CN108540934A - A kind of automatic Pilot distance detection device - Google Patents
A kind of automatic Pilot distance detection device Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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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
- G05D1/0278—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention belongs to automatic Pilot technical fields, disclose a kind of automatic Pilot distance detection device, and the automatic Pilot includes with distance detection device：Program load-on module, monitoring module, circuitry self test module, central control module, wireless communication module, locating module, range finder module, alarm module, display module.The present invention provides range finder module and communication network may make to realize ranging business in normal data communication service, so that the communication and two kinds of business of ranging will not have an impact each other, and the ranging expense in network is reduced, node energy consumption is reduced, extends Network morals；It may be implemented meeting with a street accident by alarm module simultaneously, alarm immediately, save manpower monitoring, improve rescue efficiency.
Description
Technical field
The invention belongs to automatic Pilot technical field more particularly to a kind of automatic Pilot distance detection devices.
Background technology
Currently, the prior art commonly used in the trade is such：
Autonomous driving vehicle (Autonomous vehicles；Self-piloting automobile) it is also known as nobody and drives
Automobile, computer driving or wheeled mobile robot are sailed, is that one kind realizing unpiloted intelligent vapour by computer system
Vehicle.The history for also having had many decades in 20th century shows the trend close to functionization at the beginning of 21 century, for example, Google is certainly
Dynamic driving obtains the first automatic driving vehicle licensing in the U.S. in May, 2012, it is contemplated that in 2015 to 2017 into
Enter market sale.However, when existing automatic Pilot ranging, transmission, which receives ranging grouping, will occupy limited WiMAX money
Source, and the transmission of data will inevitably consume node energy；Simultaneously in the event of an accident, know often through monitoring,
It is time-consuming and laborious.
It is traditional based on received signal strength information (Received Signal Strength Indicator, RSSI)
Localization method needs the grid that area to be targeted is divided into multiple known locations in the Database stage, is set by hand-held
It is standby to carry out data sampling within a grid, it finally will be in sampled data and acquisition position pairing deposit database.The density of grid is very
Big degree affects final positioning accuracy, and density is bigger, and positioning accuracy is higher.
The higher mesh-density of the prior art, which but considerably increases, establishes the database time, to the database update in later stage
Cause difficulty so that fingerprint positioning method has very strong limitation in practical applications.
In conclusion problem of the existing technology is：
When existing automatic Pilot ranging, transmission, which receives ranging grouping, will occupy limited WiMAX resource, and number
According to transmission will inevitably consume node energy；Simultaneously in the event of an accident, know often through monitoring, it is time-consuming and laborious,
Lead to rescue not in time.
The higher mesh-density of the prior art, which but considerably increases, establishes the database time, to the database update in later stage
Cause difficulty so that fingerprint positioning method has the problem of very strong limitation in practical applications.
Invention content
In view of the problems of the existing technology, the present invention provides a kind of automatic Pilot distance detection devices.
The invention is realized in this way a kind of automatic Pilot distance detection device, the automatic Pilot uses distance to detect
Device includes：
Program load-on module, connect with central control module, is used for the program of Loading Control running car；
Monitoring module is connect with central control module, for the traffic by camera head monitor running car periphery；
Circuitry self test module, connect with central control module, the functioning condition for detecting each electric elements of automobile；
Central control module, with program load-on module, monitoring module, circuitry self test module, wireless communication module, positioning mould
Block, range finder module, alarm module, display module connection, for controlling scheduling modules normal work；
Wireless communication module is connect with central control module, real for connecting remote control computer by wireless transmission
Existing telematique；
Locating module is connect with central control module, is positioned for connecting GPS positioning system by locator；Tool
Body includes：
Obtain the electronic map coordinates of unit path；
RSSI acquisitions and scan for wireless signals emitter, obtain RSSI value and record；
The scanning moment and all coordinates for finding out each signal strength generate absolute value of the difference between the moment, find absolute value
Minimum coordinate generates the moment, and pairing saves as a primitive of database；
If there are the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database, RSSI is averaged, is made
For the cell data of the electronic map coordinates in database；
Range finder module is connect with central control module, and the distance for periphery object of adjusting the distance carries out ranging；
Alarm module is connect with central control module, for starting alert notice traffic monitoring personnel according to vibration signal；
Display module is connect with central control module, for showing driving information.
Further, the electronic map coordinates for obtaining unit path specifically include：
Meter step operation is carried out using the accelerometer in inertial navigation equipment with gyroscope to calculate by condition detection method
The step number and straight length of walking, and the electronic map coordinates of each step are calculated, t at the time of record kth step coordinate generatess(k),
K=1,2 ..., L, L indicate walking step number total on the path, the collected 3-axis acceleration value difference of k moment accelerometers
For ak(1)、ak(2)、ak(3), collected three axis angular rate of gyroscope is respectively ωk(1)、ωk(2)、ωk(3), condition detects
Method uses three condition Cs1, C2And C3To judge whether the foot of people remains static；
The condition C1, C2And C3：
Condition C1For acceleration magnitudeMeet between two given thresholdings：
Condition C2It is greater than given threshold value for local acceleration variance,
Local acceleration variance calculation is,
WhereinIt is local average acceleration, calculating formula isS is the length of window of mean value；
Condition C3For the size of gyroscope measured valueMeet less than given thresholding：
It is the relationship of logical AND between condition, i.e., condition detection result is C1&C2&C3, condition detection result pass through one again
The median filter that a length of window is 11, output logical one indicate halted state, and logical zero indicates walking states, from stopping
State change is then calculated as a step of having walked to walking states, and the total step number walked on current path is m (k), when people is walked
Step-length approximation regards regular length l as, then straight length d (k) calculation formula currently walked are：
D (k)=m (k) * l or d (k)=d (k-1)+l.
Further, the RSSI acquisitions and scan for wireless signals emitter obtain RSSI value and record to specifically include：
RSSI collecting devices according to minimum sweep time to N number of wireless signal transmitting device for being arranged in ambient enviroment into
Row RSSI acquisitions, collect N number of RSSI value every time, while recording scanning jth second, t momentr(j), j=1,2 ..., T, T tables
Show total times of collection；
The scanning moment for finding out each signal strength and all coordinates generate absolute value of the difference between the moment, find absolutely
Is generated to that minimum coordinate of value, the primitive that pairing saves as database specifically includes the moment：
The RSSI and electronic map coordinates that synthetical collection obtains find out the scanning moment t of each signal strengthr(j), j=
1,2 ..., T generates moment t with all coordinatess(k), k=1, absolute value of the difference between 2 ..., L find absolute value minimum
That coordinate generates moment tm(j)：
Think tr(j) coordinate for N number of signal strength that the moment is scanned is located at tm(j) electronic map that the moment generates is sat
Mark, pairing save as a primitive of database.
Further, locating module, including：
Coordinate obtaining module, the electronic map coordinates for obtaining unit path；
RSSI value acquisition module obtains RSSI value and records for RSSI acquisitions and scan for wireless signals emitter；
Data time matching module, the scanning moment for finding out each signal strength and all coordinates generated between the moment
Absolute value of the difference, that coordinate for finding absolute value minimum generate the moment, and pairing saves as a master data list of database
Member；
Optimization module is matched, it, will for having the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database
RSSI is averaged, the cell data as the electronic map coordinates in database；
The coordinate obtaining module further comprises：
Meter step arithmetic element, by carrying out meter step operation using accelerometer and the gyroscope in inertial navigation equipment；
Electronic map coordinates computing unit, for by condition detection method, calculating the step number and straight length of walking,
And calculate the electronic map coordinates of each step；
The RSSI value acquisition module further comprises：
RSSI collecting units, it is N number of in ambient enviroment to being arranged according to minimum sweep time for RSSI collecting devices
Wireless signal transmitting device carries out RSSI acquisitions；
RSSI value unit, for collecting N number of RSSI value, while writing scan moment every time；
The data time matching module further comprises：
Absolute value element finds out sweeping for each signal strength for RSSI and electronic map coordinates that synthetical collection obtains
It retouches the moment and all coordinates generates absolute value of the difference between the moment, that coordinate for finding absolute value minimum generates the moment；
Storage unit, for matching a master data for saving as database.
Further, the range finder module distance measuring method is as follows：
First, source node sends request transmission control frame to destination node, and the request transmission control frame includes：Ranging control
Field processed, the control field is for identifying whether to need ranging；
Secondly, when ranging control field mark needs ranging, the source node record sends request and sends control
The time T1 of first character in frame, the destination node record receive first character in the request transmission control frame
Time T2；The destination node, which is sent, allows transmission control frame to the source node, and the permission transmission control frame includes：With institute
It states request transmission control frame and identifies identical control field；
Then, when ranging control field mark needs ranging, the destination node record sends to allow to send and control
The time T3 of first character in frame processed, the source node record receive first character in the permission transmission control frame
Time T4；
Then, the source node transmission data frame gives the destination node, the data frame packet to contain：Allow to send with described
Control the identical ranging control field of frame identification；When control field mark needs ranging, the source node record is sent
The time T5 of first character in data frame, the destination node record receive the time of first character in the data frame
T6；
Finally, the destination node sends acknowledgement frame to the source node, and the acknowledgement frame includes：Time T2, time T3
With time T6；Source node according to the time T1 of the time T2, time T3, time T6 and the record that receive, time T4 and when
Between T5, calculate the distance between the source node and the destination node.
Further, the alarm module includes vibration detection module, threshold setting module, starts alarm module；
Vibration detection module, the vibration data for obtaining automobile in real time by vibrating sensor；
Threshold setting module, the secure threshold for setting vibration data；
Start alarm module, traffic monitoring personnel are given for sending warning information.
Another object of the present invention is to provide a kind of distance detections for realizing the automatic Pilot distance detection device
Computer program.
Another object of the present invention is to provide a kind of information equipped with the automatic Pilot distance detection device
Data processing terminal.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is being counted
When being run on calculation machine so that computer executes the distance detection method of the automatic Pilot distance detection device.
Advantages of the present invention and good effect are：
The present invention provides range finder module and communication network may make to realize ranging business in normal data communication service, makes
Obtaining the communication and two kinds of business of ranging will not have an impact each other, and reduce the ranging expense in network, reduce
Node energy consumes, and extends Network morals；Simultaneously may be implemented meeting with a street accident by alarm module, immediately into
Row alarm saves manpower monitoring, improves rescue efficiency.
The present invention realizes coherent acquisition of the fingerprint database in moving process, can generate in a relatively short period of time compared with
Big location fingerprint data library, simplify fingerprint database establishes process, additionally it is possible to improve positioning accuracy.Meanwhile in environment
When variation needs to build library again, the workload of later stage resampling and maintenance can be reduced.Improve fingerprint positioning method
Practicability, make it easier to large-scale promotion.The present invention realizes people the continuous moving during by inertial navigation set
Data acquire, and the present invention has the signal acquisition time fast compared with conventional method, and the high advantage of signal acquisition density is subtracting significantly
Lack while establish the database time, moreover it is possible to which the acquisition density for improving database finally improves positioning accuracy.Also, this hair
It is bright to be suitable for nearly all indoor fingerprint positioning method based on RSSI, it is effective supplement in its Database stage.This hair
It is bright to be of great significance for the fingerprint database acquisition based on wireless fingerprint positioning, the time of fingerprint collecting can be made to be reduced to
/ 5th or so of traditional single-point acquiring, while size of data doubles, and greatly reduces the cost of layout of fingerprint location,
Convenient for promoting and applying on a large scale.
Description of the drawings
Fig. 1 is automatic Pilot distance detection device structure diagram provided in an embodiment of the present invention.
In figure：1, program load-on module；2, monitoring module；3, circuitry self test module；4, central control module；5, channel radio
Believe module；6, locating module；7, range finder module；8, alarm module；9, display module.
Fig. 2 is experimental situation floor map provided in an embodiment of the present invention.
Fig. 3 is position error cumulative distribution schematic diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows.
As shown in Figure 1, automatic Pilot provided by the invention includes with distance detection device：Program load-on module 1, monitoring mould
Block 2, circuitry self test module 3, central control module 4, wireless communication module 5, locating module 6, range finder module 7, alarm module 8,
Display module 9.
Program load-on module 1 is connect with central control module 4, is used for the program of Loading Control running car；
Monitoring module 2 is connect with central control module 4, for the traffic shape by camera head monitor running car periphery
Condition；
Circuitry self test module 3 is connect with central control module 4, the functioning condition for detecting each electric elements of automobile；
Central control module 4, with program load-on module 1, monitoring module 2, circuitry self test module 3, wireless communication module 5,
Locating module 6, range finder module 7, alarm module 8, display module 9 connect, for controlling scheduling modules normal work；
Wireless communication module 5 is connect with central control module 4, for connecting remote control computer by wireless transmission,
Realize telematique；
Locating module 6 is connect with central control module 4, is positioned for connecting GPS positioning system by locator；
Range finder module 7 is connect with central control module 4, and the distance for periphery object of adjusting the distance carries out ranging；
Alarm module 8 is connect with central control module 4, for starting alert notice traffic monitoring people according to vibration signal
Member；
Display module 9 is connect with central control module 4, for showing driving information.
7 distance measuring method of range finder module provided by the invention is as follows：
First, source node sends request transmission control frame to destination node, and the request transmission control frame includes：Ranging control
Field processed, the control field is for identifying whether to need ranging；
Secondly, when ranging control field mark needs ranging, the source node record sends request and sends control
The time T1 of first character in frame, the destination node record receive first character in the request transmission control frame
Time T2；The destination node, which is sent, allows transmission control frame to the source node, and the permission transmission control frame includes：With institute
It states request transmission control frame and identifies identical control field；
Then, when ranging control field mark needs ranging, the destination node record sends to allow to send and control
The time T3 of first character in frame processed, the source node record receive first character in the permission transmission control frame
Time T4；
Then, the source node transmission data frame gives the destination node, the data frame packet to contain：Allow to send with described
Control the identical ranging control field of frame identification；When control field mark needs ranging, the source node record is sent
The time T5 of first character in data frame, the destination node record receive the time of first character in the data frame
T6；
Finally, the destination node sends acknowledgement frame to the source node, and the acknowledgement frame includes：Time T2, time T3
With time T6；Source node according to the time T1 of the time T2, time T3, time T6 and the record that receive, time T4 and when
Between T5, calculate the distance between the source node and the destination node.
Alarm module 8 provided by the invention includes vibration detection module, threshold setting module, starts alarm module；
Vibration detection module, the vibration data for obtaining automobile in real time by vibrating sensor；
Threshold setting module, the secure threshold for setting vibration data；
Start alarm module, traffic monitoring personnel are given for sending warning information.
When the present invention drives, pass through the program of 1 Loading Control running car of program load-on module；It is supervised by monitoring module 2
Control the traffic on running car periphery；The functioning condition of each electric elements of automobile is detected by circuitry self test module 3；Center
4 scheduling wireless communications module 5 of control module realizes telematique；GPS positioning system is connected by locating module 6 to be determined
Position；By range finder module 7 adjust the distance periphery object distance carry out ranging；If encountering Traffic Collision accident, pass through mould of alarming
Block 8 starts alert notice traffic monitoring personnel according to vibration signal；Driving information is shown by display module 9.
With reference to specific embodiment, the invention will be further described.
Locating module is connect with central control module, is positioned for connecting GPS positioning system by locator；Tool
Body includes：
Obtain the electronic map coordinates of unit path；
RSSI acquisitions and scan for wireless signals emitter, obtain RSSI value and record；
The scanning moment and all coordinates for finding out each signal strength generate absolute value of the difference between the moment, find absolute value
Minimum coordinate generates the moment, and pairing saves as a primitive of database；
If there are the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database, RSSI is averaged, is made
For the cell data of the electronic map coordinates in database；
The electronic map coordinates for obtaining unit path specifically include：
Meter step operation is carried out using the accelerometer in inertial navigation equipment with gyroscope to calculate by condition detection method
The step number and straight length of walking, and the electronic map coordinates of each step are calculated, t at the time of record kth step coordinate generatess(k),
K=1,2 ..., L, L indicate walking step number total on the path, the collected 3-axis acceleration value difference of k moment accelerometers
For ak(1)、ak(2)、ak(3), collected three axis angular rate of gyroscope is respectively ωk(1)、ωk(2)、ωk(3), condition detects
Method uses three condition Cs1, C2And C3To judge whether the foot of people remains static；
The condition C1, C2And C3：
Condition C1For acceleration magnitudeMeet between two given thresholdings：
Condition C2It is greater than given threshold value for local acceleration variance,
Local acceleration variance calculation is,
WhereinIt is local average acceleration, calculating formula isS is the length of window of mean value；
Condition C3For the size of gyroscope measured valueMeet less than given thresholding：
It is the relationship of logical AND between condition, i.e., condition detection result is C1&C2&C3, condition detection result pass through one again
The median filter that a length of window is 11, output logical one indicate halted state, and logical zero indicates walking states, from stopping
State change is then calculated as a step of having walked to walking states, and the total step number walked on current path is m (k), when people is walked
Step-length approximation regards regular length l as, then straight length d (k) calculation formula currently walked are：
D (k)=m (k) * l or d (k)=d (k-1)+l.
The RSSI acquisitions and scan for wireless signals emitter obtain RSSI value and record to specifically include：
RSSI collecting devices according to minimum sweep time to N number of wireless signal transmitting device for being arranged in ambient enviroment into
Row RSSI acquisitions, collect N number of RSSI value every time, while recording scanning jth second, t momentr(j), j=1,2 ..., T, T tables
Show total times of collection；
The scanning moment for finding out each signal strength and all coordinates generate absolute value of the difference between the moment, find absolutely
Is generated to that minimum coordinate of value, the primitive that pairing saves as database specifically includes the moment：
The RSSI and electronic map coordinates that synthetical collection obtains find out the scanning moment t of each signal strengthr(j), j=
1,2 ..., T generates moment t with all coordinatess(k), k=1, absolute value of the difference between 2 ..., L find absolute value minimum
That coordinate generates moment tm(j)：
Think tr(j) coordinate for N number of signal strength that the moment is scanned is located at tm(j) electronic map that the moment generates is sat
Mark, pairing save as a primitive of database.
Further, locating module, including：
Coordinate obtaining module, the electronic map coordinates for obtaining unit path；
RSSI value acquisition module obtains RSSI value and records for RSSI acquisitions and scan for wireless signals emitter；
Data time matching module, the scanning moment for finding out each signal strength and all coordinates generated between the moment
Absolute value of the difference, that coordinate for finding absolute value minimum generate the moment, and pairing saves as a master data list of database
Member；
Optimization module is matched, it, will for having the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database
RSSI is averaged, the cell data as the electronic map coordinates in database；
The coordinate obtaining module further comprises：
Meter step arithmetic element, by carrying out meter step operation using accelerometer and the gyroscope in inertial navigation equipment；
Electronic map coordinates computing unit, for by condition detection method, calculating the step number and straight length of walking,
And calculate the electronic map coordinates of each step；
The RSSI value acquisition module further comprises：
RSSI collecting units, it is N number of in ambient enviroment to being arranged according to minimum sweep time for RSSI collecting devices
Wireless signal transmitting device carries out RSSI acquisitions；
RSSI value unit, for collecting N number of RSSI value, while writing scan moment every time；
The data time matching module further comprises：
Absolute value element finds out sweeping for each signal strength for RSSI and electronic map coordinates that synthetical collection obtains
It retouches the moment and all coordinates generates absolute value of the difference between the moment, that coordinate for finding absolute value minimum generates the moment；
Storage unit, for matching a master data for saving as database.
With reference to concrete analysis, the invention will be further described.
If there are the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database, this several RSSI are made even
Mean value, the cell data as the electronic map coordinates in database.
Using the inertial navigation module gathered data of model AH-100B, and it is placed on instep, people is along linear rows
1000 steps are walked.When walking, the acceleration of each of which axis has the white Gaussian noise that mean value is zero, variance is 0.012, has in addition
Value is (0,0, -0.02), the deviation that variance is 0.04, unit m/s2；The angular speed of each of which axis has that mean value is zero, variance is
0.0087 white Gaussian noise, it is (0,0, -0.01), the deviation that variance is 0.015, unit rad/s to have mean value in addition.People walks
When part meter step the results are shown in Figure 2, logic ' 1 ' indicates that stationary state, logic ' 0 ' indicate walking states, failing edge then table
Show a step of having walked.The step number result detected in above-mentioned test is equal to 1000 step of true step number, and box shows successfully to monitor
Step-movement is arrived.As it can be seen that the error rate of step number detection is 0% under test conditions.
Dotted line shown in Fig. 2 indicates sample path.Grid Sampling method is adopted with 1 meter for length interval along dotted line
Sample, sampling the data obtained have 392 samples, are calculated by each sampled point actual average 5 seconds used times, establish database and consumed
Time is about 33 minutes.And sample to obtain the receiving intensity information of signal by physical layer using the present invention, the sampling period is big
About 2 times/second are calculated by 3.5 kilometers of the speed of travel of speed per hour, and sampling density is about at 0.5 meter or so, when entire sampling is completed
Between take around 6 minutes, and 768 data samples can be obtained.It can find that the present invention is in number by the comparison of table 1
According to all having a clear superiority in library settling time and size, while Database size increases one times, the Database time
It is only equivalent to 1/5th of Grid Sampling method.
1 sampling process of table compares
| Data acquisition time (minute) | Database sample number | |
| Grid Sampling method | 33 | 392 |
| Inventive method | 6 | 768 |
The technique effect for comparing the present invention is further described by below.
Common correlation function matching locating method in positioning is applied in Grid Sampling method and the method for the present invention simultaneously,
It is comparable to find that the method for the present invention is apparent for the promotion of positioning accuracy.Function curve diagram shown in Fig. 3 is 100 random sites
The cumulative distribution of position error.Observation chart 3 is it can be found that by the method for the invention can be small with 70% probability by positioning accuracy
In 1 meter, it is less than 0.8 meter compared to Grid Sampling method with 70% probability, positioning accuracy improves 39%.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Every any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (9)
1. a kind of automatic Pilot distance detection device, which is characterized in that the automatic Pilot includes with distance detection device：
Program load-on module, connect with central control module, is used for the program of Loading Control running car；
Monitoring module is connect with central control module, for the traffic by camera head monitor running car periphery；
Circuitry self test module, connect with central control module, the functioning condition for detecting each electric elements of automobile；
Central control module, with program load-on module, monitoring module, circuitry self test module, wireless communication module, locating module,
Range finder module, alarm module, display module connection, for controlling scheduling modules normal work；
Wireless communication module is connect with central control module, for connecting remote control computer by wireless transmission, is realized remote
Journey believes message communication；
Locating module is connect with central control module, is positioned for connecting GPS positioning system by locator；Specific packet
It includes：
Obtain the electronic map coordinates of unit path；
RSSI acquisitions and scan for wireless signals emitter, obtain RSSI value and record；
The scanning moment and all coordinates for finding out each signal strength generate absolute value of the difference between the moment, find absolute value minimum
Coordinate generate the moment, pairing saves as a primitive of database；
If there are the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database, RSSI is averaged, as number
According to the cell data of the electronic map coordinates in library；
Range finder module is connect with central control module, and the distance for periphery object of adjusting the distance carries out ranging；
Alarm module is connect with central control module, for starting alert notice traffic monitoring personnel according to vibration signal；
Display module is connect with central control module, for showing driving information.
2. automatic Pilot distance detection device as described in claim 1, which is characterized in that the electronics for obtaining unit path
Map reference specifically includes：
Meter step operation is carried out with gyroscope walking is calculated by condition detection method using the accelerometer in inertial navigation equipment
Step number and straight length, and calculate the electronic map coordinates of each step, t at the time of record kth step coordinate generatess(k), k=
1,2 ..., L, L indicate walking step number total on the path, and the collected 3-axis acceleration value of k moment accelerometers is respectively ak
(1)、ak(2)、ak(3), collected three axis angular rate of gyroscope is respectively ωk(1)、ωk(2)、ωk(3), condition detection method
Use three condition Cs1, C2And C3To judge whether the foot of people remains static；
The condition C1, C2And C3：
Condition C1For acceleration magnitudeMeet between two given thresholdings：
Condition C2It is greater than given threshold value for local acceleration variance,
Local acceleration variance calculation is,
WhereinIt is local average acceleration, calculating formula isS is the length of window of mean value；
Condition C3For the size of gyroscope measured valueMeet less than given thresholding：
It is the relationship of logical AND between condition, i.e., condition detection result is C1&C2&C3, condition detection result pass through a window again
The median filter that mouth length is 11, output logical one indicate halted state, and logical zero indicates walking states, from halted state
It changes to walking states and is then calculated as a step of having walked, the total step number walked on current path is m (k), step-length when people is walked
Approximation regards regular length l as, then straight length d (k) calculation formula currently walked are：
D (k)=m (k) * l or d (k)=d (k-1)+l.
3. automatic Pilot distance detection device as described in claim 1, which is characterized in that the RSSI is acquired and scanned wireless
Sender unit obtains RSSI value and records to specifically include：
RSSI collecting devices carry out the N number of wireless signal transmitting device being arranged in ambient enviroment according to minimum sweep time
RSSI is acquired, and collects N number of RSSI value every time, while recording scanning jth second, t momentr(j), j=1,2 ..., T, T are indicated
Total times of collection；
The scanning moment for finding out each signal strength and all coordinates generate absolute value of the difference between the moment, find absolute value
That minimum coordinate generates the moment, and the primitive that pairing saves as database specifically includes：
The RSSI and electronic map coordinates that synthetical collection obtains find out the scanning moment t of each signal strengthr(j), j=1,
2 ..., T generates moment t with all coordinatess(k), k=1, absolute value of the difference between 2 ..., L find that of absolute value minimum
A coordinate generates moment tm(j)：
Think tr(j) coordinate for N number of signal strength that the moment is scanned is located at tm(j) electronic map coordinates that the moment generates, match
To saving as a primitive of database.
4. automatic Pilot distance detection device as described in claim 1, which is characterized in that locating module, including：
Coordinate obtaining module, the electronic map coordinates for obtaining unit path；
RSSI value acquisition module obtains RSSI value and records for RSSI acquisitions and scan for wireless signals emitter；
Data time matching module, it is poor between the scanning moment for finding out each signal strength and all coordinates generation moment
Absolute value, that coordinate for finding absolute value minimum generate the moment, and pairing saves as a primitive of database；
Optimization module is matched, for there are the corresponding electronic map coordinates of a plurality of RSSI data identical simultaneously in database, by RSSI
It is averaged, the cell data as the electronic map coordinates in database；
The coordinate obtaining module further comprises：
Meter step arithmetic element, by carrying out meter step operation using accelerometer and the gyroscope in inertial navigation equipment；
Electronic map coordinates computing unit, for by condition detection method, calculating the step number and straight length of walking, and count
Calculate the electronic map coordinates of each step；
The RSSI value acquisition module further comprises：
RSSI collecting units, it is N number of wireless in ambient enviroment to being arranged according to minimum sweep time for RSSI collecting devices
Sender unit carries out RSSI acquisitions；
RSSI value unit, for collecting N number of RSSI value, while writing scan moment every time；
The data time matching module further comprises：
Absolute value element, for RSSI and electronic map coordinates that synthetical collection obtains, when finding out the scanning of each signal strength
It carves and all coordinates generates absolute value of the difference between the moment, that coordinate for finding absolute value minimum generates the moment；
Storage unit, for matching a master data for saving as database.
5. automatic Pilot distance detection device as described in claim 1, which is characterized in that the range finder module distance measuring method is such as
Under：
First, source node sends request transmission control frame to destination node, and the request transmission control frame includes：Ranging control word
Section, the control field is for identifying whether to need ranging；
Secondly, when ranging control field mark needs ranging, the source node record is sent in request transmission control frame
The time T1 of first character, the destination node record receive the time of first character in the request transmission control frame
T2；The destination node, which is sent, allows transmission control frame to the source node, and the permission transmission control frame includes：It is asked with described
Transmission control frame is asked to identify identical control field；
Then, when ranging control field mark needs ranging, the destination node record, which is sent, allows transmission control frame
The time T3 of middle first character, the source node record receive the time of first character in the permission transmission control frame
T4；
Then, the source node transmission data frame gives the destination node, the data frame packet to contain：Allow to send control with described
The identical ranging control field of frame identification；When control field mark needs ranging, the source node records transmission data
The time T5 of first character in frame, the destination node record receive the time T6 of first character in the data frame；
Finally, the destination node sends acknowledgement frame to the source node, and the acknowledgement frame includes：Time T2, time T3 and when
Between T6；Source node according to the time T1, time T4 and time T5 of the time T2, time T3, time T6 and the record that receive,
Calculate the distance between the source node and the destination node.
6. automatic Pilot distance detection device as described in claim 1, which is characterized in that the alarm module includes that vibration is examined
It surveys module, threshold setting module, start alarm module；
Vibration detection module, the vibration data for obtaining automobile in real time by vibrating sensor；
Threshold setting module, the secure threshold for setting vibration data；
Start alarm module, traffic monitoring personnel are given for sending warning information.
7. a kind of calculating of distance detection that realizing automatic Pilot distance detection device described in claim 1~6 any one
Machine program.
8. it is a kind of equipped with the information data of automatic Pilot distance detection device described in claim 1~6 any one at
Manage terminal.
9. a kind of computer readable storage medium, including instruction, when run on a computer so that computer is executed as weighed
Profit requires the distance detection method of automatic Pilot distance detection device described in 1-6 any one.
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