CN112697128B - Route tracking method for patrol car - Google Patents
Route tracking method for patrol car Download PDFInfo
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- CN112697128B CN112697128B CN202011405525.5A CN202011405525A CN112697128B CN 112697128 B CN112697128 B CN 112697128B CN 202011405525 A CN202011405525 A CN 202011405525A CN 112697128 B CN112697128 B CN 112697128B
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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
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- Radar, Positioning & Navigation (AREA)
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Abstract
According to the route tracking method for the patrol car, according to the remote instruction, the corresponding route problem is loaded, and the route file is analyzed; simulating a vehicle running track, and checking the feasibility of the 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 an offset value according to the real-time position of the vehicle; obtaining a vector equation through 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 deviation distance from a point to a straight line; calculating the parameters to be adjusted of the vehicle according to the deviation value of the vehicle, and finally adding the accumulated deviation to adjust and correct; judging the state of the periphery of the vehicle according to the radar feedback; and issuing a control instruction, namely analyzing the route file, simulating the running track of the vehicle, checking the feasibility of the route, and finally judging the state around 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 vehicles, in particular to a route tracking method for patrol vehicles.
Background
With the continuous development of society, more and more large-scale enterprise factory buildings use automatic patrol cars to replace manual patrol, so that the patrol efficiency can be greatly improved, but because different scene conditions are different, the patrol cars are required to memorize routes of road sections needing patrol in advance, after memorizing, whether the next patrol can be ensured or the movement can be carried out according to the originally set routes, and the routes in the patrol process are required to be planned and calibrated at the moment, so that the applicant provides a route tracking method for the patrol cars.
Disclosure of Invention
In order to solve the problems, the invention provides a method for tracking a route of a patrol car, which accurately calibrates the route of the patrol car by moving the patrol car on a set moving route for one period and analyzing the distance deviation between each road section in the moving period and the originally set route section, and the method comprises the following specific steps:
step 1: loading a corresponding route problem according to the remote instruction, and analyzing and processing the route file;
step 2: simulating the running track of the vehicle, checking the feasibility of the route, continuously executing when the running condition is met, and returning an error when the running condition is not met;
step 3: obtaining high-precision positioning data, judging whether positioning precision meets the requirement, continuing to execute the positioning precision according to the requirement, and returning an error if the positioning precision does not meet the requirement;
step 4: cutting the route into a plurality of sections, and inquiring the current position of the vehicle according to the real-time position of the vehicle;
step 5: controlling the vehicle through a remote controller, and driving the vehicle for one time in a road environment needing to be inspected;
step 6: calculating a vehicle and an offset value according to the real-time position of the vehicle;
step 7: calculating the parameters to be adjusted of the vehicle according to the vehicle deviation value;
step 8: judging the state of the periphery of the vehicle according to the radar feedback;
step 9: and issuing a control instruction.
As a further improvement of the invention, the specific content of the step 5 is as follows:
the formula y=k×log (tan (m_pi/4+lat/2) ×pow ((1-e×sin (lat)/(1+e×sin (lat)), e/2); x=k×lon, where lat represents latitude and lon represents longitude.
As a further improvement of the invention, the specific content of the step 6 is as follows:
by the real-time position and heading of the vehicle, a vector equation is obtained, and a route center line equation is obtained according to two points, wherein (y-y 2)/(y 1-y 2) = (x-x 2)/(x 1-x 2). And (3) differentiating the slopes of the two equations to obtain a course deviation value, and obtaining the center deviation distance from the point to the straight line.
As a further improvement of the invention, the specific content of the step 7 is as follows:
streering_angle＝P*offset_distance+d*course_difference+i*sum(speed*offset*delta)；
the angle indicates that the angle should be adjusted;
offset_distance represents the distance deviation;
the course_difference represents the heading bias;
and finally adding the accumulated deviation to carry out adjustment and correction.
According to the route tracking method for the patrol car, according to the remote instruction, the corresponding route problem is loaded, and the route file is analyzed; simulating a vehicle running track, and checking the feasibility of the 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 an offset value according to the real-time position of the vehicle; obtaining a vector equation through 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 deviation distance from a point to a straight line; calculating the parameters to be adjusted of the vehicle according to the deviation value of the vehicle, and finally adding the accumulated deviation to adjust and correct; judging the state of the periphery of the vehicle according to the radar feedback; and issuing a control instruction, namely analyzing the route file, simulating the running track of the vehicle, checking the feasibility of the route, and finally judging the state around the vehicle according to radar feedback and issuing the control instruction.
Drawings
FIG. 1 is a schematic overall flow diagram of the present application.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
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 for one period on a set moving route and analyzing the distance deviation between each road section in the moving period and the originally set route section.
As an embodiment of the present invention, the present application provides a method for tracking a patrol car, as shown in fig. 1, which specifically includes the following steps:
step 1: loading a corresponding route problem according to the remote instruction, and analyzing and processing the route file;
step 2: simulating the running track of the vehicle, checking the feasibility of the route, continuously executing when the running condition is met, and returning an error when the running condition is not met;
step 3: obtaining high-precision positioning data, judging whether positioning precision meets the requirement, continuing to execute the positioning precision according to the requirement, and returning an error if the positioning precision does not meet the requirement;
step 4: cutting the route into a plurality of sections, and inquiring the current position of the vehicle according to the real-time position of the vehicle;
step 5: controlling the vehicle through a remote controller, and driving the vehicle for one time in a road environment needing to be inspected; the formula y=k×log (tan (m_pi/4+lat/2) ×pow ((1-e×sin (lat)/(1+e×sin (lat)), e/2); x=k×lon, where lat represents latitude and lon represents longitude;
step 6: calculating a vehicle and an offset value according to the real-time position of the vehicle; by the real-time position and heading of the vehicle, a vector equation is obtained, and a route center line equation is obtained according to two points, wherein (y-y 2)/(y 1-y 2) = (x-x 2)/(x 1-x 2). The slope of the two equations is differenced to obtain a course deviation value, and the distance from the point to the straight line is used for obtaining a center deviation distance;
step 7: calculating the parameters to be adjusted of the vehicle according to the vehicle deviation value; strewing_angle=p_offset_distance+d_coarse_difference+i_sum (speed_offset_delta); the angle indicates an angle to be adjusted, the offset distance indicates a distance deviation, the coarse_difference indicates a heading deviation, and finally, the accumulated deviation is added for adjustment and correction;
step 8: judging the state of the periphery of the vehicle according to the radar feedback;
step 9: and issuing a control instruction.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any other way, but is intended to cover any modifications or equivalent variations according to the technical spirit of the present invention, which fall within the scope of the present invention as defined by the appended claims.
Claims (1)
1. The method for tracking the route of the patrol car is characterized by comprising the following specific steps of:
step 1: loading a corresponding route problem according to the remote instruction, and analyzing and processing the route file;
step 2: simulating the running track of the vehicle, checking the feasibility of the route, continuously executing when the running condition is met, and returning an error when the running condition is not met;
step 3: obtaining high-precision positioning data, judging whether positioning precision meets the requirement, continuing to execute the positioning precision according to the requirement, and returning an error if the positioning precision does not meet the requirement;
step 4: cutting the route into a plurality of sections, and inquiring the current position of the vehicle according to the real-time position of the vehicle;
step 5: controlling the vehicle through a remote controller, and driving the vehicle for one time in a road environment needing to be inspected;
the specific content of the step 5 is as follows:
the formula y=k×log (tan (m_pi/4+lat/2) ×pow ((1-e×sin (lat)/(1+e×sin (lat)), e/2)), x=k×lon where lat represents latitude and lon represents longitude;
step 6: calculating a vehicle and an offset value according to the real-time position of the vehicle;
the specific 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-y 2)/(y 1-y 2) = (x-x 2)/(x 1-x 2), obtaining a heading deviation value by differentiating the slopes of the two equations, and obtaining a center offset distance from the point to the straight line;
step 7: according to the vehicle deviation value, the specific content of the step 7 of calculating the vehicle adjustment parameters is as follows:
strewing_angle=p_offset_distance+d_coarse_difference+i_sum (speed_offset_delta); the angle indicates an angle to be adjusted, the offset distance indicates a distance deviation, the coarse_difference indicates a heading deviation, and finally, the accumulated deviation is added for adjustment and correction;
step 8: judging the state of the periphery of the vehicle according to the radar feedback;
step 9: and issuing a control instruction.
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| CN202011405525.5A CN112697128B (en) | 2020-12-04 | 2020-12-04 | Route tracking method for patrol car |
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| CN202011405525.5A CN112697128B (en) | 2020-12-04 | 2020-12-04 | Route tracking method for patrol car |
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| CN112697128B true CN112697128B (en) | 2024-03-01 |
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| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6356586B2 (en) * | 2014-11-28 | 2018-07-11 | 株式会社デンソー | Vehicle travel control device |
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2020
- 2020-12-04 CN CN202011405525.5A patent/CN112697128B/en active Active
Patent Citations (8)
| 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 |
| 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 |
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