CN112697128A - Route tracking method for patrol vehicle - Google Patents
Route tracking method for patrol vehicle Download PDFInfo
- Publication number
- CN112697128A CN112697128A CN202011405525.5A CN202011405525A CN112697128A CN 112697128 A CN112697128 A CN 112697128A CN 202011405525 A CN202011405525 A CN 202011405525A CN 112697128 A CN112697128 A CN 112697128A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- route
- deviation
- distance
- tracking method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a route tracking method for a patrol car, which is characterized in that a corresponding route problem is loaded according to a remote instruction, and a route file is analyzed; simulating a vehicle running track, and checking the feasibility of a route; acquiring high-precision positioning data, and judging whether the positioning precision meets the requirement; cutting the route into a plurality of segments; converting a coordinate system; calculating a vehicle and a deviation value according to the real-time position of the vehicle; obtaining a vector equation according to the real-time position and the heading of the vehicle, solving the difference of the slopes of the two equations to obtain a heading deviation value, and obtaining a center offset distance according to the distance between a point and a straight line; calculating parameters to be adjusted of the vehicle according to the vehicle deviation value, and finally adding the accumulated deviation for adjustment and correction; judging the surrounding state of the vehicle according to the radar feedback; and issuing a control instruction, simulating a vehicle running track by analyzing the route file, checking the feasibility of the route, judging the surrounding state of the vehicle according to radar feedback, and issuing the control instruction.
Description
Technical Field
The invention relates to the field of route tracking for patrol cars, in particular to a route tracking method for patrol cars.
Background
Along with the continuous development of the society, more and more large-scale enterprise plants use automatic patrol cars to replace manual patrol, so that the patrol efficiency can be greatly improved, but due to different scene conditions, the patrol cars are required to carry out route memory on road sections needing to be patrolled in advance, but after the memory, whether the next patrol can still move according to the originally set route is ensured, the route in the patrol process needs to be planned and calibrated at the moment, and the applicant provides a route tracking method for patrol cars aiming at the problems.
Disclosure of Invention
In order to solve the above problems, the present invention provides a route tracking method for a patrol car, which accurately calibrates a route of the patrol car by moving the patrol car on a set moving route for a period and then analyzing a distance deviation between each section of the moving route in the moving period and an originally set route section, and for this purpose, the present invention provides a route tracking method for a patrol car, which specifically comprises the following steps:
step 1: loading the corresponding route problem according to the remote instruction, and analyzing the route file;
step 2: simulating a vehicle running track, checking the feasibility of a route, continuing to execute when the running condition is met, and returning an error if the running condition is not met;
and step 3: acquiring high-precision positioning data, judging whether the positioning precision meets the requirement, continuing to execute the positioning precision according with the requirement, and returning an error if the positioning precision does not meet the requirement;
and 4, step 4: cutting the route into a plurality of sections, and inquiring the position of the current vehicle according to the real-time position of the vehicle;
and 5: controlling the vehicle through a remote controller, and driving once in a road environment needing to be subjected to inspection;
step 6: calculating a vehicle and a deviation value according to the real-time position of the vehicle;
and 7: calculating parameters to be adjusted of the vehicle according to the vehicle deviation value;
and 8: judging the surrounding state of the vehicle according to the radar feedback;
and step 9: and issuing a control instruction.
As a further improvement of the invention, the specific content of step 5 is as follows:
the formula y ═ k ═ log (tan (M _ PI/4+ lat/2) × (1-e × (lat)/(1+ e × (lat)), e/2);, and x ═ k × (in) where lat denotes latitude and lon denotes longitude.
As a further improvement of the invention, the specific content of step 6 is as follows:
and (2) obtaining a vector equation through the real-time position and heading of the vehicle, and obtaining a route center line equation according to two points, (y-y2)/(y1-y2) (x-x2)/(x1-x 2). And solving the difference of the slopes of the two equations to obtain a course deviation value, and obtaining the center offset distance by the distance from the point to the straight line.
As a further improvement of the invention, the specific content of step 7 is as follows:
streering_angle＝P*offset_distance+d*course_difference+i*sum(speed*offset*delta)；
the street _ angle represents the angle to be adjusted;
offset _ distance represents a distance deviation;
coarse _ difference represents a heading bias;
and finally, adding the accumulated deviation to carry out adjustment and correction.
The invention relates to a route tracking method for a patrol car, which is characterized in that a corresponding route problem is loaded according to a remote instruction, and a route file is analyzed; simulating a vehicle running track, and checking the feasibility of a route; acquiring high-precision positioning data, and judging whether the positioning precision meets the requirement; cutting the route into a plurality of segments; converting a coordinate system; calculating a vehicle and a deviation value according to the real-time position of the vehicle; obtaining a vector equation according to the real-time position and the heading of the vehicle, solving the difference of the slopes of the two equations to obtain a heading deviation value, and obtaining a center offset distance according to the distance between a point and a straight line; calculating parameters to be adjusted of the vehicle according to the vehicle deviation value, and finally adding the accumulated deviation for adjustment and correction; judging the surrounding state of the vehicle according to the radar feedback; and issuing a control instruction, simulating a vehicle running track by analyzing the route file, checking the feasibility of the route, judging the surrounding state of the vehicle according to radar feedback, and issuing the control instruction.
Drawings
Fig. 1 is a schematic flow chart of the present application.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the invention provides a route tracking method for a patrol car, which is used for accurately calibrating the route of the patrol car by moving the patrol car on a set moving route for a period and then analyzing the distance deviation between each road section in the moving process of the patrol car and the originally set route section in the moving period.
As an embodiment of the present invention, the present application provides a method for tracking a route for a patrol car as shown in fig. 1, which includes the following steps:
step 1: loading the corresponding route problem according to the remote instruction, and analyzing the route file;
step 2: simulating a vehicle running track, checking the feasibility of a route, continuing to execute when the running condition is met, and returning an error if the running condition is not met;
and step 3: acquiring high-precision positioning data, judging whether the positioning precision meets the requirement, continuing to execute the positioning precision according with the requirement, and returning an error if the positioning precision does not meet the requirement;
and 4, step 4: cutting the route into a plurality of sections, and inquiring the position of the current vehicle according to the real-time position of the vehicle;
and 5: controlling the vehicle through a remote controller, and driving once in a road environment needing to be subjected to inspection; the formula y ═ k ═ log (tan (M _ PI/4+ lat/2) × (1-e × (lat)/(1+ e × (lat)), e/2);), x ═ k ═ lon where lat denotes latitude and lon denotes longitude;
step 6: calculating a vehicle and a deviation value according to the real-time position of the vehicle; and (2) obtaining a vector equation through the real-time position and heading of the vehicle, and obtaining a route center line equation according to two points, (y-y2)/(y1-y2) (x-x2)/(x1-x 2). Calculating the difference of the slopes of the two equations to obtain a course deviation value, and obtaining a center offset distance by the distance between the point and the straight line;
and 7: calculating parameters to be adjusted of the vehicle according to the vehicle deviation value; street _ angle ═ P × offset _ distance + d × core _ difference + i × sum (speed × offset delta); the speed _ angle represents an angle to be adjusted, the offset _ distance represents distance deviation, the coarse _ difference represents course deviation, and finally, the accumulated deviation is added for adjustment and correction;
and 8: judging the surrounding state of the vehicle according to the radar feedback;
and step 9: and issuing a control instruction.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (4)
1. A route tracking method for a patrol car is characterized by comprising the following specific steps:
step 1: loading the corresponding route problem according to the remote instruction, and analyzing the route file;
step 2: simulating a vehicle running track, checking the feasibility of a route, continuing to execute when the running condition is met, and returning an error if the running condition is not met;
and step 3: acquiring high-precision positioning data, judging whether the positioning precision meets the requirement, continuing to execute the positioning precision according with the requirement, and returning an error if the positioning precision does not meet the requirement;
and 4, step 4: cutting the route into a plurality of sections, and inquiring the position of the current vehicle according to the real-time position of the vehicle;
and 5: controlling the vehicle through a remote controller, and driving once in a road environment needing to be subjected to inspection;
step 6: calculating a vehicle and a deviation value according to the real-time position of the vehicle;
and 7: calculating parameters to be adjusted of the vehicle according to the vehicle deviation value;
and 8: judging the surrounding state of the vehicle according to the radar feedback;
and step 9: and issuing a control instruction.
2. A route tracking method for a patrol car according to claim 1, wherein: the specific content of the step 5 is as follows: the formula y ═ k ═ log (tan (M _ PI/4+ lat/2) × (1-e × (lat)/(1+ e × (lat)), e/2);, and x ═ k × (in) where lat denotes latitude and lon denotes longitude.
3. A route tracking method for a patrol car according to claim 1, wherein: the concrete content of the step 6 is as follows: obtaining a vector equation through the real-time position and the heading of the vehicle, obtaining a route center line equation according to two points, (y-y2)/(y1-y2) (x-x2)/(x1-x2), calculating the difference of the slopes of the two equations to obtain a heading deviation value, and obtaining the center deviation distance according to the distance between the points and the straight line.
4. A route tracking method for a patrol car according to claim 1, wherein: the specific content of the step 7 is as follows: street _ angle ═ P × offset _ distance + d × core _ difference + i × sum (speed × offset delta); and (3) street _ angle represents an angle to be adjusted, offset _ distance represents distance deviation, coarse _ difference represents course deviation, and finally, the accumulated deviation is added for adjustment and correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405525.5A CN112697128B (en) | 2020-12-04 | 2020-12-04 | Route tracking method for patrol car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011405525.5A CN112697128B (en) | 2020-12-04 | 2020-12-04 | Route tracking method for patrol car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112697128A true CN112697128A (en) | 2021-04-23 |
| CN112697128B CN112697128B (en) | 2024-03-01 |
Family
ID=75506847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011405525.5A Active CN112697128B (en) | 2020-12-04 | 2020-12-04 | Route tracking method for patrol car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112697128B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1321053A (en) * | 1969-07-09 | 1973-06-20 | Westinghouse Electric Corp | Control of vehicle systems |
| JP2008065421A (en) * | 2006-09-05 | 2008-03-21 | Matsushita Electric Ind Co Ltd | Travel track managing system |
| CN105389988A (en) * | 2015-12-07 | 2016-03-09 | 北京航空航天大学 | Multi-unmanned aerial vehicle cooperation highway intelligent inspection system |
| US20170329000A1 (en) * | 2014-11-28 | 2017-11-16 | Denso Corporation | Vehicle cruise control apparatus and vehicle cruise control method |
| CN109017757A (en) * | 2018-08-22 | 2018-12-18 | 吉林大学 | In vehicle remote generation, drives method and system |
| CN110455554A (en) * | 2019-09-03 | 2019-11-15 | 酷黑科技（北京）有限公司 | A kind of unmanned vehicle test macro and method |
| CN111413982A (en) * | 2020-04-08 | 2020-07-14 | 江苏盛海智能科技有限公司 | Method and terminal for planning tracking routes of multiple vehicles |
| CN111739063A (en) * | 2020-06-23 | 2020-10-02 | 郑州大学 | Electric power inspection robot positioning method based on multi-sensor fusion |
| CN112711267A (en) * | 2020-04-24 | 2021-04-27 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection method based on RTK high-precision positioning and machine vision fusion |
-
2020
- 2020-12-04 CN CN202011405525.5A patent/CN112697128B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1321053A (en) * | 1969-07-09 | 1973-06-20 | Westinghouse Electric Corp | Control of vehicle systems |
| JP2008065421A (en) * | 2006-09-05 | 2008-03-21 | Matsushita Electric Ind Co Ltd | Travel track managing system |
| US20170329000A1 (en) * | 2014-11-28 | 2017-11-16 | Denso Corporation | Vehicle cruise control apparatus and vehicle cruise control method |
| CN105389988A (en) * | 2015-12-07 | 2016-03-09 | 北京航空航天大学 | Multi-unmanned aerial vehicle cooperation highway intelligent inspection system |
| CN109017757A (en) * | 2018-08-22 | 2018-12-18 | 吉林大学 | In vehicle remote generation, drives method and system |
| CN110455554A (en) * | 2019-09-03 | 2019-11-15 | 酷黑科技（北京）有限公司 | A kind of unmanned vehicle test macro and method |
| CN111413982A (en) * | 2020-04-08 | 2020-07-14 | 江苏盛海智能科技有限公司 | Method and terminal for planning tracking routes of multiple vehicles |
| CN112711267A (en) * | 2020-04-24 | 2021-04-27 | 江苏方天电力技术有限公司 | Unmanned aerial vehicle autonomous inspection method based on RTK high-precision positioning and machine vision fusion |
| CN111739063A (en) * | 2020-06-23 | 2020-10-02 | 郑州大学 | Electric power inspection robot positioning method based on multi-sensor fusion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112697128B (en) | 2024-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106840179B (en) | Intelligent vehicle positioning method based on multi-sensor information fusion | |
| CN110262508B (en) | Automatic guiding system and method applied to unmanned freight vehicle in closed field | |
| Milanés et al. | Autonomous vehicle based in cooperative GPS and inertial systems | |
| CN109900298B (en) | Vehicle positioning calibration method and system | |
| CN103033184B (en) | Error correction method, device and system for inertial navigation system | |
| CN107132563B (en) | Combined navigation method combining odometer and dual-antenna differential GNSS | |
| CN111696339B (en) | Car following control method and system for automatic driving fleet and car | |
| CN110341688B (en) | Front wheel steering angle compensation method and device, vehicle-mounted equipment and storage medium | |
| CN101201255A (en) | Vehicle combined navigation system based on intelligent navigation algorithm | |
| CN105300410A (en) | Coalcutter inertial navigation and location error calibration device and method | |
| CN112129297A (en) | Self-adaptive correction indoor positioning method for multi-sensor information fusion | |
| CN111137298B (en) | Vehicle automatic driving method, device, system and storage medium | |
| CN112731483B (en) | Method for judging RTK abnormal value in automatic driving integrated navigation system | |
| CN113359171B (en) | Positioning method and device based on multi-sensor fusion and electronic equipment | |
| CN111857104A (en) | Autopilot calibration method and device, electronic equipment and computer-readable storage medium | |
| CN114148536B (en) | Linear displacement compensation control method for photoelectric pod | |
| CN115790524A (en) | Unmanned aerial vehicle landing stage ground clearance calculation method and system | |
| CN114966629A (en) | Vehicle body laser radar external reference calibration method based on EKF algorithm framework | |
| CN114442630B (en) | Intelligent vehicle planning control method based on reinforcement learning and model prediction | |
| CN112414415A (en) | High-precision point cloud map construction method | |
| Katzorke | Using RTK-based automated vehicles to pre-mark temporary road marking patterns for test maneuvers of automated vehicles | |
| CN101545781B (en) | Method for determining pulse equivalent of speedometer in on-board integrated navigation | |
| KR102618247B1 (en) | Device for correcting localization heading error in autonomous car and operating methdo thereof | |
| CN112697128A (en) | Route tracking method for patrol vehicle | |
| CN111103578B (en) | Laser radar online calibration method based on deep convolutional neural network |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |