CN108415431A - A kind of automatic following system and method - Google Patents
A kind of automatic following system and method Download PDFInfo
- Publication number
- CN108415431A CN108415431A CN201810188940.6A CN201810188940A CN108415431A CN 108415431 A CN108415431 A CN 108415431A CN 201810188940 A CN201810188940 A CN 201810188940A CN 108415431 A CN108415431 A CN 108415431A
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- Prior art keywords
- position information
- information
- mobile terminal
- processing unit
- information processing
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000010365 information processing Effects 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- 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
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic following systems, including information transmit-receive mobile terminal, position information process device, wireless signal transceiver, GPS positioning antenna, mobile differential device, the courses GPS antenna.Automatic following system provided by the invention can make rear car pass through the track data that information transmit-receive mobile terminal is sent in real time according to front truck independently to be followed, in two vehicles or more vehicles simultaneously with route when driving, the both hands of rear car driver can effectively be liberated, reduce repetition driver behavior of the rear car driver on route, rear car is set to be born according to the driving that the driving trace of front truck carries out automatic running and alleviates driver, making to go with, it is more convenient to go on a journey, easily.
Description
Technical field
The present invention relates to field of automobile control, more particularly to a kind of automatic following system and method.
Background technology
At this stage, more and more people's selection self-driving travel of going with easily causes fatigue driving however, due to far away,
Seriously affect safety.And it is current it is automatic follow technology to be only applied to active safety in terms of, be only applicable to it is short-range with
With can not accomplish the remote of two vehicles or more vehicles, follow in real time.The driver behavior of driver cannot be efficiently reduced, is reduced
Security risk caused by fatigue driving.
Invention content
The invention mainly solves the technical problem of providing a kind of automatic following system and methods, can solve existing with driving skills
The short defect of art following distance coordinates differential device to carry out accurate driving trace composition, then passes through shifting by GPS positioning device
Dynamic terminal carries out information exchange, keeps the driving that rear car carries out automatic running and alleviate driver according to the driving trace of front truck negative
Load.
In order to solve the above technical problems, one aspect of the present invention is：A kind of automatic following system is provided, is wrapped
Include the first GPS positioning antenna, first position information processing unit, first information transmitting-receiving mobile terminal, the transmitting-receiving of the first wireless signal
Device, the 2nd courses GPS antenna, the second GPS positioning antenna, second position information processing unit, the movement of the second information transmit-receive are eventually
End, second wireless singal R-T unit, the first GPS positioning antenna, the first position information processing unit, described first
Information transmit-receive mobile terminal and first wireless signal transceiver are sequentially connected, the 2nd courses the GPS antenna and described
Second GPS positioning antenna is separately connected with the second position information processing unit respectively, the second position information processing apparatus
It sets, the second information transmit-receive mobile terminal and the second wireless singal R-T unit are sequentially connected, first wireless communication
Number R-T unit is connected with the second wireless singal R-T unit.
In a preferred embodiment of the present invention, the automatic following system further includes first movement differential device, described
First movement differential device is connected with the first position information processing unit.
In a preferred embodiment of the present invention, the automatic following system further includes the second movement differential device, described
Second movement differential device is connected with the second position information processing unit.
A kind of automatic follower method is provided, including step is：
（1）First GPS positioning antenna of front truck carries out location determination and obtains first position information in real time, the first position letter
Breath is transferred to first position information processing unit, and the first position information processing unit is handled and is transferred to the first information
Mobile terminal is received and dispatched, the first information transmitting-receiving mobile terminal obtains the first trace information, and is received and dispatched by the first wireless signal
First position information and the first trace information are sent to the second wireless singal R-T unit of rear car by device；
（2）Second GPS positioning antenna of rear car carries out location determination and obtains second position information in real time, the second confidence
Breath is transferred to second position information processing unit, and the second position information processing unit is handled and is transferred to the second information
Receive and dispatch mobile terminal；
（3）The second wireless singal R-T unit transmits the first position information received and first trace information
To the second information transmit-receive mobile terminal, the second information transmit-receive mobile terminal is by the first position information and the second
Confidence breath is compared；
（4）2nd courses GPS antenna and the second position information processing unit determine the second course information and are sent to described
Second information transmit-receive mobile terminal, the second information transmit-receive mobile terminal is by the first position information, first track
Information, the second position information, second course information are handled and are controlled rear car, make rear car according to preceding wheel paths row
It sails.
In a preferred embodiment of the present invention, step（1）Further include by first movement differential device 4 to described first
The error of location information is reduced.
In a preferred embodiment of the present invention, step（2）Further include moving differential device to described second by second
The error of location information is reduced.
In a preferred embodiment of the present invention, step（4）Further include moving differential device to described second by second
The error of course information is reduced.
The beneficial effects of the invention are as follows：The automatic following system and method for the present invention, can make rear car pass through letter according to front truck
The track data that sends in real time of breath transmitting-receiving mobile terminal is independently followed, two vehicles or more vehicles and meanwhile with route when driving, energy
The both hands for effectively liberating rear car driver reduce repetition driver behavior of the rear car driver on route, make rear car according to front truck
The driving that driving trace carries out automatic running and alleviates driver is born, and making to go with, it is more convenient to go on a journey, easily.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is the schematic diagram of vehicle device before automatic following system in the embodiment of the present invention；
Fig. 2 is the schematic diagram of vehicle device after automatic following system in the embodiment of the present invention.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
It please refers to Fig.1 with 2, provides at a kind of automatic following system, including the first GPS positioning antenna 1, first position information
Manage device 2, first movement differential device 4, first information transmitting-receiving mobile terminal 5, the first wireless signal transceiver 3, the 2nd GPS
Course antenna 6, the second GPS positioning antenna 7, second position information processing unit 8, second move differential device 10, the second information
Receive and dispatch mobile terminal 11, second wireless singal R-T unit 9.
The first GPS positioning antenna 1, the first position information processing unit 2, first information transmitting-receiving are mobile eventually
End 5 and first wireless signal transceiver 3 are sequentially connected.The first movement differential device 4 is believed with the first position
Processing unit 2 is ceased to be connected.2nd courses GPS antenna 6, the second GPS positioning antenna 7, the second movement difference dress
10 are set to be separately connected with the second position information processing unit 8 respectively.The second position information processing unit 8, described
Two information transmit-receive mobile terminals 11 and the second wireless singal R-T unit 9 are sequentially connected.
First wireless signal transceiver 3 is connected with the second wireless singal R-T unit 9, is passed by signal
Defeated connection.First wireless signal transceiver 3 and the second wireless singal R-T unit 9 send out and receive wireless communication
Number, so that front truck and rear car is carried out information exchange, the current location of the driving trace and front and back vehicle of real-time reception and display front truck
And trace information.
A kind of automatic follower method is provided, including step is：
（1）First GPS positioning antenna 1 of front truck carries out location determination and obtains first position information in real time, passes through first movement
Differential device 4 reduces the error of the first position information, to make position error control in Centimeter Level.
The first position information is transferred to first position information processing unit 2 after being accurately positioned, described first
Position information process device 2 is handled and is transferred to first information transmitting-receiving mobile terminal 5, and the first information transmitting-receiving is mobile eventually
The compositions work of driving traces is completed at end 5, obtains the first trace information, and by the first wireless signal transceiver 3 by first
Location information and the first trace information are sent to the second wireless singal R-T unit 9 of rear car.
（2）Second GPS positioning antenna 7 of rear car carries out location determination and obtains second position information in real time, passes through second
Mobile differential device 10 reduces the error of the second position information, and the exact position for carrying out rear car itself determines.Institute
It states second position information and is transferred to second position information processing unit 8, the second position information processing unit 8 is handled simultaneously
It is transferred to the second information transmit-receive mobile terminal 11.
（3）The second wireless singal R-T unit 9 of rear car is by the first position information received and described first
Trace information is transferred to the second information transmit-receive mobile terminal 11, and the second information transmit-receive mobile terminal 11 is by the first position
Information and the second position information are compared, and can accomplish the real-time adjustment of position；
（4）2nd courses GPS antenna 6, second moves differential device 10 and the second position information processing unit 8 determines second
Course information is simultaneously sent to the second information transmit-receive mobile terminal 11, and the second information transmit-receive mobile terminal 11 is by described
After one location information, first trace information, the second position information, second course information are handled and are controlled
Vehicle, to make rear car be travelled according to preceding wheel paths.
Current vehicle and rear car distance close to wireless signal transmission apart from when, the first information transmitting-receiving mobile terminal 5 will carry
Front truck of waking up carries out Reduced Speed Now to keep the patency of information exchange.
The beneficial effects of the invention are as follows：This automatic following system in two vehicles or more vehicles simultaneously with route when driving, can be effective
The both hands of rear car driver are liberated on ground, are reduced repetition driver behavior of the rear car driver on route, are made traveling of the rear car according to front truck
The driving that track carries out automatic running and reduces driving is born, and making to go with, it is more convenient to go on a journey, easily.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (7)
1. a kind of automatic following system, which is characterized in that including the first GPS positioning antenna, first position information processing unit,
One information transmit-receive mobile terminal, the first wireless signal transceiver, the 2nd courses GPS antenna, the second GPS positioning antenna, second
Position information process device, the second information transmit-receive mobile terminal, second wireless singal R-T unit, first GPS positioning day
Line, the first position information processing unit, first information transmitting-receiving mobile terminal and first wireless signal transmitting-receiving dress
Set and be sequentially connected, the 2nd courses the GPS antenna and the second GPS positioning antenna respectively with the second position information processing
Device is separately connected, and the second position information processing unit, the second information transmit-receive mobile terminal and described second are wirelessly
Signal receiving/transmission device is sequentially connected, and first wireless signal transceiver is connected with the second wireless singal R-T unit.
2. automatic following system according to claim 1, which is characterized in that the automatic following system further includes the first shifting
Moment separating device, the first movement differential device are connected with the first position information processing unit.
3. automatic following system according to claim 1, which is characterized in that the automatic following system further includes the second shifting
Moment separating device, the second movement differential device are connected with the second position information processing unit.
4. automatic follower method according to claim 1, which is characterized in that be including step：
（1）First GPS positioning antenna of front truck carries out location determination and obtains first position information in real time, the first position letter
Breath is transferred to first position information processing unit, and the first position information processing unit is handled and is transferred to the first information
Mobile terminal is received and dispatched, the first information transmitting-receiving mobile terminal obtains the first trace information, and is received and dispatched by the first wireless signal
First position information and the first trace information are sent to the second wireless singal R-T unit of rear car by device；
（2）Second GPS positioning antenna of rear car carries out location determination and obtains second position information in real time, the second confidence
Breath is transferred to second position information processing unit, and the second position information processing unit is handled and is transferred to the second information
Receive and dispatch mobile terminal；
（3）The second wireless singal R-T unit transmits the first position information received and first trace information
To the second information transmit-receive mobile terminal, the second information transmit-receive mobile terminal is by the first position information and the second
Confidence breath is compared；
（4）2nd courses GPS antenna and the second position information processing unit determine the second course information and are sent to described
Second information transmit-receive mobile terminal, the second information transmit-receive mobile terminal is by the first position information, first track
Information, the second position information, second course information are handled and are controlled rear car, make rear car according to preceding wheel paths row
It sails.
5. automatic follower method according to claim 4, which is characterized in that step（1）Further include poor by first movement
Separating device 4 reduces the error of the first position information.
6. automatic follower method according to claim 4, which is characterized in that step（2）Further include poor by the second movement
Separating device reduces the error of the second position information.
7. automatic follower method according to claim 4, which is characterized in that step（4）Further include poor by the second movement
Separating device reduces the error of second course information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188940.6A CN108415431A (en) | 2018-03-08 | 2018-03-08 | A kind of automatic following system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810188940.6A CN108415431A (en) | 2018-03-08 | 2018-03-08 | A kind of automatic following system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108415431A true CN108415431A (en) | 2018-08-17 |
Family
ID=63130331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810188940.6A Pending CN108415431A (en) | 2018-03-08 | 2018-03-08 | A kind of automatic following system and method |
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| Country | Link |
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| CN (1) | CN108415431A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110428603A (en) * | 2019-07-26 | 2019-11-08 | 北京主线科技有限公司 | Following Car travel control method and device in container truck formation |
| CN111260911A (en) * | 2019-12-30 | 2020-06-09 | 同济大学 | Motorcade driving method based on road side equipment |
| CN113220036A (en) * | 2021-04-20 | 2021-08-06 | 长城汽车股份有限公司 | Automatic vehicle following system and method |
| CN113359706A (en) * | 2021-05-17 | 2021-09-07 | 中国矿业大学 | Multi-body auxiliary transportation system cooperative turning track self-planning system and method |
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| CN105764033A (en) * | 2016-02-19 | 2016-07-13 | 腾讯科技（深圳）有限公司 | Information processing method, first terminal, and second terminal |
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2018
- 2018-03-08 CN CN201810188940.6A patent/CN108415431A/en active Pending
Patent Citations (5)
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| CN102183960A (en) * | 2011-05-06 | 2011-09-14 | 北京航空航天大学 | Local flexible virtual stem turning control system suitable for independent automatic tracking |
| CN103847739A (en) * | 2012-11-30 | 2014-06-11 | 三星电子（中国）研发中心 | Method and system for automatically following car and assisting parking by means of mobile terminal |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110428603A (en) * | 2019-07-26 | 2019-11-08 | 北京主线科技有限公司 | Following Car travel control method and device in container truck formation |
| CN111260911A (en) * | 2019-12-30 | 2020-06-09 | 同济大学 | Motorcade driving method based on road side equipment |
| CN113220036A (en) * | 2021-04-20 | 2021-08-06 | 长城汽车股份有限公司 | Automatic vehicle following system and method |
| CN113359706A (en) * | 2021-05-17 | 2021-09-07 | 中国矿业大学 | Multi-body auxiliary transportation system cooperative turning track self-planning system and method |
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Application publication date: 20180817 |
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