CN109741633A - Region security running method and vehicle - Google Patents
Region security running method and vehicle Download PDFInfo
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- CN109741633A CN109741633A CN201910131248.4A CN201910131248A CN109741633A CN 109741633 A CN109741633 A CN 109741633A CN 201910131248 A CN201910131248 A CN 201910131248A CN 109741633 A CN109741633 A CN 109741633A
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Abstract
The invention proposes a kind of region security running method, computer equipment and computer readable storage mediums, wherein region security running method, comprising: determine target area；The recessed position on road surface in identification object region；According to the size of recessed position, the running region for controlling vehicle driving range is set in target area；When vehicle driving exceeds running region, traveling or control Vehicular turn are terminated.According to the technical solution of the present invention, effectively the recessed position in target area is identified, and running region is set out according to its size, and controls vehicle and is only travelled in running region, be conducive to vehicle in this way and be effectively shielded from recessed position, promotes the safety of vehicle driving.
Description
Technical field
The present invention relates to unmanned technical fields, in particular to a kind of region security running method and a kind of vehicle
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Background technique
Unmanned machine generally uses laser radar, infrared sensor, 3D industrial camera or multiple sensors
It is applied in combination, realizes avoidance；Barriers more than these sensor road pavements may be implemented effectively to detect substantially, but road pavement with
Under hollow area, it is difficult to evade.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, it is an object of the present invention to provide a kind of region security running methods.
It is another object of the present invention to provide a kind of vehicles.
To achieve the goals above, the technical solution of first aspect present invention provides a kind of region security running method,
Comprise determining that target area；Recessed position in identification object region；According to the size of recessed position, set in target area
Determine the running region for controlling vehicle driving range；When vehicle driving exceeds running region, terminates traveling or control vehicle turns
To.
In the technical scheme, it by being identified the recessed position in target area, and is set according to its size
Running region out, and control vehicle and only travelled in running region, be conducive to vehicle in this way by stopping travelling or turn to
Biggish recessed position is avoided, the safety of vehicle driving is promoted.
It is to be appreciated that protruding from the barrier on road surface, whether naked eyes or sensor, are all relatively easy to find, from
And control vehicle in advance and avoid obstacle, and for the recessed position lower than road surface, often it is not easy by naked eyes or sensor discovery,
Especially in the driving of vehicle, sensor is relied primarily on, most of the time, it is difficult to find recessed position and easily lead to safety
Accident.It, then can be by that will be recessed in advance for some only movable vehicles, especially engineering truck in certain area coverage
Position, which marks off, to be come, and the running region of safety is set out, to can avoid recessed position in traveling, operation process, is promoted
The safety of vehicle driving, and the mode of the running region of this setting safety, it is simple and easy, convenient for operation.
In the above-mentioned technical solutions, according to the size of recessed position, setting is for controlling vehicle driving in target area
The running region of range, specifically includes: measuring the dimensional parameters of recessed position, and is compared with parameter preset；Size is joined
Number is greater than at the recessed position of parameter preset and is set as non-running region, and all other region in target area is set as travelling
Region；At the edge of running region, fence is set.
In the technical scheme, safety of the recessed position for vehicle driving, essentially consists in its size, and size is lesser
Recessed position is small to the safety effects of vehicle driving, therefore the recessed position that dimensional parameters are greater than to parameter preset is only needed to set
It is set to non-running region, the workload of running region setting can be reduced in this way, the area of running region is promoted, promote vehicle
Scope of activities, and then promote the convenience of vehicle driving manipulation.
Fence is set at the edge of running region, is conducive to clearly define running region and non-running region, promotes row
The resolvability for sailing region avoids vehicle from being strayed into non-running region and cause safety accident.
It is to be appreciated that the fence in the application, is not limited in fence, it is also possible to the common fence of entity,
Such as the fence combined by column, cross bar；The fence being made of metal mesh, in some construction sites, it might even be possible to be some sand
The fence that packet, stone are temporarily accumulated or put, the fence of this hypostazation can be identified by the sensor on vehicle.
It is to be appreciated that the size of parameter preset, needs to be determined according to specific wheel of vehicle, in other words, with wheel
Diameter is related with width.
In any of the above-described technical solution, fence is fence；The dimensional parameters of recessed position include recessed position
The gradient, width, length, any one or the combination of several of them in depth.
In the technical scheme, by setting fence for fence, it is easy to implement automatic Pilot or remote driving, is mentioned
Rise the convenience of control vehicle safety；Fence in the application, can be include various sensors, cable entity
Fence is also possible to the virtual electronic fence being arranged on the electronic map.
Further, in the technical scheme, the recessed position on road surface, the size of opening, that is, the length being open, width
Degree or diameter, directly influence whether wheel can fall into recess；The gradient of recessed position influences wheel and crosses recess position
Consistent level when place is set, the gradient is bigger, as soon as transition of the wheel from plane to another plane is smaller, is more easy to produce top
It winnows with a dustpan；Depth is deeper, then the degree jolted is bigger.Therefore, determining whether each recessed position will be divided in non-running region
When, mainly consider its length, width, depth and the gradient.
In any of the above-described technical solution, fence is set at the edge of running region, specifically includes: setting up base station；It builds
It stands using base station as the coordinate system of origin；The coordinate for obtaining multiple points at the edge of running region, using a plurality of with the arrow oriented
Multiple points are connected as the fence of at least one closed convex polygon by line segment, wherein oriented on each convex polygon
Line segment joins end to end in the counterclockwise direction or clockwise.
In the technical scheme, it by the fence for being set as being made of directed line segment by fence, does not need in this way
It crosses on the spot, reduces workload, improve the efficiency of fence setting, and such fence is simple, can directly count
The setting for carrying out fence on machine equipment is calculated, is convenient for automatic identification and control fence size in this way, promotes fence setting
Convenience also helps saving social resources；In addition, due to recessed position may have it is multiple, distribution may be also not any
Rule, therefore, the quantity of the fence of convex polygon, it may be possible to one, it is also possible to it is multiple, it, can in multiple fences
It can be mutually indepedent, it is also possible to intersect, surround, further, recessed position may be outside fence, it is also possible in electronics
In fence.
In any of the above-described technical solution, fence includes the first fence or fence includes the first electricity
Sub- fence and the second fence, the second fence are located in the first fence, and enclose equipped at least one non-traveling area
Domain.
In the technical scheme, fence includes the first fence, mainly for recess biggish in target area
Position concentrates on the side of target area, or the case where be just dispersed in target area marginal position, is conducive to set in this way
The continuous running region of bulk out promotes the convenience of vehicle driving.Fence includes the first fence and the second electronics
Fence, the second fence are located in the first fence, and this running region is a kind of convex polygon of substantially hollow shape, or
Person says roughly annular running region, this setting, week in target area more dispersed mainly for some recessed positions
At peripheral edge position and middle position has the case where larger recessed position, at this point, being existed according to this biggish recessed position
Distribution situation in first fence, the second fence can be set multiple, include one in each second fence
Larger recessed position in a or multiple non-running regions or the first fence containing recessed position is more concentrated, this
When the larger recessed position that can more concentrate these be all disposed around in second fence as non-running region,
So that it is guaranteed that vehicle will not drive at biggish recessed position, the safety of vehicle driving is promoted.
In any of the above-described technical solution, when vehicle driving exceeds running region, traveling or control Vehicular turn are terminated,
It specifically includes: obtaining the coordinate of vehicle；Obtain the starting point coordinate and terminal point coordinate of every directed line segment on the first fence；
According to the coordinate of the starting point coordinate of every directed line segment on the first fence and terminal point coordinate and vehicle, vehicle is calculated
Location parameter F corresponding with every directed line segment on the first fence；The position of vehicle is judged according to F value；In vehicle
When outside the first fence, stop the traveling or control Vehicular turn of vehicle.
In the technical scheme, by obtaining the coordinate of vehicle and the starting point coordinate and terminal point coordinate of directed line segment, and
The location parameter F that vehicle is calculated using above-mentioned coordinate judges to imitate F value come simple and convenient by way of judging vehicle location
Rate is high, when range convenient for being driven out to running region in vehicle, stops vehicle in time or control vehicle being turned to, avoid safe thing
Therefore.
In any of the above-described technical solution, the second fence is equipped in the first fence；Vehicle driving is beyond row
When sailing region, traveling or control Vehicular turn are terminated, further includes: obtain the coordinate of vehicle；It obtains every on the second fence
The starting point coordinate and terminal point coordinate of directed line segment；According to the starting point coordinate of every directed line segment on the second fence and end
The coordinate of point coordinate and vehicle calculates vehicle location parameter corresponding with every directed line segment on the second fence
F；The position of vehicle is judged according to F value；When vehicle is located in the second fence, the traveling or control vehicle for stopping vehicle turning
To.
In the technical scheme, as previously mentioned, the second fence is located in the first fence, in the second fence
It is the non-running region for including larger recessed position, therefore, is determining that vehicle is located in the second fence according to F value
When, illustrate that vehicle has been driven out to the range of running region, therefore the traveling by stopping vehicle or control Vehicular turn, avoids larger
Recessed position, promote the safety of vehicle driving.
In the above-mentioned technical solutions, location parameter F, specific calculation are as follows:
F=(x2-x1) × (y-y1)-(x-x1) × (y2-y1)；
Wherein, the coordinate of vehicle is (x, y), and the starting point coordinate of directed line segment is (x1, y1), the terminal point coordinate of directed line segment
For (x2, y2)；Or the terminal point coordinate of directed line segment is (x1, y1), the starting point coordinate of directed line segment is (x2, y2)；Sentenced according to F value
The position of disconnected vehicle, specifically include: if the F value of all non-zeros is positive and negative all the same, vehicle is located in fence；If it exists
The positive and negative difference of the F value of the F value and remaining non-zero of at least one non-zero, then vehicle is located at outside fence.
In the technical scheme, F value can be calculated by simple addition subtraction multiplication and division, after calculating F value, it is only necessary to
The positive and negative of multiple F values is compared, calculates and deterministic process is simple and fast, improve the reaction speed of working efficiency and vehicle,
Be conducive to the safety for further promoting vehicle driving.
In the above-mentioned technical solutions, the quantity of base station is multiple；It establishes using base station as the coordinate system of origin, specifically includes:
Each base station is measured at a distance from vehicle；The determining and shortest base station of vehicle distances；Using correspond to the shortest distance base station as
Origin establishes coordinate system.
In the technical scheme, the area in probable target area domain is larger, has exceeded the coverage area or mesh of a base station
Mark region is more dispersed and has exceeded the coverage area of a base station, at this time by setting up multiple base stations, it is ensured that electronics encloses
The validity on column, and then guarantee the safety of vehicle driving.Using the base station nearest apart from vehicle as origin, be conducive to promote letter
The accuracy of number transmission speed and control.
The technical solution of second aspect of the present invention provides a kind of vehicle, including positioning device, in above-mentioned first aspect
The base station of any one technical solution is connected, and positioning device is for obtaining vehicle in any one of above-mentioned first aspect technical solution
Coordinate in coordinate system；Control system is connected with positioning device, control system any one of above-mentioned first aspect skill for identification
The fence of art scheme, and according to the coordinate of vehicle, control vehicle encloses in the running region set in fence to travel.
In the technical scheme, it is travelled in running region according to the coordinate control vehicle of vehicle in a coordinate system, it is this
Control method is simple, is also convenient for realizing long-range control, and the intelligentized control method for improving vehicle driving is horizontal, effectively prevents vehicle
Non- running region is driven into, ensure that the safety that vehicle travels in target area.
Optionally, vehicle is including at least any one in road roller, fork truck, forklift, bull-dozer.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 is the flow diagram of region security running method according to an embodiment of the invention；
Fig. 2 is the flow diagram of region security running method according to another embodiment of the invention；
Fig. 3 is the flow diagram of region security running method according to another embodiment of the invention；
Fig. 4 is the flow diagram of region security running method according to another embodiment of the invention；
Fig. 5 is the schematic diagram of running region according to an embodiment of the invention；
Fig. 6 is the schematic diagram of running region according to another embodiment of the invention.
Wherein, corresponding relationship of the Fig. 5 into Fig. 6 between appended drawing reference and component names are as follows:
10 running regions, 100 first fences, 102 second fences, 104 starting points, 106 terminals, 12 non-traveling areas
Domain, 14 vehicles, 16 base stations.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 6 description.
Embodiment 1
As shown in Figure 1, the region security running method of the one embodiment proposed according to the present invention, comprising:
Step S100: target area is determined；
Determine the approximate range that vehicle will travel, the i.e. target area of vehicle driving, first to determine in region
Situations such as landform, road surface.
Step S102: the recessed position in identification object region；
It is to be appreciated that protruding from the barrier on road surface, whether naked eyes or sensor, are all relatively easy to find, from
And control vehicle in advance and avoid obstacle, and for the recessed position lower than road surface, often it is not easy by naked eyes or sensor discovery,
Especially in the driving of vehicle, sensor is relied primarily on, most of the time, it is difficult to find recessed position and easily lead to safety
Accident.It, then can be by that will be recessed in advance for some only movable vehicles, especially engineering truck in certain area coverage
Position, which marks off, to be come, and the running region of safety is set out, to can avoid recessed position in traveling, operation process, is promoted
The safety of vehicle.
It further, can be by artificial observation target area, by low-lying place or various for the identification of recessed position
Then gully, dell iris out recessed position as recessed position, avoid these in order to vehicle and be circled the position come.
Step S104: according to the size of recessed position, the row for controlling vehicle driving range is set in target area
Sail region；
Not all hollow or recessed position can all cause vehicle to fall into, and some lesser recessed positions of size are simultaneously
The traveling of vehicle is not interfered with, it is therefore desirable to the row for controlling vehicle driving range is set according to the size of recessed position
Region is sailed, the recessed position that dimensional parameters are greater than parameter preset is only set as non-running region, thus setting as big as possible
Running region to promote the scope of activities of vehicle, and then promotes convenience and the flexibility of vehicle driving manipulation.
The setting of running region, it is necessary first to guarantee that vehicle normal pass, i.e. guarantee can travel area in running region
The width in domain should be greater than the width of vehicle, for vehicle can not by section, such as have recessed position place or two
The distance between recessed position is too narrow so that the intransitable place of vehicle, should all be divided into non-running region, and target area
Interior other regions can then be divided into running region.
Step S106: when vehicle driving exceeds running region, traveling or control Vehicular turn are terminated.
When vehicle driving exceeds running region, traveling or control Vehicular turn are terminated, can further be taken off to avoid vehicle
It from running region, enters at recessed position and falls into recess, lead to safety accident, improve the safety of vehicle driving.
Further, when vehicle driving exceeds running region, the equipment such as buzzer, loudspeaker on vehicle can also be passed through
Preset audio is issued to warn to warn, or by the flashing of warning light.
It is to be appreciated that the vehicle in the application, including but not limited to car, minibus, freight yard, fire fighting truck, digging
Pick machine, road roller, any one in bull-dozer.
Embodiment 2
As shown, the region security running method of another embodiment proposed according to the present invention, comprising:
Step S200: target area is determined；
Step S202: the recessed position on road surface in identification object region；
Step S204: the dimensional parameters of recessed position are measured, and are compared with parameter preset；
It is to be appreciated that the dimensional parameters of recessed position include the gradient of recessed position, width, length, appointing in depth
The combination for one or more of anticipating；Specifically, the recessed position on road surface, opening size, that is, the length being open, width or
Diameter, directly influences whether wheel can fall into recess；The gradient of recessed position, when influencing wheel and crossing at recessed position
Consistent level, the gradient is bigger, as soon as transition of the wheel from plane to another plane is smaller, is more easy to produce and jolts；It is deep
Degree is deeper, then the degree jolted is bigger.Therefore, main when determining whether each recessed position will be divided in non-running region
Consider its length, width, depth and the gradient, and is compared with parameter preset.
The size of parameter preset needs to be determined according to specific wheel of vehicle, in other words, have with wheel diameter and width
It closes.
Step S206: dimensional parameters are greater than at the recessed position of parameter preset and are set as non-running region, target area
Interior all other region is set as running region；
At the recessed position of larger (i.e. dimensional parameters are greater than parameter preset), wheel is difficult to pass through, and tends to fall into, because
This will be set as non-running region at biggish recessed position, and all other region in target area is set as travelling area
Domain ensure that the safety of vehicle driving as long as vehicle would not be trapped at biggish recessed position in running region in this way
Property.
It should be pointed out that when setting non-running region, it is preferable that the edge of non-running region travels area in other words
There is a pre-determined distance at the edge in domain, with biggish recessed position, accordingly even when vehicle has been driven out to running region, it will not
It falls at recessed position at once, to be provided with certain reaction time, further improves the safety of vehicle driving.
Step S208: fence is set at the edge of running region；
Fence is set at the edge of running region, is conducive to clearly define running region and non-running region, promotes row
The resolvability for sailing region avoids vehicle from being strayed into non-running region and cause safety accident.
The type of fence can be fence, or the fence manually crossed on the ground；It is also possible to the general of hypostazation
Logical fence, such as easy rope fence, the fence that is combined by column, cross bar；Or it is enclosed by what metal mesh, profiled sheet formed
Column, in some construction sites, it might even be possible to be the fence that some sand hills, stone are temporarily accumulated or put, this hypostazation is enclosed
Column can be identified by the sensor on vehicle.
Step S210: when vehicle driving exceeds running region, traveling or control Vehicular turn are terminated.
Embodiment 3
As shown in figure 3, the region security running method of another embodiment proposed according to the present invention, comprising:
Step S300: target area is determined；
Step S302: the recessed position on road surface in identification object region；
Step S304: the dimensional parameters of recessed position are measured, and are compared with parameter preset；
Step S306: dimensional parameters are greater than at the recessed position of parameter preset and are set as non-running region, target area
Interior all other region is set as running region；
Step S308: base station is set up；
It is to be appreciated that the quantity of base station can be one or more, and it is larger or more dispersed in target area, it leads
When target area being caused to have exceeded the coverage area of a base station, multiple base stations can be set up.
When base station number is multiple, using the base station nearest apart from vehicle as origin, to guarantee signaling rate and control
The accuracy of system.
Step S310: it establishes using base station as the coordinate system of origin；
As shown in figure 5, by setting up base station, and establish using base station as the coordinate system of origin, coordinate system be include longitudinal axis Y-axis
With the coordinate system in length and breadth of horizontal axis X-axis；In this way convenient for forming easy electronic map, for further identification vehicle coordinate and control vehicle
Driving range is provided convenience, and by this Simple electronic map, can directly carry out fence on the electronic map
Setting, the setting of running region in other words, the electronics without being provided with the hypostazations such as various sensors, cable encloses
Column reduces workload, saves material and resource.
It is to be appreciated that the setting of coordinate system, is also possible to polar coordinate system.
Step S312: obtaining the coordinate of multiple points at the edge of running region, will using a plurality of directed line segment with the arrow
Multiple points are connected as the fence of at least one closed convex polygon；
It is to be appreciated that the quantity of fence can be one, it is also possible to multiple, wherein on each convex polygon
Directed line segment in the counterclockwise direction or clockwise join end to end.
By the fence for being set as being made of directed line segment by fence, does not need to cross on the spot in this way, reduce
Workload improves the efficiency of fence setting, and such fence is simple, can directly be enclosed on a computing device
The setting on column is convenient for automatic identification and control fence size in this way, promotes the safety of vehicle driving, also help section
Save social resources.
It is to be appreciated that multiple fences may be mutually indepedent, it is also possible to intersect or comprising the tool of fence
Body quantity and size, correlation needs are determined according to the specific size of the recessed position in target area and distribution situation.
Acquisition for the coordinate of multiple points at the edge of running region, generally mainly by target area field exploring
It realizes, i.e., is setting the edge of running region on the spot, and acquire multiple points on the edge of running region, it is opposite to measure each point
Lateral distance and fore-and-aft distance in base station, to obtain the coordinate of each point.
Step S314: when vehicle driving exceeds running region, traveling or control Vehicular turn are terminated.
It is to be appreciated that in the present embodiment, vehicle driving exceeds running region, i.e. vehicle driving has exceeded fence
The range set is enclosed, has been entered in non-running region.
Embodiment 4
As shown in Figure 4 and Figure 5, the region security running method of another embodiment proposed according to the present invention, comprising:
Step S400: target area is determined；
Step S402: the recessed position on road surface in identification object region；
Step S404: the dimensional parameters of recessed position are measured, and are compared with parameter preset；
Step S406: dimensional parameters are greater than at the recessed position of parameter preset and are set as non-running region, target area
Interior all other region is set as running region；
Step S408: base station is set up；
Step S410: it establishes using base station as the coordinate system of origin；
Step S412: obtaining the coordinate of multiple points at the edge of running region, uses a plurality of directed line segment edge with the arrow
Multiple points are connected clockwise, form the first fence of closed convex polygon shape；
It should be pointed out that the quantity of fence may have multiple, in the present embodiment, enclosed only for only one electronics
The case where the case where column, i.e. only the first fence 100, at this point, (i.e. its parameter is greater than default all biggish recessed positions
The recessed position of parameter) it is respectively positioned on outside the first fence 100.
Step S414: the coordinate (x, y) of vehicle is obtained；
By obtaining the coordinate of vehicle 14, convenient for determining the position of vehicle 14.
Step S416: the starting point coordinate (x1, y1) and terminal point coordinate of every directed line segment on the first fence are obtained
(x2, y2)；
As shown in figure 5,104 coordinate of starting point, the i.e. coordinate of the arrow tail of directed line segment, 106 coordinate of terminal, the i.e. seat of arrow
Mark.
Step S418: according to the coordinate (x, y) of starting point coordinate (x1, y1) and terminal point coordinate (x2, y2) and vehicle, meter
Calculate vehicle location parameter F corresponding with every directed line segment on the first fence；
By obtaining the coordinate of vehicle 14 and 106 coordinate of 104 coordinate of starting point and terminal of directed line segment, and utilize upper
The location parameter F that coordinate calculates vehicle 14 is stated, F value come simple and convenient, judging efficiency by way of judging 14 position of vehicle
Height when range convenient for being driven out to running region 10 in vehicle 14, stops vehicle 14 in time or control vehicle 14 being turned to, avoid
Safety accident.
Specifically, in the present embodiment, the calculation formula of F value is as follows:
F=(x2-x1) × (y-y1)-(x-x1) × (y2-y1)；
As above, F value can be calculated by simple addition subtraction multiplication and division, calculating process is simple and quick, is conducive to promote work
The reaction speed of efficiency and vehicle 14.
Specifically, as shown in figure 5, such as 14 coordinate of vehicle is (3,3), 104 coordinate of starting point of the directed line segment of the leftmost side
For (1,1), 106 coordinate of terminal is (Isosorbide-5-Nitrae), then F value is -6.
Step S420: judge the positive and negative of all non-zero F values；
In the manner described above, F value corresponding to remaining directed line segment is calculated, and judge the F value of all non-zeros
It is positive and negative, it does not need to compare size in this way, decision logic is very simple, improves the reaction speed of working efficiency and vehicle 14, has
Conducive to the further safety for promoting vehicle 14 and travelling.
Step S422: if the positive and negative difference of the F value of at least one non-zero and the F value of remaining non-zero, vehicle is located at first
Outside fence；
As shown in figure 5, the first fence 100 shares 6 directed line segments, for example, calculated F value be respectively -6, -
3, -3,6,0, -1, then " 6 " therein are positive number, the positive and negative difference with other F values, therefore judge that vehicle 14 is located at the first electronics
Outside fence 100, i.e., vehicle 14 has been driven out to running region 10.
Step S424: when vehicle is located at outside the first fence, stop the traveling or control Vehicular turn of vehicle；
Step S426: if the F value of all non-zeros is positive and negative all the same, vehicle is located in the first fence.
The F value of all non-zeros it is positive and negative all the same, i.e., the F value of all non-zeros is positive number, or is negative, is judged at this time
Vehicle 14 is located in the first fence 100.
It should be noted that vehicle 14 is located in the first fence 100 in the application, refer to that vehicle 14 is located at the first electricity
Sub- fence 100 is formed by convex polygon, and vehicle 14 is located at outside the first fence 100, refers to that vehicle 14 is located at the first electricity
Sub- fence 100 is formed by outside convex polygon.
Embodiment 5
Fig. 6 shows a kind of application scenarios different from Fig. 5.
As shown in fig. 6, in the first fence 100, also enclose equipped with the second fence 102, in the second fence 102
It encloses and sets a non-running region 12.
In the present embodiment, it if it is determined that vehicle 14 is in the first fence 100, then also needs again for the second electronics
Fence 102 is judged whether vehicle 14 has been driven out to running region 10, i.e. whether vehicle 14 enters the second fence 102
Interior non-running region 12, if it is determined that vehicle 14 outside the first fence 100, then no longer needs to carry out the second fence
102 judge with the positional relationship of vehicle 14.
Specifically, all the same with the calculation of the F value of the first fence 100 and judgment mode, for the second electronics
For fence 102, when all non-zero F values are positive number, or are negative, judge that vehicle 14 is located at the second fence 102
It is interior, at this point, judging that vehicle 14 has had run out running region due to being non-running region 12 in the second fence 102
10, the traveling or control vehicle 14 for needing to stop vehicle 14 turn to；If in all non-zero F value, the F value of at least one non-zero
With the positive and negative difference of the F value of remaining non-zero, then vehicle 14 is located at outside the second fence 102, at this point, due to before it is determined that
In the first fence 100, then vehicle 14 is located in running region 10 vehicle 14, does not need to take measures out, keeps its row
Sail state.
Embodiments herein is not limited to that, it is also possible in the first fence, in addition to the second fence
Outside, there are also third fence, the 4th fence etc., this is no longer going to repeat them.
Embodiment 6
Road roller according to an embodiment of the invention, including positioning device interconnected and control system, wherein
Positioning device is connected with the base station of any of the above-described a embodiment, and positioning device is for obtaining road roller in any of the above-described a embodiment
Coordinate system in coordinate；The fence of control system any of the above-described a embodiment for identification, and according to the seat of road roller
Mark, control road roller encloses in the running region set in fence to travel.
In this embodiment, it is travelled in running region according to the coordinate control road roller of road roller in a coordinate system, this
Kind control method is simple, is also convenient for realizing long-range control, and the intelligentized control method for improving road roller traveling is horizontal, effectively prevents
Road roller drives into non-running region, ensure that the safety that vehicle travels in target area.
Vehicle in the application is not limited in the road roller of the present embodiment, further include but be not limited to car, minibus,
Freight yard, fire fighting truck, excavator, any one in bull-dozer.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, effectively right
Recessed position in target area is identified, and sets out running region according to its size, and is controlled vehicle and only travelled
It is travelled in region, is conducive to vehicle in this way and is effectively shielded from recessed position, promote the safety of vehicle driving.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of region security running method characterized by comprising
Determine target area；
Identify the recessed position in the target area；
According to the size of the recessed position, the traveling area for controlling vehicle driving range is set in the target area
Domain；
When the vehicle driving exceeds the running region, terminates traveling or control the Vehicular turn.
2. region security running method according to claim 1, which is characterized in that
The size according to the recessed position sets the traveling for controlling vehicle driving range in the target area
Region specifically includes:
The dimensional parameters of the recessed position are measured, and are compared with parameter preset；
The dimensional parameters are greater than at the recessed position of parameter preset and are set as non-running region, the institute in the target area
There are other regions to be set as the running region；
At the edge of the running region, fence is set.
3. region security running method according to claim 2, which is characterized in that
The fence is fence；
The dimensional parameters of the recessed position include the gradient of recessed position, width, length, any one or a few in depth
Combination.
4. region security running method according to claim 3, which is characterized in that
Fence is arranged in the edge in the running region, specifically includes:
Set up base station；
It establishes using the base station as the coordinate system of origin；
Obtain the coordinate of multiple points at the edge of the running region；
The electronics that the multiple point is connected as at least one closed convex polygon is enclosed using a plurality of directed line segment with the arrow
Column, wherein the directed line segment on each convex polygon joins end to end in the counterclockwise direction or clockwise.
5. region security running method according to claim 4, which is characterized in that
The fence includes the first fence, or
The fence includes first fence and the second fence, and second fence is located at described the
In one fence, and enclose equipped with non-running region described at least one.
6. region security running method according to claim 5, which is characterized in that the vehicle driving exceeds the traveling
When region, terminates traveling or controls the Vehicular turn, specifically include:
Obtain the coordinate of the vehicle；
Obtain the starting point coordinate and terminal point coordinate of every directed line segment on first fence；
According to the starting point coordinate of every directed line segment on first fence and terminal point coordinate and the vehicle
Coordinate, calculate vehicle location parameter F corresponding with the directed line segment of every on first fence；
The position of the vehicle is judged according to the F value；
When the vehicle is located at outside first fence, stop the traveling or the control Vehicular turn of the vehicle.
7. region security running method according to claim 5, which is characterized in that
Second fence is equipped in first fence；When the vehicle driving exceeds the running region, eventually
Only travel or control the Vehicular turn, further includes:
Obtain the coordinate of the vehicle；
Obtain the starting point coordinate and terminal point coordinate of every directed line segment on second fence；
According to the starting point coordinate of every directed line segment on second fence and terminal point coordinate and the vehicle
Coordinate, calculate vehicle location parameter F corresponding with the directed line segment of every on second fence；
The position of the vehicle is judged according to the F value；
When the vehicle is located in second fence, stop the traveling or the control Vehicular turn of the vehicle.
8. region security running method according to claim 6 or 7, which is characterized in that
The location parameter F, specific calculation are as follows:
F=(x2-x1) × (y-y1)-(x-x1) × (y2-y1)；
Wherein, the coordinate of the vehicle is (x, y), and the starting point coordinate of the directed line segment is (x1, y1), the directed line segment
Terminal point coordinate is (x2, y2)；Or
The terminal point coordinate of the directed line segment is (x1, y1), and the starting point coordinate of the directed line segment is (x2, y2)；
The position that the vehicle is judged according to the F value, specifically includes:
If the F value of all non-zeros is positive and negative all the same, the vehicle is located in the fence；
The positive and negative difference of the F value of the F value and remaining non-zero of at least one non-zero if it exists, then the vehicle is located at institute
It states outside fence.
9. region security running method according to claim 4, which is characterized in that
The quantity of the base station is multiple；
The foundation is specifically included using the base station as the coordinate system of origin:
Each base station is measured at a distance from the vehicle；
The determining and shortest base station of the vehicle distances；
The coordinate system is established as origin in the base station to correspond to the most short distance.
10. a kind of vehicle characterized by comprising
Positioning device is connected with the base station described in any one of claim 4-9, and the positioning device is for obtaining the vehicle
The coordinate in coordinate system described in any one of claim 4-9；
Control system is connected with the positioning device, and the control system is for identification described in any one of claim 4-9
Fence, and according to the coordinate of the vehicle, controls the vehicle and encloses in the running region set in the fence and travel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131248.4A CN109741633A (en) | 2019-02-22 | 2019-02-22 | Region security running method and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131248.4A CN109741633A (en) | 2019-02-22 | 2019-02-22 | Region security running method and vehicle |
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| CN109741633A true CN109741633A (en) | 2019-05-10 |
Family
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| CN201910131248.4A Pending CN109741633A (en) | 2019-02-22 | 2019-02-22 | Region security running method and vehicle |
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| CN (1) | CN109741633A (en) |
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Application publication date: 20190510 |