CN112508223A - Positioning motion control method based on bionic group control - Google Patents
Positioning motion control method based on bionic group control Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention discloses a positioning motion control method based on bionic group control.A vehicle carrier control terminal system module comprises a wireless wifi communication module component, an information data processing component, a driving route planning component, a data collecting component, a vehicle control component, a storage system and a display component, wherein the wireless wifi communication module component is used for receiving and sending information with a road information node and other vehicle communication systems. According to the invention, through the cooperation of a plurality of control systems, the speed and steering information of the vehicle in the driving process and the traffic flow in the road environment are gathered, and the data are imported into the background information processing system after calculation by means of a mathematical calculation formula, so that the driving data information of the whole vehicle is fed back in time, and thus the target vehicle in the navigation process is accurately positioned.
Description
Technical Field
The utility model belongs to the technical field of bionical group control, a location motion control method based on bionical group control is related to.
Background
Human wisdom is not only staying on observing and knowing the biology world, but also simulating biology by using the unique thinking and design ability of human beings, increasing own ability by creative labor, enabling fishes to freely move in water, enabling people to simulate fish shape to build ships, simulating fins by wood paddles, propagating that ancient workers in China observe that the fishes swim and turn in water by the swing of a tail, and the ancient workers in China gradually change into sculls and rudders by repeated observation, simulation and practice, increasing the power of the ships and mastering the means for turning the ships, so that even in rivers where waves roll, people can freely sail the ships, the wings of the birds can freely fly in the air, according to the record of Hanfanun son, the people can fly by using bamboo and wood as birds 'without three days', however, people hope to simulate the double wings of the birds in the air, a ornithopter, the first man-made aircraft in the world, was designed and manufactured.
Along with the continuous development of the urbanization process, the problems of traffic jam, environmental pollution and the like are increasingly prominent, in order to better solve the problems, more and more intelligent devices are put into daily production and life of people so as to monitor the urban environment, the traffic problem of the city is most concerned, especially the traffic jam phenomenon is more prominent in the peak hours of going to work and going to work, the structure of the existing monitoring device is simple and crude, the existing positioning navigation device is utilized, for example, an unmanned aerial vehicle has poor monitoring effect on traffic information, data has deviation, and therefore a more practical positioning motion control method based on bionic population control is required to be provided to solve the problems.
Disclosure of Invention
The invention aims to solve the problems in the prior art: present monitoring facilities structure is simple and crude, utilizes current location navigation equipment, and unmanned aerial vehicle for example monitors traffic information that the effect is not good, and there is the deviation in the data.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning motion control method based on bionic population control comprises the following steps:
A. the vehicle carrier control terminal system module is set as follows:
s1, the vehicle carrier control terminal system module comprises a wireless wifi communication module component, an information data processing component, a driving route planning component, a data collecting component, a vehicle control component, a storage system and a display component, wherein the wireless wifi communication module component is used for receiving and sending information with a road information node and other vehicle communication systems to obtain data information required by vehicle positioning and control, the data processing component obtains the data information required by positioning from the wireless wifi communication module component, and the positioning information obtained by the vehicle terminal node is converted into accurate position coordinate information of the vehicle according to the computer system;
s2, the data collection component receives data information measured by a speed sensor, a corner sensor and an acceleration sensor of the vehicle, and the obtained information is imported into a computer processing system, so that the information is converted into digital information to obtain real-time motion state information of the vehicle;
s3, the driving route planning component receives signals from the wireless wifi communication module component, the data collection component and the data processing component, obtains real-time road information and real-time data of the driving state of the vehicle, including real-time coordinate information of the vehicle, and carries out overall planning on the driving route information of the vehicle at the next stage moment;
s4, the vehicle control module receives the driving route planned by the driving route planning component, controls the driving speed, the real-time acceleration and the steering information of the vehicle, and the storage system and the display component receive and display the position and the optimal path information from the data processing component block and the driving route planning component in real time;
B. setting road information node setting:
s1, the road information node system comprises a wireless wifi communication module component, a data processing component and a sensor device;
s2, the sensor device sends the measured traffic flow, visibility information and traffic flow speed information in the road environment to the data processing component through analog signals;
s3, the data processing component processes the analog signals from the sensor device and converts the analog signals into digital signals which can be recognized by the processor;
s4, the wireless wifi communication module component sends the node position information, the road traffic flow data information and the vehicle speed data signal from the data processing component to the road control background system;
C. setting a road control background system:
the S1 road control background system comprises a wireless wifi communication module component, a data processing component and a database module;
s2, the wireless wifi communication module component, the road information node component and the vehicle-mounted control module receive and transmit vehicle data information, traffic flow information and road environment information;
s3, the data processing component receives the information from the wireless wifi communication module component, preprocesses the information, appoints the information to be stored in the database module, and calls the related road environment data information from the database according to the vehicle-mounted control module;
s4, the database system stores traffic flow data information and road environment data information of the road;
D. data calculation:
s1, selecting three cars as calculation target vehicles, respectively marking as A vehicle, B vehicle and C vehicle, obtaining corresponding signal data by controlling the distance between the three vehicles, and obtaining corresponding position information by a calculation formula so as to be convenient for entering a background database;
s2, enabling the distance between the vehicle A and the vehicle B to be 100m-200m, enabling the distance between the vehicle B and the vehicle C to be 250m-350m, and enabling the distance to be L;
s3, the running speed of the vehicle A is 30-50km/h, the running speed of the vehicle B is 60-80km/h, the running speed of the vehicle C is 100-130km/h, and the speed is D;
s4, let E be the relative position change rate, and the formula be E ═ D/2+ L/D × (D-L)/2.
Compared with the prior art, the invention has the beneficial effects that:
through the cooperation of a plurality of control systems, the speed of a vehicle, the information that turns to among the vehicle driving process to and the vehicle flow among the road environment gather, and with the help of the calculation back of mathematical computation formula, import backstage information processing system, in time feed back to the data information of traveling of whole vehicle, thereby better carry out accurate location to the target vehicle of navigation in-process, control method is simpler, it is very convenient to operate, data statistics is rapid, the scientific degree of computational result is higher.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
A positioning motion control method based on bionic population control comprises the following steps;
the first embodiment,
A. The vehicle carrier control terminal system module is set as follows:
s1, the vehicle carrier control terminal system module comprises a wireless wifi communication module component, an information data processing component, a driving route planning component, a data collecting component, a vehicle control component, a storage system and a display component, wherein the wireless wifi communication module component is used for receiving and sending information with a road information node and other vehicle communication systems to obtain data information required by vehicle positioning and control, the data processing component obtains the data information required by positioning from the wireless wifi communication module component, and the positioning information obtained by the vehicle terminal node is converted into accurate position coordinate information of the vehicle according to the computer system;
s2, the data collection component receives data information measured by a speed sensor, a corner sensor and an acceleration sensor of the vehicle, and the obtained information is imported into a computer processing system, so that the information is converted into digital information to obtain real-time motion state information of the vehicle;
s3, the driving route planning component receives signals from the wireless wifi communication module component, the data collection component and the data processing component, obtains real-time road information and real-time data of the driving state of the vehicle, including real-time coordinate information of the vehicle, and carries out overall planning on the driving route information of the vehicle at the next stage moment;
s4, the vehicle control module receives the driving route planned by the driving route planning component, controls the driving speed, the real-time acceleration and the steering information of the vehicle, and the storage system and the display component receive and display the position and the optimal path information from the data processing component block and the driving route planning component in real time;
B. setting road information node setting:
s1, the road information node system comprises a wireless wifi communication module component, a data processing component and a sensor device;
s2, the sensor device sends the measured traffic flow, visibility information and traffic flow speed information in the road environment to the data processing component through analog signals;
s3, the data processing component processes the analog signals from the sensor device and converts the analog signals into digital signals which can be recognized by the processor;
s4, the wireless wifi communication module component sends the node position information, the road traffic flow data information and the vehicle speed data signal from the data processing component to the road control background system;
C. setting a road control background system:
s1, the road control background system comprises a wireless wifi communication module component, a data processing component and a database module;
s2, the wireless wifi communication module component, the road information node component and the vehicle-mounted control module receive and transmit vehicle data information, traffic flow information and road environment information;
s3, the data processing component receives the information from the wireless wifi communication module component, preprocesses the information, appoints the information to be stored in the database module, and calls the related road environment data information from the database according to the vehicle-mounted control module;
s4, the database system stores traffic flow data information and road environment data information of the road;
D. data calculation:
s1, selecting three cars as calculation target vehicles, respectively marking as A vehicle, B vehicle and C vehicle, obtaining corresponding signal data by controlling the distance between the three vehicles, and obtaining corresponding position information by a calculation formula so as to be convenient for entering a background database;
s2, enabling the distance between the vehicle A and the vehicle B to be 100m, enabling the distance between the vehicle B and the vehicle C to be 250m, and enabling the distance to be L;
s3, the running speed of the vehicle A is 30km/h, the running speed of the vehicle B is 60km/h, the running speed of the vehicle C is 100km/h, and the speed is set as D;
s4, let E be the relative position change rate, and the formula be E ═ D/2+ L/D × (D-L)/2.
Example II,
A. The vehicle carrier control terminal system module is set as follows:
s1, the vehicle carrier control terminal system module comprises a wireless wifi communication module component, an information data processing component, a driving route planning component, a data collecting component, a vehicle control component, a storage system and a display component, wherein the wireless wifi communication module component is used for receiving and sending information with a road information node and other vehicle communication systems to obtain data information required by vehicle positioning and control, the data processing component obtains the data information required by positioning from the wireless wifi communication module component, and the positioning information obtained by the vehicle terminal node is converted into accurate position coordinate information of the vehicle according to the computer system;
s2, the data collection component receives data information measured by a speed sensor, a corner sensor and an acceleration sensor of the vehicle, and the obtained information is imported into a computer processing system, so that the information is converted into digital information to obtain real-time motion state information of the vehicle;
s3, the driving route planning component receives signals from the wireless wifi communication module component, the data collection component and the data processing component, obtains real-time road information and real-time data of the driving state of the vehicle, including real-time coordinate information of the vehicle, and carries out overall planning on the driving route information of the vehicle at the next stage moment;
s4, the vehicle control module receives the driving route planned by the driving route planning component, controls the driving speed, the real-time acceleration and the steering information of the vehicle, and the storage system and the display component receive and display the position and the optimal path information from the data processing component block and the driving route planning component in real time;
B. setting road information node setting:
s1, the road information node system comprises a wireless wifi communication module component, a data processing component and a sensor device;
s2, the sensor device sends the measured traffic flow, visibility information and traffic flow speed information in the road environment to the data processing component through analog signals;
s3, the data processing component processes the analog signals from the sensor device and converts the analog signals into digital signals which can be recognized by the processor;
s4, the wireless wifi communication module component sends the node position information, the road traffic flow data information and the vehicle speed data signal from the data processing component to the road control background system;
C. setting a road control background system:
s1, the road control background system comprises a wireless wifi communication module component, a data processing component and a database module;
s2, the wireless wifi communication module component, the road information node component and the vehicle-mounted control module receive and transmit vehicle data information, traffic flow information and road environment information;
s3, the data processing component receives the information from the wireless wifi communication module component, preprocesses the information, appoints the information to be stored in the database module, and calls the related road environment data information from the database according to the vehicle-mounted control module;
s4, the database system stores traffic flow data information and road environment data information of the road;
D. data calculation:
s1, selecting three cars as calculation target vehicles, respectively marking as A vehicle, B vehicle and C vehicle, obtaining corresponding signal data by controlling the distance between the three vehicles, and obtaining corresponding position information by a calculation formula so as to be convenient for entering a background database;
s2, the distance between the vehicle A and the vehicle B is 150m, the distance between the vehicle B and the vehicle C is 300m, and the distance is L;
s3, the running speed of the vehicle A is 40km/h, the running speed of the vehicle B is 70km/h, the running speed of the vehicle C is 120km/h, and the speed is set as D;
s4, let E be the relative position change rate, and the formula be E ═ D/2+ L/D × (D-L)/2.
Example III,
A. The vehicle carrier control terminal system module is set as follows:
s1, the vehicle carrier control terminal system module comprises a wireless wifi communication module component, an information data processing component, a driving route planning component, a data collecting component, a vehicle control component, a storage system and a display component, wherein the wireless wifi communication module component is used for receiving and sending information with a road information node and other vehicle communication systems to obtain data information required by vehicle positioning and control, the data processing component obtains the data information required by positioning from the wireless wifi communication module component, and the positioning information obtained by the vehicle terminal node is converted into accurate position coordinate information of the vehicle according to the computer system;
s2, the data collection component receives data information measured by a speed sensor, a corner sensor and an acceleration sensor of the vehicle, and the obtained information is imported into a computer processing system, so that the information is converted into digital information to obtain real-time motion state information of the vehicle;
s3, the driving route planning component receives signals from the wireless wifi communication module component, the data collection component and the data processing component, obtains real-time road information and real-time data of the driving state of the vehicle, including real-time coordinate information of the vehicle, and carries out overall planning on the driving route information of the vehicle at the next stage moment;
s4, the vehicle control module receives the driving route planned by the driving route planning component, controls the driving speed, the real-time acceleration and the steering information of the vehicle, and the storage system and the display component receive and display the position and the optimal path information from the data processing component block and the driving route planning component in real time;
B. setting road information node setting:
s1, the road information node system comprises a wireless wifi communication module component, a data processing component and a sensor device;
s2, the sensor device sends the measured traffic flow, visibility information and traffic flow speed information in the road environment to the data processing component through analog signals;
s3, the data processing component processes the analog signals from the sensor device and converts the analog signals into digital signals which can be recognized by the processor;
s4, the wireless wifi communication module component sends the node position information, the road traffic flow data information and the vehicle speed data signal from the data processing component to the road control background system;
C. setting a road control background system:
s1, the road control background system comprises a wireless wifi communication module component, a data processing component and a database module;
s2, the wireless wifi communication module component, the road information node component and the vehicle-mounted control module receive and transmit vehicle data information, traffic flow information and road environment information;
s3, the data processing component receives the information from the wireless wifi communication module component, preprocesses the information, appoints the information to be stored in the database module, and calls the related road environment data information from the database according to the vehicle-mounted control module;
s4, the database system stores traffic flow data information and road environment data information of the road;
D. data calculation:
s1, selecting three cars as calculation target vehicles, respectively marking as A vehicle, B vehicle and C vehicle, obtaining corresponding signal data by controlling the distance between the three vehicles, and obtaining corresponding position information by a calculation formula so as to be convenient for entering a background database;
s2, the distance between the vehicle A and the vehicle B is 200m, the distance between the vehicle B and the vehicle C is 350m, and the distance is L;
s3, the running speed of the vehicle A is 50km/h, the running speed of the vehicle B is 80km/h, the running speed of the vehicle C is 130km/h, and the speed is set as D;
s4, let E be the relative position change rate, and the formula be E ═ D/2+ L/D × (D-L)/2. The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (1)
1. A positioning motion control method based on bionic population control is characterized by comprising the following steps:
A. the vehicle carrier control terminal system module is set as follows:
s1, the vehicle carrier control terminal system module comprises a wireless wifi communication module component, an information data processing component, a driving route planning component, a data collecting component, a vehicle control component, a storage system and a display component, wherein the wireless wifi communication module component is used for receiving and sending information with a road information node and other vehicle communication systems to obtain data information required by vehicle positioning and control, the data processing component obtains the data information required by positioning from the wireless wifi communication module component, and the positioning information obtained by the vehicle terminal node is converted into accurate position coordinate information of the vehicle according to the computer system;
s2, the data collection component receives data information measured by a speed sensor, a corner sensor and an acceleration sensor of the vehicle, and the obtained information is imported into a computer processing system, so that the information is converted into digital information to obtain real-time motion state information of the vehicle;
s3, the driving route planning component receives signals from the wireless wifi communication module component, the data collection component and the data processing component, obtains real-time road information and real-time data of the driving state of the vehicle, including real-time coordinate information of the vehicle, and carries out overall planning on the driving route information of the vehicle at the next stage moment;
s4, the vehicle control module receives the driving route planned by the driving route planning component, controls the driving speed, the real-time acceleration and the steering information of the vehicle, and the storage system and the display component receive and display the position and the optimal path information from the data processing component block and the driving route planning component in real time;
B. setting road information node setting:
s1, the road information node system comprises a wireless wifi communication module component, a data processing component and a sensor device;
s2, the sensor device sends the measured traffic flow, visibility information and traffic flow speed information in the road environment to the data processing component through analog signals;
s3, the data processing component processes the analog signals from the sensor device and converts the analog signals into digital signals which can be recognized by the processor;
s4, the wireless wifi communication module component sends the node position information, the road traffic flow data information and the vehicle speed data signal from the data processing component to the road control background system;
C. setting a road control background system:
s1, the road control background system comprises a wireless wifi communication module component, a data processing component and a database module;
s2, the wireless wifi communication module component, the road information node component and the vehicle-mounted control module receive and transmit vehicle data information, traffic flow information and road environment information;
s3, the data processing component receives the information from the wireless wifi communication module component, preprocesses the information, appoints the information to be stored in the database module, and calls the related road environment data information from the database according to the vehicle-mounted control module;
s4, the database system stores traffic flow data information and road environment data information of the road;
D. data calculation:
s1, selecting three cars as calculation target vehicles, respectively marking as A vehicle, B vehicle and C vehicle, obtaining corresponding signal data by controlling the distance between the three vehicles, and obtaining corresponding position information by a calculation formula so as to be convenient for entering a background database;
s2, enabling the distance between the vehicle A and the vehicle B to be 100m-200m, enabling the distance between the vehicle B and the vehicle C to be 250m-350m, and enabling the distance to be L;
s3, the running speed of the vehicle A is 30-50km/h, the running speed of the vehicle B is 60-80km/h, the running speed of the vehicle C is 100-130km/h, and the speed is D;
s4, let E be the relative position change rate, and the formula be E ═ D/2+ L/D × (D-L)/2.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103632558A (en) * | 2013-11-15 | 2014-03-12 | 西北工业大学 | Bionic swarm intelligence-based real-time positioning navigation and motion control method and system for moving vehicle |
| US20180011494A1 (en) * | 2016-07-05 | 2018-01-11 | Baidu Usa Llc | Standard scene-based planning control methods for operating autonomous vehicles |
| CN109976348A (en) * | 2019-04-11 | 2019-07-05 | 深圳市大富科技股份有限公司 | A kind of vehicle and its motion control method, equipment, storage medium |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103632558A (en) * | 2013-11-15 | 2014-03-12 | 西北工业大学 | Bionic swarm intelligence-based real-time positioning navigation and motion control method and system for moving vehicle |
| US20180011494A1 (en) * | 2016-07-05 | 2018-01-11 | Baidu Usa Llc | Standard scene-based planning control methods for operating autonomous vehicles |
| CN109976348A (en) * | 2019-04-11 | 2019-07-05 | 深圳市大富科技股份有限公司 | A kind of vehicle and its motion control method, equipment, storage medium |
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