CN108819943A - A kind of autonomous follow the bus system and method based on two dimensional code - Google Patents
A kind of autonomous follow the bus system and method based on two dimensional code Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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Abstract
The present invention provides a kind of autonomous follow the bus system and method based on two dimensional code, the system comprises：Data acquisition unit acquires visual pattern and supersonic sounding number in real time, and by collected real-time data transmission to data analysis unit；Data analysis unit, wherein data processing module receives the data of the data acquisition unit, if there are target vehicles in front, relative position and the angle between vehicle are then estimated according to the actual size of visual pattern and the two-dimentional code mark being set on vehicle, and collision-avoidance warning is judged whether in conjunction with ultrasound data, and result is transferred to more vehicle co-located computing modules；The location information of all vehicles is calculated to promote self poisoning precision and prediction target vehicle location information, and analyze the speed and direction corner that show that vehicle needs to adjust in more vehicle co-located computing module integration systems.The present invention improves the safety of fleet's trip, ensure that the precision and reliability of follow the bus, and cost price is low.
Description
Technical field
The present invention relates to the autonomous follow the bus technical fields of automatic Pilot, and in particular, to a kind of based on the autonomous of two dimensional code
Follow the bus system and method.
Background technique
Relative position information between accurate vehicle position information and vehicle is the basis of many vehicle application systems.It borrows
The vehicle location precision of 10m or so can be obtained by helping Global Satellite Navigation System (GNSS) and positioning enhancing technology, but GNSS belongs to
In the location technology of single node, it is clear that be not able to satisfy in such as vehicle self-organizing network vehicle safety certain applications to high positioning accurate
The requirement of degree and in the case where GNSS signal is blocked, the precise position information between vehicle and vehicle are even more to be difficult to obtain
It takes.Relative positional relationship between vehicle is the major issue of autonomous follow the bus technical research, moves vehicle, short distance fleet fortune in short distance fleet
Key effect is played in the application such as goods, and existing cognition technology, such as radar, camera are difficult while guaranteed price and precision
Equilibrium, be always a research puzzle guaranteeing that cost and precision under the premise of realize that more vehicles independently tracks.And in fleet
In the application such as trip, convenient man-machine interactively be it is highly important, therefore, develop a kind of economic and reliable, facilitate man-machine interactively
Autonomous follow the bus system be very necessary.
Through the literature search discovery to existing autonomous follow the bus technology, Chinese Patent Application No. 201620830523.3, patent
It is entitled：Autonomous follow the bus system.The patent perceives environmental information by millimetre-wave radar, ultrasonic radar, vision etc., and utilization is low
Cost ultrasonic radar more accurately measures the relative distance of close-in target, compensates for millimetre-wave radar and closely surveys
Deficiency away from bigger error in conjunction with control unit and then realizes autonomous follow the bus.Although this scheme can travel the follow the bus of vehicle
Active control is carried out, but the use of the sensors such as millimetre-wave radar significantly increases cost, and does not account for vehicle in system
More vehicle work compounds under the conditions of determination, and the collaboration of more vehicles can effectively reduce manpower, reduction driver fatigue or operation error and draw
The traffic accident probability of hair.Chinese Patent Application No. 201710183867.9, patent name are：A kind of fleet's formation control loop
And method.Head vehicle is by pilot steering in the patent, other vehicles are follow the bus, each car equipped with positioning region, communication unit, test section and
Automatic Pilot control unit, test section are used to measure the location information between vehicle, and the communication unit in each car is connected with positioning region,
It is responsible for although may be implemented the autonomous follow the bus cooperateed between vehicle with Adjacent vehicles interaction locations information, this scheme simultaneously, but for
For the applications such as batch transfer fleet, it is difficult to realize low cost and high-precision autonomous follow the bus, and man-machine interactively link is weak, no
Only have position to distinguish between vehicle, it has not been convenient to carry out car number, therefore head vehicle is difficult to obtain vehicle sequence and real time monitoring vehicle
The quantity and state of vehicle in team, driving reliability are to be improved.
Summary of the invention
In view of the problems of the existing technology, the object of the present invention is to provide a kind of autonomous follow the bus system and method, it is being
It is available accurate using the visual information of two dimensional code and the range information of ultrasonic distance measurement in the case that vehicle is fixed in system
It from the relative positional relationship of vehicle and target vehicle, realizes that more vehicles communicate by communication system, fleet's control is realized by man-machine interactively
System.Under the premise of guaranteeing follow the bus precision, greatly reduce tracking cost, and the user of two dimensional code head vehicle obtain vehicle
Number, convenient for the realization of man-machine interactively, improve the precision and reliability of follow the bus system.
According to an aspect of the invention, there is provided a kind of autonomous follow the bus system based on two dimensional code, including：
Data acquisition unit acquires the visual pattern of vehicle front and the supersonic sounding in front and back workshop as a result, and will in real time
Collected real-time data transmission is to data analysis unit；
Data analysis unit, including data processing module, more vehicle co-located computing modules and data transmission module,
In：The data processing module receives the data of the data acquisition unit, if there are target vehicles in front, according to vision figure
The actual size of picture and the two-dimentional code mark being set on vehicle estimates relative position and angle between vehicle, and combines super
Sound data judge whether to collision-avoidance warning, and result is transferred to more vehicle co-located computing modules；More vehicle collaborations are fixed
The position of all vehicles and follow the bus or alarm condition information carry out in the system that position computing module integral data processing module obtains
It calculates to be promoted from vehicle positioning accuracy and prediction target vehicle (front vehicles to be tracked) location information, analyzing to come from vehicle needs
The speed to be adjusted and direction corner, and the absolute location information relative to head vehicle is converted by relative position information；The number
The speed for needing to adjust from vehicle and direction corner be transferred to to carry out vehicle from the bottom control module of vehicle automatic according to transmission module
Positioning, simultaneous transmission is to man-machine interaction unit；
Man-machine interaction unit, the vehicle obtained for carrying out data analysis unit described in vehicle parameter setting and real-time display
The absolute fix information of status information and vehicle with respect to head vehicle.
Preferably, the system comprises communication modules, for the information transmission between each vehicle, wherein：Follow the bus passes through institute
It states communication module and obtains target vehicle velocity and direction corner information, convenient autonomous tracking, and by self-position and status information
It is sent to a vehicle by the communication module, man-machine interaction unit is facilitated to show.
Preferably, the data acquisition module includes image data acquiring module and supersonic sounding acquisition module, wherein scheming
As data collecting module collected visual pattern, is detected for two dimensional code and carry out pose estimation accordingly, obtained result is to low coverage
It is accurately positioned from target, the supersonic sounding data of the supersonic sounding acquisition module are used for the safety alarm of collision prevention.
It is highly preferred that the data processing module is in real time handled data, if there are target vehicles in front, know
The relative position of current itself and target vehicle is estimated, then by the information of vehicles of itself, mesh in other two dimensional code position in the picture
It marks the ID of vehicle two dimensional code and is sent to more vehicle co-located computing modules with the relative position information of target vehicle, if not having
Detect target vehicle, then the information only obtained ultrasound measurement module is sent to more vehicle co-located computing modules.
It is highly preferred that two-dimentional code mark is arranged after each car, the two dimensional code in each car has different ID, if preceding
Side there are target vehicle, the data processing module pass through two-dimentional code detection method identify two dimensional code position in the picture and
The corresponding ID of two dimensional code estimates the opposite position in two workshops by PnP problem solving under the premise of known two dimensional code actual size
Set with direction corner, and obtained needing the speed that adjusts and side according to system parameters and target and vehicle status information
To corner.
More preferably, for the case where failure is tracked in the short time, pose estimation can be still carried out, if detection is lost for a long time
It loses, then sends parking alarm to head vehicle, if there is no vehicle detection failure for a long time in system, according to principle of coordinate transformation
Release one after another absolute positional relation of other vehicles relative to head vehicle, and is shown in man-machine interaction unit.
Preferably, the data analysis unit further includes data memory module, and the data memory module saves in real time is
The speed and direction corner that the position of vehicle, the relative position of vehicle-to-target vehicle and vehicle need to adjust in system, it is convenient
Vehicle information interaction and calling.
According to another aspect of the present invention, a kind of autonomous follow the bus method based on two dimensional code is provided, is included the following steps：
S1：The two-dimentional code mark of different ID is set in each car, vehicle mode, follow the bus are set by man-machine interaction unit
Distance, the max speed limitation, follow the bus quantity, vehicle are all ready to, and head vehicle sends follow the bus enabling signal；
S2：Acquisition visual pattern and supersonic sounding data in real time, and transmit data to data processing module；
S3：Data processing module is in real time handled visual image data, if there are target vehicles in front, is identified
The relative position of current itself and target vehicle is estimated, then by the information of vehicles of itself, target in two dimensional code position in the picture
The ID of vehicle two dimensional code and more vehicle co-located computing modules are sent to the relative position information of target vehicle；
S4：Each vehicle transmits information, more vehicle co-located computing module integration by network communication module and other vehicles
The information of vehicles received, analysis obtain the speed and direction corner that each vehicle needs to adjust, are used for vehicle control；
S5：It is required from vehicle according to the follow the bus of default and speed and direction corner that the obtained vehicle of S4 need to adjust,
Controller, which is sent to, by data transmission module carries out automatic vehicle positioning；Head vehicle is in real time by more vehicle co-located computing modules
The position and angle information that obtained each vehicle-state, relative position, absolute position and needs adjust are sent to human-computer interaction
Unit is shown, driver safety operation is facilitated；
S6：S2 to S6 is repeated, the real-time update of data is carried out, to realize the entire mistake based on two dimensional code positioning follow the bus
Journey.
Preferably, the data processing module is estimated in front there are two dimensional code position in the picture when target vehicle, is identified
The relative position for counting current itself and target vehicle, judges whether to collision-avoidance warning in combination with ultrasound data；If not examining
Target vehicle is measured, then the information only obtained ultrasound measurement module is sent to more vehicle co-located computing modules.
Preferably, the man-machine interaction unit provides following operating function：
After follow the bus vehicle is ready to, follow the bus button is pressed, is sent to a vehicle follow the bus signal；
Head vehicle configures system parameter by man-machine interaction unit, after determining that follow the bus is ready to, sends enabling signal, follow the bus
Mode starting；
During follow the bus, head vehicle receives the alarm signal that follow the bus is sent, and is slowed down by man-machine interaction unit or is stopped
Operation；
It arrives at the destination, head vehicle is pressed by man-machine interaction unit and dismisses button, all vehicle parkings.
Compared with prior art, the present invention has following beneficial effect：
1, the present invention realizes the precise measurement of vehicle vehicle relative distance, in conjunction with man-machine by detection two dimensional code handmarking
Interactive unit and workshop network communication, may be implemented the autonomous tracking of other vehicles in addition to head vehicle, save manpower；
2, the present invention only perceives environmental information by camera and inexpensive ultrasonic probe, manually marks in conjunction with two dimensional code
The precise measurement (can reach centimeter-level positioning precision) to close-in target relative distance can be realized in will, is guaranteeing precision
Under the premise of, greatly reduce follow the bus cost.
3, two-dimentional code mark is used in the present invention and carries out follow the bus, since two dimensional code is easy to carry and installation, and has independence
ID, using flexible are detected according to two dimensional code, and follow the bus is easy to obtain target vehicle ID, in the acquisition system that user can be convenient
Car number and state, and starting follow the bus is sent according to vehicle-state and conciliates scattered signal, improve the safety of fleet's trip.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is vehicle two dimensional code (AprilTag) arrangement schematic diagram of one embodiment of the invention；
Fig. 2 is the system principle diagram of one embodiment of the invention；
Fig. 3 is the method implementation process block diagram of one embodiment of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
The present invention provides a kind of at low cost, high reliablity autonomous follow the bus system and method, this hair in order to facilitate understanding
Bright, in following embodiment, the vehicle for participating in more vehicle co-locateds all installs communication equipment, and Chinese herbaceous peony is installed ultrasound measurement module and taken the photograph
As head, two dimensional code magnetic stripe, vehicle control syetem, human-computer interaction component are adsorbed in vehicle rear window lower right, wherein vehicle control syetem
Mould is transmitted including a vehicle information data acquisition and memory module, vehicle co-located computing module more than one and a data
Block.It is communicated between vehicle by network.
It is a kind of embodiment of the arrangement of vehicle two dimensional code involved in autonomous follow the bus system, two-dimentional plaiting shown in referring to Fig.1
It is placed in vehicle rear window lower right, and is arranged by the way of adsorbing two dimensional code magnetic stripe.
Referring to shown in Fig. 2, for the present invention is based on the preferred embodiment block diagrams of the autonomous follow the bus system of two dimensional code, wherein described
System includes：Data acquisition unit, data analysis unit, man-machine interaction unit, wherein：
The data acquisition unit includes supersonic sounding acquisition module, image data acquiring module, and data acquisition module is real
When acquisition vision and supersonic sounding initial data, and collected initial data is passed in real time by wired or wireless mode
It is defeated by data analysis unit；
The data analysis unit includes data processing module, more vehicle co-located computing modules, data memory module
And data transmission module, wherein data processing module is in real time handled the ultrasound data received with image data,
Analysis is obtained from the relative position of vehicle and target vehicle, target vehicle ID, and result is transferred to more vehicle co-locateds and calculates mould
Block；Position, state and the id information of all vehicles, are analyzed depending on the relative position in more vehicle co-located computing module integration systems
Show that vehicle needs the speed that adjusts and direction corner to carry out vehicle control, and by communication module issue a vehicle hypertelorism,
Corner is excessive, unsuccessfully parking alarm (needs exist for the speed and steering wheel that receive front truck by communication module for detection for a long time
Corner auxiliary), according to coordinate transformation method, find out absolute position of each vehicle relative to head vehicle；The data memory module
The speed that position, state, the relative position of vehicle-to-target vehicle and the vehicle of vehicle need to adjust in real-time preservation system
With direction corner；On the one hand the data transmission module can pass through the speed that the needs of each vehicle adjust with direction corner
The bottom control module that CAN bus is transferred to follow the bus carries out automatic vehicle positioning, on the other hand can be by wired or wireless
Mode is transferred to man-machine interaction unit；
The man-machine interaction unit, for carrying out initial vehicle parameter setting and real-time display data analysis unit
Obtained information facilitates a vehicle to understand system mode, improves the reliability of system.
As a preferred embodiment, as shown in Fig. 2, being communicated between vehicle by ZigBee-network, more vehicle collaborations
The location information of all vehicles in the module integrated system of location Calculation is calculated to promote self poisoning precision and prediction target
Vehicle position information, and analyze the speed and direction corner for showing that vehicle needs to adjust.
As a preferred embodiment, as shown in Fig. 2, the data memory module in real time in preservation system vehicle position
Set, the relative position of vehicle-to-target vehicle and vehicle need the speed that adjusts and direction corner, facilitate information friendship between vehicle
Mutually and call.
As a preferred embodiment, as shown in Fig. 2, the data transmission module on the one hand can be by the position of each vehicle
It sets, the speed that itself is adjusted with the relative position of target vehicle and needs and direction corner are transferred to the progress of bottom control module
Automatic vehicle positioning, on the other hand can be by 4G network transmission to man-machine interaction unit.
As a preferred embodiment, as shown in Fig. 2, the man-machine interaction unit can use tablet computer, mainly
The information that progress vehicle parameter setting and real-time display data analysis unit obtain carries out safety work with assist driver.
It is a kind of preferred embodiment flow chart of autonomous follow the bus method based on two dimensional code, concrete operations referring to shown in Fig. 3
Include the following steps：
Step 1：The two-dimentional code mark of different ID is set in each car, by man-machine interaction unit set vehicle mode,
Following distance, the max speed limitation, follow the bus quantity, vehicle are all ready to, and head vehicle sends follow the bus enabling signal；
Step 2：Ultrasound measurement module and image data acquiring module acquire range data and original image in real time, and pass through
Wired or wireless mode transmits data to the data processing module of processor；
Step 3：Data processing module is in real time handled data, and it is artificial all to adsorb two dimensional code in system after each car
Label, if front identifies the two of two dimensional code position in the picture and target vehicle there are target vehicle, by image algorithm
The corresponding ID of code is tieed up, under the premise of known two dimensional code actual size, in the present embodiment, two can be calculated using following formula
Tie up position and direction of the code relative to visual sensor：
P=λ K [R t] P
Wherein p is coordinate of the two dimensional code under camera imaging coordinate system, and it in world coordinate system coordinate (is two that P, which is two dimensional code,
Dimension code center is origin), K is camera internal reference matrix, and λ is dimensional information, and R, t are camera coordinates system relative to world coordinate system
Position and posture.The relative position and direction that two workshops can be estimated by PnP problem solving, during vehicle tracking,
It can achieve the positioning accuracy of Centimeter Level, then by the range data of ultrasonic measurement, the information of vehicles of itself, target vehicle two dimension
Code ID and be sent to more vehicle co-located computing modules with the relative position information of target vehicle, if not detecting target
Vehicle, the then information only obtained ultrasound measurement module are sent to more vehicle co-located computing modules；
Step 4：Information is transmitted by network communication and other vehicles between vehicle in system, each follow the bus receives preceding parking stall
Confidence breath, more vehicle co-located computing modules integrate the information of vehicles received, and according to coordinate transformation method, by phase between vehicle
Absolute position relative to head vehicle is converted into position.
In the present embodiment, tracking range and the police in two workshops are estimated according to two vehicle speed of front and back and system reaction time
Distance is reported, alarm distance calculation formula is as follows between vehicle：
Wherein d is parking minimum range, TfFor system reaction time (generally 200~600ms), vfrontFor front truck vehicle
Speed, vbackFor rear car speed, asFor rear car braking distance, afrontAlarm distance is calculated if front truck slows down for front truck acceleration,
Judge that current distance judges whether to brake regulation in conjunction with ultrasound data；Then vehicle tracking distance is calculated, calculation formula is such as
Under：
Dc=k × d+ (vbackTf-0.5×aback×Tf 2)-(vfrontTf-0.5×afront×Tf 2) (3)
K generally takes 1.2~1.8, and in conjunction with the adjustable range of initialization, and current spacing can divide with safe tracking range
The speed that each vehicle needs to adjust is precipitated, vehicle is analyzed according to directional information between front truck directional information and vehicle and needs to adjust
Direction corner.
Current vehicle needs to receive the speed and corner information of target vehicle, for tracking failure in the short time (1~5s)
The case where, pose estimation can be still carried out, if detection failure for a long time, parking alarm is sent to head vehicle, if not having in system
Vehicle detection failure for a long time, according to principle of coordinate transformation, can release one after another absolute position of other vehicles relative to head vehicle
Relationship；
Step 5：From the speed that vehicle needs to be required according to the follow the bus of default and the obtained vehicle of step 4 need to adjust with
Direction corner is transferred to follow the bus bottom control module and carries out automatic vehicle positioning；Head vehicle passes through inter-vehicle communication module real-time reception
Each vehicle-state that more vehicle co-located computing modules obtain, workshop relative position, relative to the absolute position of head vehicle, and pass through
Wired or wireless way is sent to man-machine interaction unit and is shown, facilitates driver safety operation；
Step 6：It repeats step 2 and arrives step 5, carry out the real-time update of data, follow the bus is positioned based on two dimensional code to realize
Whole process.
In the above-mentioned methods, man-machine interaction unit can provide the operating function of following simplicity：
1：Vehicle forms a line, and places the two dimensional code artificial target of different ID in rear of vehicle, after follow the bus vehicle is ready to,
Follow the bus button is pressed, a vehicle follow the bus signal is sent to；
2：By man-machine interaction unit configuration system parameter, (such as follow the bus quantity, follow the bus two dimensional code ID is determined head vehicle here, no
Need to be arranged ID, only step 1 needed to be placed in order), after determining that follow the bus is ready to, enabling signal is sent, Car following model opens
It is dynamic；
3：During follow the bus, head vehicle receives the alarm signal that follow the bus is sent, and carries out corresponding operating (slow down or stop)；
4：It arrives at the destination, head vehicle is pressed by man-machine interaction unit and dismisses button, all vehicle parkings.
Further, it is saved in real time using data memory module in the system that step 4 obtains between information of vehicles, vehicle
The position and angle information that relative position information and vehicle need to adjust.
The above embodiment of the present invention carries out pose estimation by detection two dimensional code, realizes the accurate survey of vehicle vehicle relative distance
Amount, while collision-avoidance warning is carried out by ultrasonic module, it is analyzed in conjunction with the parameter and information of vehicles of man-machine interaction unit setting
Speed and direction and the workshop network communication for needing to adjust out, may be implemented the autonomous tracking of other vehicles except a vehicle.By
In two-dimentional code mark is easy to carry and installation, using flexible, and have independent ID, head vehicle, which facilitates, obtains vehicle sequence, facilitates man-machine
Interactive unit monitors position and the state of all vehicles in real time, improves the safety of fleet's trip.With other autonomous follow the bus systems
System is compared, and ensure that the precision and reliability of follow the bus, and cost price is low.
In conjunction with Fig. 2-3, it is further provided in a concrete application embodiment of the invention, in the embodiment：
Two dimensional code uses AprilTag two dimensional code, can also use other two dimensional codes in other embodiments certainly；
Data processing platform (DPP) uses NUC processor, can also use other processors in other embodiments certainly；
AprilTag two dimensional code artificial target, size can choose 30cm × 30cm, be adsorbed on vehicle rear window using magnetic stripe
Lower right, if the AXIS P1265 camera identification AprilTag that front there are target vehicle, is installed on the vehicle window of front is in image
Middle position, and ultrasonic probe data is combined to estimate the relative position of current itself and target vehicle, and result is transferred to more
Vehicle co-located computing module；
Image data acquiring module uses visual sensor.
In this embodiment, the process that the autonomous follow the bus based on AprilTag is realized, is referred to following steps：
Step 1：Vehicle forms a line in system, and each car adsorbs the AprilTag mark of different ID, man-machine by head vehicle
Interactive unit sets vehicle mode (being divided into a vehicle and follow the bus, wherein head Che Renkai), record vehicle ID, parking minimum range (one
As 1~2m), adjustable range (1~2m), the max speed limitation (generally less than 30km/h), the parameters such as follow the bus quantity (3~5)；
After follow the bus determination is ready to, a vehicle is sent a signal to, head vehicle sends enabling signal by man-machine interaction unit, and Car following model opens
It is dynamic；
Step 2：Ultrasound measurement module and image data acquiring module acquire range data and original image in real time, and will count
According to being sent to data processing module；
Step 3：Data processing module is in real time handled data, all adsorbs AprilTag people in system after each car
Work label, if front there are target vehicle, identifies the position in the picture AprilTag, estimation current itself and target vehicle
Then relative position is believed by the information of vehicles of itself, the ID of target vehicle AprilTag and with the relative position of target vehicle
Breath is sent to more vehicle co-located computing modules, if not detecting target vehicle, the letter for obtaining ultrasound measurement module
Breath is sent to more vehicle co-located computing modules；
Step 4：All vehicles in system transmit information, more vehicle co-located meters by ZigBee communication and other vehicles
The module integrated information of vehicles received is calculated, collision-avoidance warning is judged whether in conjunction with ultrasound data, analyzes depending on the relative position
Show that vehicle needs the speed that adjusts and direction corner to carry out vehicle control, and by communication module issue a vehicle hypertelorism,
Alarm that corner is excessive, detection for a long time is unsuccessfully stopped, if alarm occurs in follow the bus, head vehicle adjusts speed, if there is parking alarm, institute
There is vehicle automatic stopping；If in system there are vehicle detection to the end vehicle ID and without vehicle detection fail, according to coordinate transform
Principle, other vehicles that can release one after another are relative to head vehicle according to position；
Step 5：From the speed that vehicle needs to be required according to the follow the bus of default and the obtained vehicle of step 4 need to adjust with
Direction corner is transferred to follow the bus control unit by CAN bus and carries out automatic vehicle positioning；It is fixed that head vehicle in real time cooperates with more vehicles
What each vehicle-state, workshop relative position, the absolute position relative to head vehicle, ID and the needs that position computing module obtains adjusted
Position and angle information, and man-machine interaction unit is sent to by 4G network and is shown；
Step 6：Data memory module saves the opposite position in the system that step 4 obtains between information of vehicles, vehicle in real time
The position and angle information that confidence breath and vehicle need to adjust；
Step 7：Repeat step 2 arrive step 6, carry out the real-time update of data, thus realize based on AprilTag positioning with
The whole process of vehicle.
The present invention realizes the automatic Pilot of other outer vehicles of a vehicle, significantly reduces manpower, and user can oneself setting
Parameter, and the speed between vehicle and direction corner information, target vehicle id information, relative to the exhausted of head vehicle can be obtained in real time
It is come out to location information, and by man-machine interaction unit real-time display, with assist driver safety work；By detecting AprilTag
Handmarking may be implemented the precise measurement (can reach centimeter-level positioning precision) to close-in target relative distance, and perceive
Module only has the ultrasonic probe of camera and low price, improves the precision and reliability of follow the bus system, and cost price is low.
It should be noted that the step in the autonomous follow the bus implementation method provided by the invention, can use it is described from
Corresponding module, device, unit etc. are achieved in main follow the bus realization system, and those skilled in the art are referred to the system
Technical solution realize the step process of the method, that is, the embodiment in the system can be regarded as realizing the method
Preference, it will not be described here.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
And its other than each device, completely can by by method and step carry out programming in logic come so that system provided by the invention and its
Each device is in the form of logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedded microcontroller etc.
To realize identical function.So system provided by the invention and its every device are considered a kind of hardware component, and it is right
The device for realizing various functions for including in it can also be considered as the structure in hardware component；It can also will be for realizing each
The device of kind function is considered as either the software module of implementation method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of autonomous follow the bus system based on two dimensional code, which is characterized in that including：
Data acquisition unit acquires the visual pattern of vehicle front and the supersonic sounding in front and back workshop as a result, and will acquisition in real time
The real-time data transmission arrived is to data analysis unit；
Data analysis unit, including data processing module, more vehicle co-located computing modules and data transmission module, wherein：
The data processing module receives the data of the data acquisition unit, if there are target vehicles in front, according to visual pattern
And the actual size for the two-dimentional code mark being set on vehicle estimates relative position and angle between vehicle, and combines ultrasound
Data judge whether to collision-avoidance warning, and result is transferred to more vehicle co-located computing modules；More vehicle co-located meters
The position of all vehicles and follow the bus or alarm condition information in the system that module integrated data processing module obtains is calculated to be calculated
To promote the location information for predicting target vehicle from vehicle positioning accuracy and the front vehicles to be tracked, analyze to come from vehicle needs
The speed and direction corner of adjustment, and the absolute location information relative to head vehicle is converted by relative position information；The data
The speed for needing to adjust from vehicle and direction corner are transferred to from the bottom control module progress vehicle of vehicle by transmission module determines automatically
Position, simultaneous transmission is to man-machine interaction unit；
Man-machine interaction unit, the vehicle shape obtained for carrying out data analysis unit described in vehicle parameter setting and real-time display
State information, vehicle with respect to head vehicle absolute location information.
2. a kind of autonomous follow the bus system based on two dimensional code according to claim 1, which is characterized in that the system comprises
Communication module, for the information transmission between each vehicle, wherein：Follow the bus by the communication module obtain target vehicle velocity with
Direction corner information, convenient autonomous tracking, and self-position and status information are sent to a vehicle by the communication module, side
Just man-machine interaction unit is shown.
3. a kind of autonomous follow the bus system based on two dimensional code according to claim 1, which is characterized in that the data acquisition
Module includes image data acquiring module and supersonic sounding acquisition module, and wherein image data acquiring module acquires visual pattern,
It is detected for two dimensional code and carries out pose estimation accordingly, obtained result is accurately positioned close-in target, the ultrasound
The supersonic sounding data of range acquisition module are used for the safety alarm of collision prevention.
4. a kind of autonomous follow the bus system based on two dimensional code according to claim 3, which is characterized in that the data processing
Module is in real time handled data, if there are target vehicles in front, identifies two dimensional code position in the picture, estimation is current
The relative position of itself and target vehicle, then by the information of vehicles of itself, the ID of target vehicle two dimensional code and and target carriage
Relative position information be sent to more vehicle co-located computing modules, if not detecting target vehicle, only by ultrasound survey
The information obtained away from module is sent to more vehicle co-located computing modules.
5. a kind of autonomous follow the bus system based on two dimensional code according to claim 4, which is characterized in that be arranged after each car
Two-dimentional code mark, the two dimensional code in each car has different ID, if there are target vehicle, the data processing moulds in front
Block passes through two-dimentional code detection method and identifies two dimensional code position in the picture and the corresponding ID of two dimensional code, real in known two dimensional code
Under the premise of the size of border, relative position and the direction corner in two workshops are estimated by PnP problem solving, and according to system parameters
And target and vehicle status information obtain the speed for needing to adjust and direction corner.
6. a kind of autonomous follow the bus system based on two dimensional code according to claim 5, which is characterized in that in the short time
The case where tracking failure, pose estimation can be still carried out, if detection failure for a long time, parking alarm be sent to head vehicle, if being
There is no vehicle detection failure for a long time in system, according to principle of coordinate transformation, other vehicles that can release one after another are relative to head vehicle
Absolute positional relation, and shown in man-machine interaction unit.
7. a kind of autonomous follow the bus system based on two dimensional code according to claim 1-6, which is characterized in that described
Data analysis unit further includes data memory module, the data memory module position of vehicle, vehicle in preservation system in real time
The speed and direction corner for needing to adjust with the relative position of target vehicle and vehicle, facilitate vehicle information interaction and tune
With.
8. a kind of autonomous follow the bus method based on two dimensional code, which is characterized in that described method includes following steps：
S1：The two-dimentional code mark of different ID is set in each car, vehicle mode is set, with spacing by man-machine interaction unit
From the limitation of, the max speed, follow the bus quantity, vehicle is all ready to, and head vehicle sends follow the bus enabling signal；
S2：Acquisition visual pattern and supersonic sounding data in real time, and transmit data to data processing module；
S3：Data processing module is in real time handled visual image data, if there are target vehicles in front, identifies two dimension
The relative position of current itself and target vehicle is estimated, then by the information of vehicles of itself, target vehicle in code position in the picture
The ID of two dimensional code and more vehicle co-located computing modules are sent to the relative position information of target vehicle；
S4：Each vehicle transmits information by network communication module and other vehicles, and more vehicle co-located computing module integration receive
The information of vehicles arrived, analysis obtain the speed and direction corner that each vehicle needs to adjust, are used for vehicle control；
S5：It is required and speed and direction corner that the obtained vehicle of S4 need to adjust, is passed through according to the follow the bus of default from vehicle
Data transmission module is sent to controller and carries out automatic vehicle positioning；Head vehicle in real time obtains more vehicle co-located computing modules
Each vehicle-state, relative position, absolute position and the position that adjusts and angle information is needed to be sent to man-machine interaction unit
It is shown；
S6：S2 to S6 is repeated, the real-time update of data is carried out, to realize the whole process based on two dimensional code positioning follow the bus.
9. the autonomous follow the bus method according to claim 8 based on two dimensional code, which is characterized in that the data processing module
In front there are two dimensional code position in the picture when target vehicle, is identified, the relative position of current itself and target vehicle is estimated,
Collision-avoidance warning is judged whether in combination with ultrasound data；If not detecting target vehicle, only by ultrasound measurement module
Obtained information is sent to more vehicle co-located computing modules.
10. the autonomous follow the bus method based on two dimensional code according to claim 8 or claim 9, which is characterized in that the human-computer interaction
Unit provides following operating function：
After follow the bus vehicle is ready to, follow the bus button is pressed, is sent to a vehicle follow the bus signal；
Head vehicle configures system parameter by man-machine interaction unit, after determining that follow the bus is ready to, sends enabling signal, Car following model
Starting；
During follow the bus, head vehicle receives the alarm signal that follow the bus is sent, and is slowed down by man-machine interaction unit or behaviour of stopping
Make；
It arrives at the destination, head vehicle is pressed by man-machine interaction unit and dismisses button, all vehicle parkings.
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