CN106959692B - 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, belongs to wireless internet of things field, and state aware module, wireless internet of things module, regulation module, override control module are equipped on the avoidance intelligent vehicle；Suitable for the traffic condition of crossroad, avoidance intelligent vehicle Lothrus apterus is allowed to pass through crossroad.Particularly, override control module can handle special feelings with gentle velocity variations, achieve the effect that timely traveling, smooth deceleration, smooth acceleration, smoothly stop；The synchronization of avoidance intelligent vehicle clock, schedule synchronization, greatly reduce the signal lag of traffic control and the time constant of traffic system, facilitate the simplification and unified management of traffic system model in wireless internet of things net.
Description
Technical field
The present invention designs internet of things field, the in particular to a kind of override control avoidance intelligent vehicle based on wireless internet of things
And its control method.
Background technique
Ambient enviroment can be perceived in recent years, is more popular with the intelligent barrier avoiding intelligent vehicle of avoidance, but due to lacking object
The scheduling of the support of networking, more vehicle systems is difficult to realize.This intelligent vehicle system realizes more vehicle networkings, and all vehicles are in net
Realize integrating action, United Dispatching, the regulation real-time and system time constant of traffic system substantially reduce, and facilitate traffic system
The simplification and unified management of system model.
Summary of the invention
The purpose of the present invention is to provide a kind of technology of Internet of things in the simulation application scene of transportation industry, and 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
Biggish 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 the state aware module being mounted on avoidance intelligent vehicle, wireless internet of things module, regulation
Module, override control module；
The state aware module is used to measure the attitude parameter of avoidance intelligent vehicle, which includes avoidance intelligent vehicle
Position, traffic direction, the vehicle is at a distance from front truck or barrier, speed；
The wireless internet of things module perceives message for reiving/transmitting state, 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 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, obtains north and south, Bei Nan, thing, Xi Dong
The magnitude of traffic flow divides the transit time piece of crossroad, if the time that avoidance intelligent vehicle reaches crossing is located at current window
It is interior, then " passage/PASS " instruction is assigned to override control module, keeps avoidance intelligent vehicle current；If the time of avoidance intelligent vehicle is not
In current window, then " stopping/STOP " instruction is assigned to override control module；
The override control module includes that posture keeps module and rate control module, timely for controlling avoidance intelligent vehicle
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 driven mould
Block is connected with motor and voltage transformation module respectively；The motor output shaft is connected with wheel, and the motor is mounted 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
It is rapid:
(1) state of vehicle includes five states: configuration state, ride state, resolution state, stops shape at motion state
State, avoidance intelligent vehicle switch between this five states；
(2) when each macro period starts, vehicle enters configuration state, and the state aware module of vehicle carries out information at this time
Acquisition, wireless network module carry out the transmitting-receiving of state aware message, calculate transit time piece by regulation module；
(3) after configuration state, vehicle enters motion state, and vehicle keeps module control, vehicle by posture at this time
It is moved in lane；
(4) it is less than default minimum threshold with leading vehicle distance when vehicle receives the STOP instruction of regulation module or detects
ThresholdminWhen, avoidance intelligent vehicle enters halted state, at this time avoidance intelligent vehicle left side wheel speedWith right side wheels speed
DegreeIt is 0, avoidance intelligent vehicle is static；
(5) when vehicle detection is to when being less than given threshold Threshold with leading vehicle distance, avoidance intelligent vehicle enters override shape
State carries out speed control by rate control module；
(6) when the intersection of crossroad, vehicle is transferred to movement shape with according to the judgement pass-through command of regulation module to determine
State or halted state.
Further, the posture of the step (3) keeps module control vehicle specific as follows: it is characterized by: the tune
It is specific as follows that control module calculates transit time piece: there are East and West direction and two, north-south current window T1 and T2 in a macro 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 by crossing, 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 indicates are as follows:
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
Speed of the intelligent vehicle left-hand wheel under local coordinate system,For speed of the avoidance intelligent vehicle right-hand wheel under local coordinate system
Degree；
Movement velocity in the mass center P global coordinate system of vehicleEquation are as follows:
Wherein, whereinFor the coordinate under absolute coordinate system of vehicle, it is represented by longitude and latitude,For vehicle
Direction of motion angle under global coordinate system, in formulaθ is vehicle under absolute coordinate system
Deflection；
(3.1) when detecting excessively close on the right side of vehicle and lane, two motors for controlling left side shut down, and the two of right side
A motor runs well, at this time(wherein v0For the movement velocity of setting),Increase, vehicle attitude is to the left
Fine tuning；
(3.2) when detecting excessively close on the left of vehicle and lane, can be stopped by two motors that single-chip microcontroller controls right side
Only operating, 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 posture of the step (3) keeps module control vehicle specific as follows:
When this vehicle of state aware module survey calculation is greater than the threshold value of setting at a distance from front truck or barrier
When Threshold, vehicle left side wheel rotor speedWith vehicle right side wheel rotor speedControl signal by posture keep module it is defeated
Out；Posture keeps module to be made of position formula control algolithm, it utilizes the attitude parameter of vehicle measurement and the side of place lane two sides
Boundary line carries out lane and keeps control, and specific algorithm is as follows:
Further, the rate control module of the step (5) is specific as follows:
When Ben Che is less than the threshold value Threshold of setting with front truck or barrier distance Distance, By
The fertile hereby low order filtering algorithm of Bart controls, specific as follows:
(5.1) when distance Distance is greater than threshold value Threshold and regulation module instruction is PASS, by described
Lane keeps function to carry out motion control to avoidance intelligent vehicle, and the movement velocity of avoidance intelligent vehicle is at this time
(5.2) when distance Distance is less than threshold value Threshold and regulation module instruction is PASS, avoidance intelligent vehicle
SpeedIt should successively decrease with distance Distance in the fertile hereby low order filtering algorithm of Bart:With the reduction of Distance
And reduce；
(5.3) when distance Distance is reduced to minimum range ThresholdminWhen or regulation module instruction be STOP when,
(5.4) basis (5.1)-(5.3),Following relationship should be met with Distance:
(5.5) (5.1)-(5.3) are repeated, carries out carrying out closed-loop control with cycle T.
Beneficial effects of the present invention are as follows:
(1) wireless internet of things module according to the present invention uses EPAWireless industry real time ethernet protocol, networking
Agreement is reliable, and robustness is good；In addition, the synchronization of avoidance intelligent vehicle clock, schedule synchronization in networking net, greatly reduce traffic control
Signal lag and traffic system time constant, facilitate the simplification and unified management of traffic system model；
(2) override control module according to the present invention can allow avoidance intelligent vehicle special with gentle velocity variations processing
Feelings achieve the effect that timely traveling, smooth deceleration, the smooth avoidance accelerate, smoothly stop, occurring so as to avoid place intrusion
The problems such as intelligent vehicle collision, scheduling confusion, improve the safety in operation and robustness of traffic simulating system；
Detailed description of the invention
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 intelligent barrier avoiding intelligence car bottom plate top view provided by the present invention；
Fig. 4 show intelligent barrier avoiding intelligence roof panels top view provided by the present invention；
Fig. 5 show intelligent barrier avoiding intelligent vehicle bottom view of the floor 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；
Fig. 9 show the posture in override control module provided by the present invention and keeps module work flow chart；
Figure 10 show avoidance intelligent vehicle motion control block diagram provided by the present invention；
In figure: single-chip microcontroller 1, electric power driving module 2, speed measuring module 3, node 4, infrared line walking module 5, voltage transformation module
6, battery pack 7, Hall sensor 8, ultrasonic sensor 9, decelerating motor 10, infrared sensor 11.
Specific embodiment
Essence of the invention is more fully understood for convenience of those skilled in the art, with reference to the accompanying drawing to of the invention specific
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 it is mounted on avoidance intelligence
State aware module, wireless internet of things module, regulation module, override control module on energy vehicle.Wherein state aware module can
It is measured with carrying out the measurement, tachometric survey and body gesture of azimuthal measurement and leading vehicle distance；Wireless internet of things module has information
The function of exchange, encryption and time service；Regulation 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 for carrying out lane 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 worked, state aware
Module can carry out information collection to current traffic behavior, and transmit information to wireless internet of things by 9600bps serial ports
Module, wireless internet of things module carry out message transmission after encrypting information, when the information of other avoidance intelligent vehicles transmits, nothing
Line Internet of Things module can be decrypted information and the status information of other avoidance intelligent vehicles is submitted to regulation module, regulation
Module be computed after by instruction issuing to override control module, will pass through after override control module check meets boundary condition
Motor is executed, 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 the wireless internet of things module is chosen as EPA
Wireless agreement, hardware are chosen as EPA Wireless rf board；The state aware module is chosen as Hall sensor use
In measurement physical location, ultrasonic wave module for measuring at a distance from front truck or barrier, keep away for measuring by photoelectric velocity measurement module
Hinder the travel speed of intelligent vehicle；The override control module, single-chip microcontroller model Arduino Mega 2560R3 single-chip microcontroller, 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 comparator as basic
Sensor.The electric power driving module is connected with electric pressure converter, and the power drives port M1, M2 is connected with the forward and backward motor in left side,
The power drives port M3, M4 is connected with the forward and backward motor in right side, and the photoelectric velocity measurement module and Arduino single-chip microcontroller pass through number
Port is connected, and by detecting speed to the code-disc being connected on axis, the infrared line walking module uses LM339 potential comparator,
It is connected with Arduino single-chip microcontroller by data port and the port SCL, detects road boundary and stop line, the YS-27 Hall passes
Sensor is connected with Arduino single-chip microcontroller by the port SDA, can measure by arranging magnet quantity on the ground come to obtain
Know that the physical location of avoidance intelligent vehicle, the ultrasonic wave module model HC-SR04 pass through data terminal with Arduino single-chip microcontroller
Mouth is connected, and can detect at a distance from 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 board single-chip microcontroller model CC2530, passes through serial ports with Arduino single-chip microcontroller
It is connected；The vehicle frame is the carrier of Arduino single-chip microcontroller, EPA Wireless rf board and sensor, the Selection of Battery 2
18650 batteries of 3700mAh are powered.
It is the three-view diagram of avoidance intelligent vehicle as shown in Figure 3.Component includes YS-27 Hall sensor 8, HC-SR049, subtracts
Speed motor 10, infrared sensor 11.Chassis and component deployment way should be installed according to mode as shown in the figure, be owned
It is attached by the way of Du Pont's line between sensor and Arduino Mega 2560R3 single-chip microcontroller；The power drives mould
Block is connected with the line of motor, 18650 battery packs using electric wire.
It is illustrated in figure 3 intelligent barrier avoiding intelligence car bottom plate top view provided by the present invention, component includes Arduino
Mega2560R3 single-chip microcontroller 1, electric power driving module 2, speed measuring module 3, speed measuring module 3 and Arduino Mega2560R3 single-chip microcontroller
1 is attached by way of Du Pont's line；Electric power driving module 2 and Arduino Mega2560R3 single-chip microcontroller 1 are connected by contact pin
It connects；
It is illustrated in figure 4 intelligent barrier avoiding intelligence roof panels top view provided by the present invention, component includes EPA
The infrared line walking module 5 of Wireless node 4, LM339,2596 voltage transformation modules 6, battery pack 7；EPA Wireless node 4,
The infrared line walking module 5 of LM339 is attached by Du Pont's line with Arduino Mega2560 R3 single-chip microcontroller 1 in Fig. 3；2596 electricity
Pressure conversion module 6 is attached with battery pack 7 by power line；
It is illustrated in figure 5 intelligent barrier avoiding intelligent vehicle bottom view of the floor provided by the present invention, component includes YS-27 Hall
Sensor 8, HC-SR04 ultrasonic sensor 9, decelerating motor 10；Wherein YS-27 Hall sensor 8, HC-SR04 ultrasonic wave pass
Sensor 9 is attached by Du Pont's line with Arduino Mega2560 R3 single-chip microcontroller 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 sensor
11；Infrared sensor 11 is attached by Du Pont's line with the infrared line walking module 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.When configuration state avoidance intelligent vehicle can be obtained by wireless internet of things module and with
Other avoidance intelligent vehicles exchange traffic state information, and the transit time piece at crossing can be passed through by calculating avoidance intelligent vehicle；When configuration
Between after avoidance intelligent vehicle enter motion state, by gesture stability module realize lane keep function；When avoidance intelligent vehicle with
When leading vehicle distance is less than given threshold Threshold, avoidance intelligent vehicle enters ride state, controls avoidance by rate control module
The speed of intelligent vehicle；When avoidance intelligent vehicle is less than minimum given threshold Threshold at a distance from front truckminWhen, avoidance intelligent vehicle
Into halted state；When avoidance intelligent vehicle arrives at crossroad, avoidance intelligent vehicle enters resolution state, at this time avoidance intelligent vehicle
Need to judge whether avoidance intelligent vehicle is located in transit time piece, if being restored to motion state, otherwise in colleague's timeslice
Into halted state, avoidance intelligent vehicle is static at this time, needs just be transferred to after next macro period configuration time starts
Configuration state；
As shown in Fig. 9 the posture in override control module keeps the lane of module to keep function, every certain week
Phase, T was regulated and controled, and after starting, all motors are operated, can when detecting excessively close on the right side of avoidance intelligent vehicle and lane
It is finely tuned to the left with controlling avoidance intelligent vehicle by single-chip microcontroller；When detecting excessively close on the left of avoidance intelligent vehicle and lane, Ke Yitong
It crosses single-chip microcontroller control avoidance intelligent vehicle to finely tune to the right, the closed-loop control using certain time as the period is thus carried out, to realize vehicle
Road keeps function.
The motion control block diagram of avoidance intelligent vehicle as shown in Figure 10, the input of system be direction set and and front truck away from
From setting, corresponding posture keeps module (direction controlling) and override control module (distance controlling), and direction is kept under normal circumstances
Output signal device can be selected to choose by low, to realize gesture stability function, when detecting excessively close with leading vehicle distance, distance
The output signal of control can gradually decrease, when signal lower than posture keep module output signal when, override control module it is defeated
Signal will be selected out, to keep function to control vehicle instead of posture, realize anticollision；When detect with before
When vehicle is at a distance sufficiently large, the signal of override control module can be gradually risen, so that control, which is given back posture, keeps control
Device processed realizes the function that the same control object is controlled with various control module to realize override control.
Working principle: after avoidance intelligent vehicle powers on, the EPA Wireless rf board 4 and master clock carried carries out same
Step, after the slave clock of all avoidance intelligent vehicles is completed to synchronize, avoidance intelligent vehicle can set out, by running four-wheel intelligent vehicle
Traveling module is travelled on lane using the infrared line walking module of LM339, while super using YS-27 Hall sensor, 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 is then maintained a certain distance by override control module with front truck or barrier.Furthermore avoidance intelligent vehicle can be with
The state tying of direction of travel, position is carried out by the EPA Wireless agreement in wireless internet of things module.It is opened in the macro period
Intelligent barrier avoiding intelligent vehicle can receive the state notification of other intelligent barrier avoiding intelligent vehicles successively within the 1s of beginning, and pass through regulation module
Judge whether avoidance intelligent vehicle should pass through crossroad.Each intelligent barrier avoiding intelligent vehicle is realized point by running identical program
Cloth control, to achieve the purpose that collisionless passes through crossroad.
Claims (5)
1. the control method of the override control avoidance intelligent vehicle based on wireless internet of things, the override control based on wireless internet of things
Avoidance intelligent vehicle processed, including avoidance intelligent vehicle and the state aware module being mounted on avoidance intelligent vehicle, wireless internet of things module,
Regulate and control module and override control module；
The state aware module is used to measure the attitude parameter of avoidance intelligent vehicle, which includes the position of avoidance intelligent vehicle
It sets, traffic direction, the vehicle are at a distance from front truck or barrier, speed；
The wireless internet of things module perceives message for reiving/transmitting state, and the state aware message is measured by state aware module
The attitude parameter of obtained avoidance intelligent vehicle forms；
The regulation module is carried out according to the state aware message from other avoidance intelligent vehicles that the Internet of Things module provides
The information extraction of other avoidance intelligent vehicles, and the information of extraction is counted, obtain the traffic in north and south, Bei Nan, thing, Xi Dong
Flow divides the transit time piece of crossroad, if the time that avoidance intelligent vehicle reaches crossing is located in current window,
" passage/PASS " instruction then is assigned to override control module, keeps avoidance intelligent vehicle current；If the time of avoidance intelligent vehicle is not logical
In row window, then " stopping/STOP " instruction is assigned to override control module；
The override control module includes that posture keeps module and rate control module, for controlling the timely row of avoidance intelligent vehicle
Into, smooth deceleration, it is smooth accelerate, smooth parking；
It is characterized in that, specifically comprising the following steps:
(1) state of vehicle includes five states: configuration state, motion state, ride state, resolution state, halted state are kept away
Barrier intelligent vehicle switches between this five states；
(2) when each macro period starts, vehicle enters configuration state, and the state aware module of vehicle carries out adopting for information at this time
Collection, wireless internet of things module carry out the transmitting-receiving of state aware message, while counting to the number of vehicles of different directions road,
Transit time piece is calculated by regulation module；
(3) after configuration state, vehicle enters motion state, and vehicle keeps module control by posture at this time, and vehicle is in vehicle
It is moved in road；
(4) it is less than default minimum threshold with leading vehicle distance when vehicle receives the STOP instruction of regulation module or detects
ThresholdminWhen, avoidance intelligent vehicle enters halted state, at this time avoidance intelligent vehicle left side wheel speedAnd right side wheels
SpeedIt is 0, avoidance intelligent vehicle is static；
(5) when vehicle detection is to when being less than given threshold Threshold with leading vehicle distance, avoidance intelligent vehicle enters ride state,
Speed control is carried out by rate control module；
(6) when the intersection of crossroad, vehicle with according to regulation module judgement pass-through command come determine be transferred to motion state or
Halted state.
2. the control method of the override control avoidance intelligent vehicle according to claim 1 based on wireless internet of things, feature
It is, the posture of the step (3) keeps module control vehicle specific as follows: leading to it is characterized by: the regulation module calculates
Row timeslice is specific as follows: having East and West direction and the current window T in two, north-south in a macro 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 by crossing, if thing, Xi Dong, north and south, Bei Nan vehicle fleet size be 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
3. the control method of the override control avoidance intelligent vehicle according to claim 1 based on wireless internet of things, feature
It is, the posture of the step (3) keeps module control vehicle specific as follows:
When this vehicle of state aware module survey calculation is greater than given threshold Threshold at a distance from front truck or barrier,
Vehicle left side wheel rotor speedWith vehicle right side wheel rotor speedControl signal by posture keep module output；Posture is kept
Module is made of position formula control algolithm, and the boundary line of attitude parameter and place lane two sides that it is measured using vehicle carries out lane
Control is kept, specific algorithm is as follows:
If the speed under vehicle local coordinate systemIt indicates are as follows:
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
Speed of the intelligent vehicle left-hand wheel under local coordinate system,For speed of the avoidance intelligent vehicle right-hand wheel under local coordinate system
Degree；
Movement velocity in the mass center P global coordinate system of vehicleEquation are as follows:
Wherein, whereinFor the coordinate under absolute coordinate system of vehicle, it is represented by longitude and latitude,It is vehicle complete
Direction of motion angle under office's coordinate system, in formulaθ is side of the vehicle under absolute coordinate system
To angle；
(3.1) when detecting excessively close on the right side of vehicle and lane, two motors for controlling left side shut down, two electricity on right side
Machine runs well, at this time(wherein v0For the movement velocity of setting),Increase, vehicle attitude is micro- to the left
It adjusts；
(3.2) when detecting excessively close on the left of vehicle and lane, two motors that right side can be controlled by single-chip microcontroller stop fortune
Turning, 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 macro cycle T.
4. the control method of the override control avoidance intelligent vehicle according to claim 1 based on wireless internet of things, feature
It is, the rate control module of the step (5) is specific as follows:
When Ben Che is less than given threshold Threshold with front truck or barrier distance Distance,It is irrigated by Bart
Hereby low order filtering algorithm controls, specific as follows:
(5.1) when distance Distance is greater than given threshold Threshold and regulation module instruction is PASS, by described
Lane keeps function to carry out motion control to avoidance intelligent vehicle, and the movement velocity of avoidance intelligent vehicle is at this time
(5.2) when distance Distance is less than given threshold Threshold and regulation module instruction is PASS, avoidance intelligent vehicle
SpeedIt should successively decrease with distance Distance in the fertile hereby low order filtering algorithm of Bart:With the reduction of Distance
And reduce；
(5.3) when distance Distance is reduced to default minimum threshold ThresholdminWhen or regulation module instruction be STOP when,
(5.4) basis (5.1)-(5.3),Following relationship should be met with Distance:
(5.5) (5.1)-(5.3) are repeated, carries out carrying out closed-loop control with macro cycle T.
5. the control method of the override control avoidance intelligent vehicle according to claim 1 based on wireless internet of things, feature
Be: the avoidance intelligent vehicle includes battery pack, motor, voltage transformation module, motor drive module, wheel and vehicle frame；It is described
Four wheels are symmetrically installed on vehicle frame；The battery pack is connected with voltage transformation module；The motor drive module respectively with electricity
Machine is connected with voltage transformation module；The motor output shaft is connected with wheel, and the motor is mounted on vehicle frame, and the motor drives
Dynamic model block is connected by wireless internet of things module with override control module.
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