrier avoiding intelligent vehicle is realized point by running identical program
Cloth is controlled, to reach purpose of the collisionless by crossroad.
Claims (6)
1. a kind of override control avoidance intelligent vehicle based on wireless Internet of Things, it is characterised in that including avoidance intelligent vehicle and installation
State aware module, wireless Internet of Things module, regulation and control module and override control module on avoidance intelligent vehicle.
The state aware module is used for the attitude parameter for measuring avoidance intelligent vehicle, and the attitude parameter includes the position of avoidance intelligent vehicle
Put, distance, the speed of traffic direction, the car and front truck or barrier.
The wireless Internet of Things module is used for reiving/transmitting state and perceives message, and the state aware message is measured by state aware module
The attitude parameter composition of obtained avoidance intelligent vehicle.
The state aware message from other avoidance intelligent vehicles that the regulation and control module is provided according to the Internet of Things module is carried out
The information extraction of other avoidance intelligent vehicles, and the information of extraction is counted, obtain north and south, Bei Nan, thing, Xi Dong traffic
Flow is divided to the transit time piece of crossroad, if the time that avoidance intelligent vehicle reaches crossing is located in current window,
Then assign that " current/PASS " instructions, make avoidance intelligent vehicle pass through to override control module；If the time of avoidance intelligent vehicle is not logical
" stopping/STOP " instructions in row window, is then assigned to override control module.
The override control module includes attitude and keeps module and rate control module, for controlling the timely row of avoidance intelligent vehicle
Enter, smooth deceleration, it is smooth accelerate, smooth parking.
2. the avoidance intelligent vehicle based on Internet of Things according to right 1, it is characterised in that：The avoidance intelligent vehicle includes battery
Group, motor, voltage transformation module, motor drive module, wheel and vehicle frame；Four wheels are symmetrically installed on the vehicle frame；It is described
Battery pack is connected with voltage transformation module；The motor drive module is connected with motor and voltage transformation module respectively；The electricity
Machine output shaft is connected with wheel, the motor be arranged on vehicle frame on, the motor drive module by wireless Internet of Things module with
Override control module is connected.
3. utilize the control method of the override control avoidance intelligent vehicle based on wireless Internet of Things described in claim 1, its feature
It is to specifically include following steps：
(1) state of vehicle includes five states：Configuration state, motion state, ride state, resolution state, halted state, keep away
Barrier intelligent vehicle is switched between this five states；
(2) when each grand cycle starts, vehicle enters configuration state, and now the state aware module of vehicle enters adopting for row information
Collection, wireless Internet of Things module carries out the transmitting-receiving of state aware message, while the number of vehicles to different directions road is counted,
Transit time piece is calculated by regulation and control module；
(3) after configuration state terminates, vehicle enters motion state, and now vehicle keeps module control by attitude, and vehicle is in car
Moved in road；
(4) it is less than default minimum threshold with leading vehicle distance when vehicle receives the STOP instructions of regulation and control module or detected
ThresholdminWhen, avoidance intelligent vehicle enters halted state, now avoidance intelligent vehicle left side wheel speedWith right side wheels speed
Degree0 is, avoidance intelligent vehicle is static；
(5) when vehicle detection with leading vehicle distance to when being less than given threshold Threshold, avoidance intelligent vehicle enters ride state,
Speed control is carried out by rate control module；
(6) during the intersection of crossroad, vehicle with according to regulation and control module judgement pass-through command come determine to be transferred to motion state or
Halted state.
4. the control method of the override control avoidance intelligent vehicle according to claim 3 based on wireless Internet of Things, its feature
It is that the attitude of the step (3) keeps module control vehicle specific as follows：It is characterized in that：The regulation and control module calculates logical
Row timeslice is specific as follows：There are East and West direction and the current window T in two, north-south in one grand cycle T1And T2If, system time position
In the current window of East and West direction, then East and West direction and western east orientation vehicle can pass through crossing；If system time is located at the current window in north-south
Mouthful, then north and south and northern south orientation vehicle can be by crossings, if thing, Xi Dong, north and south, Bei Nan vehicle fleet size are n1,n2,n3,
n4, the quantity of vehicle can obtain by the step (2), then：
The East and West direction transit time piece is
The north-south transit time piece is
5. the control method of the override control avoidance intelligent vehicle according to claim 3 based on wireless Internet of Things, its feature
It is that the attitude of the step (3) keeps module control vehicle specific as follows：
When this car of state aware module survey calculation is more than given threshold Threshold with the distance of front truck or barrier,
Vehicle left side wheel rotor speedWith vehicle right side wheel rotor speedControl signal by attitude keep module output；Attitude keeps mould
Block is made up of position formula control algolithm, and the attitude parameter and the boundary line of place track both sides that it is measured using vehicle enter runway guarantor
Control is held, specific algorithm is as follows：
If the speed under vehicle local coordinate systemIt is expressed as：
WhereinFor the relative coordinate of vehicle,For the direction of motion angle of vehicle, R is vehicle wheel radius, and l is the half of avoidance intelligent vehicle transverse width,For avoidance intelligence
Speed of the energy car left-hand wheel under local coordinate system,For speed of the avoidance intelligent vehicle right-hand wheel under local coordinate system；
Movement velocity in the barycenter P global coordinate systems of vehicleEquation is：
Wherein, whereinFor the coordinate under absolute coordinate system of vehicle, longitude and latitude are represented by,It is vehicle complete
In direction of motion angle under office's coordinate system, formulaθ is side of the vehicle under absolute coordinate system
To angle；
(3.1) when detecting vehicle and track right side is excessively near, two motors on the left of control shut down, two electricity on right side
Machine runs well, now(wherein v0For the movement velocity of setting),Increase, vehicle attitude is micro- to the left
Adjust；
(3.2) when detecting vehicle and track left side is excessively near, two motors on the right side of Single-chip Controlling can be passed through and stop transporting
Turn, two motors in left side run well, Reduce, vehicle attitude is finely tuned to the right；
(3.3) (3.1) and (3.2) are repeated, carries out carrying out closed-loop control with cycle T.
6. the control method of the override control avoidance intelligent vehicle according to claim 3 based on wireless Internet of Things, its feature
It is that the rate control module of the step (5) is specific as follows：
As Ben Che and when being less than given threshold Threshold apart from Distance of front truck or barrier,Irrigated by Bart
Hereby low order filtering algorithm is controlled, specific as follows：
(5.1) when this is more than threshold value Threshold apart from Distance and regulation and control module instruction is PASS, by described track
Function is kept to carry out motion control to avoidance intelligent vehicle, now the movement velocity of avoidance intelligent vehicle is
(5.2) when being less than threshold value Threshold apart from Distance and regulation and control module instruction is PASS, the speed of avoidance intelligent vehicle
DegreeShould be with successively decreasing apart from Distance in the fertile hereby low order filtering algorithm of Bart：Subtract with Distance reduction
It is small；
(5.3) when being reduced to minimum range Threshold apart from DistanceminWhen or regulation and control module instruction be STOP when,
(5.4) according to (5.1)-(5.3),Following relation should be met with Distance：
(5.5) (5.1)-(5.3) are repeated, carry out carrying out closed-loop control with cycle T.
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