CN110926492B - Vehicle short-distance navigation method - Google Patents
Vehicle short-distance navigation method Download PDFInfo
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- CN110926492B CN110926492B CN201911252548.4A CN201911252548A CN110926492B CN 110926492 B CN110926492 B CN 110926492B CN 201911252548 A CN201911252548 A CN 201911252548A CN 110926492 B CN110926492 B CN 110926492B
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- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a vehicle short-distance navigation method, belonging to the technical field of vehicle short-distance navigation; the technical problems to be solved are as follows: an improvement of a vehicle short-range navigation method is provided; the technical scheme adopted for solving the technical problems is as follows: the method comprises the following steps: the navigation target is simplified into two targets, the two targets comprise a first target and a second target, a navigation target area is formed in an area between the targets, four ultrasonic ranging modules are arranged at the front of a vehicle, a first ranging module and a second ranging module are arranged on the right side of the vehicle, and a third ranging module and a fourth ranging module are arranged on the left side of the vehicle; when a vehicle runs to a place A and a place B, the first ranging module and the third ranging module emit ultrasonic waves to a first marker post, the second ranging module and the fourth ranging module emit ultrasonic waves to a second marker post, and the measured corresponding data are sent to a vehicle-mounted microcontroller by the ranging modules for data processing and storage; the invention is applied to the short-distance navigation of the vehicle.
Description
Technical Field
The invention discloses a vehicle short-distance navigation method, and belongs to the technical field of vehicle short-distance navigation.
Background
In some secret-related fields, special vehicles in driving need to be positioned and navigated, such as driving special vehicles to reach a preset area, deicing, cleaning, maintaining and the like are performed on the surface of the fighter plane, and in order to improve the working efficiency, the special vehicles need to accurately and rapidly travel to the preset planning area of the plane.
At present, the following three methods are mainly used for accurately and rapidly driving the vehicle to the target area: guiding by using manual guiding in front; the target object is stopped at a designated position, and the ground is marked in advance; based on a satellite positioning system, a mobile base station is arranged near an airplane to guide a vehicle to drive into a planning position; the method is low in cost, the airplane stopping position is unlimited, and the precision reaches the meter level; the second method has low cost, the airplane stopping position is fixed, and the precision is in decimeter level; the method has the advantages of high cost, unlimited airplane stopping positions, precision in decimeter and meter level, but risk of secret leakage; the current area positioning and navigation methods have respective defects and shortcomings, can not meet the navigation requirements of the current vehicle, and can be improved to a certain extent to improve the navigation accuracy and the accuracy.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and solves the technical problems that: an improvement in a vehicle short-range navigation method is provided.
In order to solve the technical problems, the invention adopts the following technical scheme: a vehicle short-range navigation method, comprising the steps of:
step one: the navigation target is simplified into two targets, the two targets comprise a first target and a second target, a navigation target area is formed in an area between the targets, four ultrasonic ranging modules are arranged at the front of a vehicle, a first ranging module and a second ranging module are arranged on the right side of the vehicle, and a third ranging module and a fourth ranging module are arranged on the left side of the vehicle;
step two: when the vehicle is traveling to the site a,
the first ranging module and the third ranging module emit ultrasonic waves to the first marker post;
the second ranging module and the fourth ranging module both transmit ultrasonic waves to the second marker post;
after a period of time, the first ranging module receives the reflected ultrasonic waves and calculates the horizontal actual distance L1 between the current first ranging module and the first marker post;
after a period of time, the second ranging module receives the reflected ultrasonic waves and calculates the horizontal actual distance L2 between the current second ranging module and the second marker post;
after a period of time, the third ranging module receives the reflected ultrasonic waves and calculates the horizontal actual distance L3 between the current third ranging module and the first marker post;
after a period of time, the fourth ranging module receives the reflected ultrasonic waves and calculates the horizontal actual distance L4 between the current fourth ranging module and the second marker post;
the distance data L1-L4 are sent to the vehicle-mounted microcontroller by the distance measuring module for data processing and storage;
step three: after a period of time, when the vehicle travels to site B,
the first ranging module and the third ranging module emit ultrasonic waves to the first marker post;
the second ranging module and the fourth ranging module both transmit ultrasonic waves to the second marker post;
after a period of time, the first ranging module receives the reflected ultrasonic waves and calculates the horizontal preset distance L11 between the current first ranging module and the first marker post;
after a period of time, the second ranging module receives the reflected ultrasonic waves and calculates the horizontal preset distance L12 between the current second ranging module and the second marker post;
after a period of time, the third ranging module receives the reflected ultrasonic waves and calculates the horizontal preset distance L13 between the current third ranging module and the first marker post;
after a period of time, the fourth ranging module receives the reflected ultrasonic waves and calculates the horizontal preset distance L14 between the fourth ranging module and the second marker post;
the distance data L11-L14 are sent to the vehicle-mounted microcontroller by the distance measuring module for data processing and storage;
step four: the vehicle-mounted microcontroller further processes the acquired data, and the following numerical values are defined based on the distance ratio of the vehicle to the marker post at the point B and the point A:
the calculation formula of the distance change value l1 of the first distance measuring end is as follows:；
the calculation formula of the distance change value l2 of the second distance measuring end is as follows:；
the calculation formula of the distance change value l3 of the third distance measuring end is as follows:；
the calculation formula of the distance change value l4 of the fourth distance measuring end is as follows:；
step five: in the running process of the vehicle, a driver adjusts the running direction of the vehicle at the required time, and the distance change value of each ranging end is ensured to meet the following formula:the method comprises the steps of carrying out a first treatment on the surface of the When the formula is satisfied, the driver needs to keep the vehicle running straight at a low speed;
step six: when the vehicle runs, the distance change value of each ranging end satisfies the formulaWhen the current vehicle is navigated to the target area.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, an ultrasonic ranging principle is adopted, an ultrasonic range finder or an ultrasonic ranging module is arranged on a traveling vehicle, and the ultrasonic range finder or the ultrasonic ranging module is controlled to measure the distance between the vehicle and a target object in real time, so that the short-distance high-precision vehicle navigation is realized; according to the technical scheme, the hardware cost can be reduced, the ultrasonic ranging device is used for replacing a mobile positioning base station or a positioning satellite, in the ranging and positioning process, the navigation state is judged by calculating the distance change value, the steps of data acquisition and processing are simple, the ranging precision is high, the position of a target area is unlimited, and navigation can be performed only by simplifying the target area into two targets.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the distance measurement of a vehicle of the present invention traveling to a location A;
FIG. 2 is a schematic diagram of the distance measurement of a vehicle traveling to a location B according to the present invention;
FIG. 3 is a schematic diagram illustrating a distance measurement of a vehicle traveling to a location A according to an embodiment of the present invention;
fig. 4 is a schematic diagram of ranging when a vehicle travels to a location B according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1 to 4, the vehicle short-range navigation method of the present invention includes the steps of:
step one: the navigation target is simplified into two targets, the two targets comprise a first target (1) and a second target (2), a navigation target area is formed in an area between the targets, four ultrasonic ranging modules are arranged at the front of a vehicle, a first ranging module (3) and a second ranging module (4) are arranged on the right side of the vehicle, and a third ranging module (5) and a fourth ranging module (6) are arranged on the left side of the vehicle;
step two: when the vehicle is traveling to the site a,
the first ranging module (3) and the third ranging module (5) emit ultrasonic waves to the first marker post (1);
the second ranging module (4) and the fourth ranging module (6) both transmit ultrasonic waves to the second marker post (2);
after a period of time, the first ranging module (3) receives the reflected ultrasonic waves and calculates the horizontal actual distance L1 between the current first ranging module (3) and the first marker post (1);
after a period of time, the second ranging module (4) receives the reflected ultrasonic waves and calculates the horizontal actual distance L2 between the current second ranging module (3) and the second marker post (1);
after a period of time, the third ranging module (5) receives the reflected ultrasonic waves and calculates the horizontal actual distance L3 between the current third ranging module (3) and the first marker post (1);
after a period of time, the fourth ranging module (6) receives the reflected ultrasonic waves and calculates the horizontal actual distance L4 between the current fourth ranging module (3) and the second marker post (1);
the distance data L1-L4 are sent to the vehicle-mounted microcontroller by the distance measuring module for data processing and storage;
step three: after a period of time, when the vehicle travels to site B,
the first ranging module (3) and the third ranging module (5) emit ultrasonic waves to the first marker post (1);
the second ranging module (4) and the fourth ranging module (6) both transmit ultrasonic waves to the second marker post (2);
after a period of time, the first ranging module (3) receives the reflected ultrasonic waves and calculates the horizontal preset distance L11 between the current first ranging module (3) and the first marker post (1);
after a period of time, the second ranging module (4) receives the reflected ultrasonic waves and calculates the horizontal preset distance L12 between the current second ranging module (3) and the second marker post (1);
after a period of time, the third ranging module (5) receives the reflected ultrasonic waves and calculates the horizontal preset distance L13 between the current third ranging module (3) and the first marker post (1);
after a period of time, the fourth ranging module (6) receives the reflected ultrasonic waves and calculates the horizontal preset distance L14 between the current fourth ranging module (3) and the second marker post (1);
the distance data L11-L14 are sent to the vehicle-mounted microcontroller by the distance measuring module for data processing and storage;
step four: the vehicle-mounted microcontroller further processes the acquired data, and the following numerical values are defined based on the distance ratio of the vehicle to the marker post at the point B and the point A:
the calculation formula of the distance change value l1 of the first distance measuring end is as follows:；
the calculation formula of the distance change value l2 of the second distance measuring end is as follows:；
the calculation formula of the distance change value l3 of the third distance measuring end is as follows:；
the calculation formula of the distance change value l4 of the fourth distance measuring end is as follows:；
step five: in the running process of the vehicle, a driver adjusts the running direction of the vehicle at the required time, and the distance change value of each ranging end is ensured to meet the following formula:the method comprises the steps of carrying out a first treatment on the surface of the When the formula is satisfied, the driver needs to keep the vehicle running straight at a low speed;
step six: when the vehicle runs, the distance change value of each ranging end satisfies the formulaWhen the current vehicle is navigated to the target area.
The vehicle short-distance navigation method provided by the invention can accurately navigate and drive the special vehicle to the planned target area under the conditions that the special vehicle runs to the target area 15-20 meters, no mark exists on the ground, no guidance exists in front of the special vehicle, and satellite navigation is not utilized.
In order to realize the technical scheme of the invention, an ultrasonic ranging principle is mainly adopted, and an ultrasonic range finder or an ultrasonic ranging module is used for measuring the distance between a vehicle and a target object and guiding the vehicle to run; the main parameters of the ultrasonic ranging module adopted by the invention are required to be measured at a distance of 15-30 m, and the precision is required to be 1-10 mm.
In actual navigation, four ultrasonic ranging modules are installed at the front end of a vehicle in pairs, a vehicle-mounted microcontroller is connected with each ranging module through a wire, and in the installation process, ultrasonic waves emitted by the ranging modules installed on each side of the vehicle are required to be at a certain angle, so that the ultrasonic waves can reach a target area and rebound, and in order to improve identification efficiency, two targets are usually placed at the lower part of an aircraft to replace the whole aircraft;
in the process of navigating the vehicle, the distance measuring module collects data of an actual distance and a preset distance in real time, and transmits the data to the microcontroller for processing, wherein the data processing principle is mainly to keep the distance change value of a distance measuring end to be a certain value, guide the value to 100% as much as possible, and the driving direction of the vehicle is required to be adjusted during guiding, so that the vehicle is finally guided to a target area.
According to the invention, an ultrasonic ranging principle is adopted, and the short-distance high-precision navigation of the vehicle is realized by measuring the distance of a target object by using an ultrasonic range finder or a range finding module; the invention adopts simple formula calculation, has high program operation speed and realizes real-time navigation.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (1)
1. A vehicle short-distance navigation method is characterized in that: the method comprises the following steps:
step one: the navigation target is simplified into two targets, the two targets comprise a first target (1) and a second target (2), a navigation target area is formed in an area between the targets, four ultrasonic ranging modules are arranged at the front of a vehicle, a first ranging module (3) and a second ranging module (4) are arranged on the right side of the vehicle, and a third ranging module (5) and a fourth ranging module (6) are arranged on the left side of the vehicle;
step two: when the vehicle is traveling to the site a,
the first ranging module (3) and the third ranging module (5) emit ultrasonic waves to the first marker post (1);
the second ranging module (4) and the fourth ranging module (6) both transmit ultrasonic waves to the second marker post (2);
after a period of time, the first ranging module (3) receives the reflected ultrasonic waves and calculates the horizontal actual distance L1 between the current first ranging module (3) and the first marker post (1);
after a period of time, the second ranging module (4) receives the reflected ultrasonic waves and calculates the horizontal actual distance L2 between the current second ranging module (3) and the second marker post (2);
after a period of time, the third ranging module (5) receives the reflected ultrasonic waves and calculates the horizontal actual distance L3 between the current third ranging module (5) and the first marker post (1);
after a period of time, the fourth ranging module (6) receives the reflected ultrasonic waves and calculates the horizontal actual distance L4 between the fourth ranging module (6) and the second marker post (2);
the distance data L1-L4 are sent to the vehicle-mounted microcontroller by the distance measuring module for data processing and storage;
step three: after a period of time, when the vehicle travels to site B,
the first ranging module (3) and the third ranging module (5) emit ultrasonic waves to the first marker post (1);
the second ranging module (4) and the fourth ranging module (6) both transmit ultrasonic waves to the second marker post (2);
after a period of time, the first ranging module (3) receives the reflected ultrasonic waves and calculates the horizontal preset distance L11 between the current first ranging module (3) and the first marker post (1);
after a period of time, the second ranging module (4) receives the reflected ultrasonic waves and calculates the horizontal preset distance L12 between the current second ranging module (4) and the second marker post (2);
after a period of time, the third ranging module (5) receives the reflected ultrasonic waves and calculates the horizontal preset distance L13 between the current third ranging module (5) and the first marker post (1);
after a period of time, the fourth ranging module (6) receives the reflected ultrasonic waves and calculates the horizontal preset distance L14 between the fourth ranging module (6) and the second marker post (2);
the distance data L11-L14 are sent to the vehicle-mounted microcontroller by the distance measuring module for data processing and storage;
step four: the vehicle-mounted microcontroller further processes the acquired data, and the following numerical values are defined based on the distance ratio of the vehicle to the marker post at the point B and the point A:
the calculation formula of the distance change value l1 of the first distance measuring end is as follows:；
the calculation formula of the distance change value l2 of the second distance measuring end is as follows:；
the calculation formula of the distance change value l3 of the third distance measuring end is as follows:；
the calculation formula of the distance change value l4 of the fourth distance measuring end is as follows:；
step five: in the running process of the vehicle, a driver adjusts the running direction of the vehicle at the required time, and the distance change value of each ranging end is ensured to meet the following formula:the method comprises the steps of carrying out a first treatment on the surface of the When the formula is satisfied, the driver needs to keep the vehicle running straight at a low speed;
step six: when the vehicle runs, the distance change value of each ranging end satisfies the formulaWhen the current vehicle is navigated to the target area.
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| CN109725636A (en) * | 2017-10-31 | 2019-05-07 | 沛升动能有限公司 | Automatic driving vehicle follows the system and method for objects in front, tracking system automatically |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101915923A (en) * | 2005-03-16 | 2010-12-15 | 阿米特克公司 | Supersonic sounding in the near region |
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- 2019-12-09 CN CN201911252548.4A patent/CN110926492B/en active Active
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| JPH11175149A (en) * | 1997-12-10 | 1999-07-02 | Minolta Co Ltd | Autonomous traveling vehicle |
| JP2009115485A (en) * | 2007-11-02 | 2009-05-28 | Clarion Co Ltd | Navigation device, method, and program |
| CN103487812A (en) * | 2013-08-30 | 2014-01-01 | 江苏大学 | Ultrasonic navigation unit of greenhouse automatic moving vehicle and method |
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