CN112752217B - Controllable seismic source vehicle anti-collision control method based on workshop communication - Google Patents

Controllable seismic source vehicle anti-collision control method based on workshop communication Download PDF

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CN112752217B
CN112752217B CN202011611842.2A CN202011611842A CN112752217B CN 112752217 B CN112752217 B CN 112752217B CN 202011611842 A CN202011611842 A CN 202011611842A CN 112752217 B CN112752217 B CN 112752217B
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coordinate system
formation
vibroseis
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CN112752217A (en
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汪首坤
刘鹏涛
王亮
司金戈
雷涛
陈志华
李静
王军政
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Beijing Institute of Technology BIT
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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • 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]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
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Abstract

The invention discloses a controllable seismic source vehicle anti-collision control method based on workshop communication, and belongs to the technical field of geophysical exploration. The method comprises the steps of firstly utilizing a MESH ad hoc network radio station of a controllable seismic source vehicle to carry out networking on a job formation. And then sharing the position and the hinge angle information of each vehicle through the ad hoc network, and establishing a conversion relation model of rear vehicle body coordinate-geodetic coordinate and front vehicle body coordinate-geodetic coordinate according to the acquired information. And finally, calculating the shortest distance between the vehicles by using a rotary clamping shell algorithm under a unified geodetic coordinate system, and taking the shortest distance as a judgment basis of anti-collision control. The method fully utilizes the equipment of the vibroseis vehicle, considers the economy, can realize the all-weather, all-time and blind-area-free vehicle distance detection of the vibroseis vehicle under the condition of not adding an additional sensor, and provides a new technical solution for the safe driving and operation of the vibroseis vehicle.

Description

Controllable seismic source vehicle anti-collision control method based on workshop communication
Technical Field
The invention relates to an anti-collision control method for vehicles when vibroseis vehicles work in a formation mode, in particular to an anti-collision control method for vibroseis vehicles based on workshop communication, and belongs to the technical field of geophysical exploration.
Background
The controllable seismic source vehicle is a large articulated engineering vehicle widely applied to the fields of geological survey, oil exploration and the like. In the actual operation process, the seismic source vehicle usually performs high-strength, high-precision, all-weather and all-time operations in the complex field environments such as desert, gobi, grassland and the like in a multi-vehicle formation mode. The high-strength operation mode puts high requirements on the running safety of vehicles, and collision accidents easily occur between the vibroseis vehicles under the conditions of short vehicle distance or poor visibility at night, so that safety accidents are caused.
The existing anti-collision technology of the vibroseis vehicle mainly adopts distance measuring sensors such as an ultrasonic radar and a laser radar to detect the distance between vehicles, and the distance is used as a judgment basis for anti-collision control. CN208963006U discloses an intelligent car collision-prevention device for a vibroseis, which detects the distance between the vibroseis car and other objects as a collision-prevention judgment condition by installing a plurality of ultrasonic ranging sensors or other ranging sensors around the car. The vehicle collision avoidance control based on the internet of vehicles technology is mainly used for general passenger vehicles, and has no case for articulated vehicles such as vibroseis vehicles. CN105931495A discloses a vehicle distance anti-collision early warning device and method based on the Internet of vehicles, and the invention is mainly suitable for general passenger vehicles.
The method similar to the above invention, which uses the distance measuring sensor to detect data or the vehicle distance obtained based on the vehicle network as the collision-proof judgment condition, can largely ensure the safety of the vehicle, but has the following problems:
1. the method adopting the distance measuring sensor has certain detection blind areas due to the limitation of the number of the sensors and the detection range, and is particularly applied to a controllable seismic source vehicle, namely a large articulated engineering vehicle.
2. The performance of the distance measuring sensor is easily influenced by environmental factors, such as severe weather conditions of rain, snow, fog and the like, and the reliability is insufficient.
3. Some sensors, such as laser radar, are expensive and the use of ranging sensors does not take into account the economics sufficiently.
4. The vehicle distance early warning based on the vehicle network is mainly aimed at common passenger vehicles, and the method is not suitable for large-scale articulated vehicles such as vibroseis vehicles.
Therefore, a method for preventing collision of the vibroseis vehicle, which is not influenced by environmental factors, has high economical efficiency and can realize non-blind area detection, is desired.
Disclosure of Invention
The invention aims to provide a controllable seismic source vehicle anti-collision control method based on workshop communication, and aims to overcome the defects of detection blind areas, easiness in influence of environmental factors, poor economy and the like in the conventional method. The method fully utilizes the equipment of the vibroseis vehicle, considers the economy, can realize the all-weather, all-time and blind-area-free vehicle distance detection of the vibroseis vehicle under the condition of not adding an additional sensor, and provides a set of new technical solution for the safe driving and operation of the vibroseis vehicle.
The innovation points of the invention are as follows:
firstly, a MESH ad hoc network radio station of a vibroseis vehicle is used for networking a job formation. Then, the position and the hinge angle information of each vehicle are shared through the ad hoc network, and a conversion relation model of rear vehicle body coordinate-geodetic coordinate and front vehicle body coordinate-geodetic coordinate is established according to the acquired information. And finally, calculating the shortest distance between the vehicles by using a rotary clamping shell algorithm under a unified geodetic coordinate system, and taking the shortest distance as a judgment basis of anti-collision control.
In order to achieve the purpose, the invention provides a controllable seismic source vehicle anti-collision control method based on workshop communication, which comprises the following steps of:
step 1: establishing a controlled seismic source vehicle operation formation ad hoc network through an MESH ad hoc network radio station;
step 2: broadcasting the self positioning information and the articulation angle information to other vehicles in the formation, and analyzing the positioning and articulation angle information of the other vehicles in the formation;
and step 3: for each vehicle in the formation, establishing a whole vehicle coordinate system psi of the controlled seismic source vehiclew；
And 4, step 4: for each vehicle in the formation, establishing a rear vehicle coordinate system psi of the controllable seismic source vehicler；
And 5: for each vehicle in the formation, establishing its rear vehicle coordinate system psirWith the geodetic coordinate system ΨmThe transformation relationship model of (1);
step 6: for each vehicle in the formation, establishing a vehicle front coordinate system psi of the controlled seismic sourcef；
And 7: for each vehicle in the formation, establishing a coordinate system psi of the vehicle aheadfWith the geodetic coordinate system ΨmThe transformation relationship model of (1);
and 8: obtaining the external rectangle R of the front vehicle body of each vehicle in the formationifAnd a rear vehicle body external rectangle RirAt psimCoordinates of (2).
In the geodetic coordinate system ΨmNext, the shortest distance between the vehicle and other vehicles in the formation is calculated by using a rotating stuck shell algorithm.
And step 9: judging whether the shortest vehicle distance calculated in the step 8 is smaller than the emergency stopping distance or not, and if so, sending a stopping instruction to the vibroseis vehicle controller; if the emergency stop distance is not within the emergency stop distance, repeating the steps 2 to 9 until the operation is completed.
Further, the step 3 specifically includes establishing a whole vehicle two-dimensional right-hand coordinate system Ψ by using the GNSS positioning antenna as a coordinate originwAnd the forward direction of the y axis is the GNSS heading.
Further, the step 4 specifically includes establishing a two-dimensional right-hand coordinate system Ψ of the rear vehicle by using the GNSS positioning antenna as a coordinate originrAnd the y axis points to the hinged point of the vibroseis vehicle in the positive direction.
Further, step 5 specifically includes the following steps:
step 5.1: establishing ΨwTo ΨmThe transformation relationship model of (1). ΨwPoint P inwWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm，1)T＝Tmw(Pw，1)T (1)
where T represents the matrix transpose, TmwIs ΨwTo ΨmAnd has:
Figure BDA0002874861190000031
in the formula, thetawIs the GNSS heading angle, xm、ymInformation is directly located for the GNSS.
Step 5.2: establishing ΨrTo ΨwThe transformation relationship model of (1). ΨrPoint P inrWith its entire vehicle coordinate system ΨwCoordinate of lower PwThe method has the following conversion relation:
(Pw，1)T＝Twr(Pr，1)T (3)
where T represents the matrix transpose, TwrIs ΨrTo ΨwAnd has:
Figure BDA0002874861190000032
in the formula, thetarIs Ψw、ΨrIs included in the y-axis forward angle.
Step 5.3: on the basis of step 5.1 and step 5.2, psi is establishedrTo ΨmThe transformation relationship model of (1). ΨrPoint P inrWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm,1)T＝TmwTwr(Pr,1)T (5)
where T denotes a matrix transpose.
Further, the step 6 specifically includes establishing a two-dimensional right-hand coordinate system Ψ of the front vehicle by using the hinge point as a coordinate originfThe y-axis points forward to the GNSS directional antenna.
Further, step 7 specifically includes the following steps:
step 7.1: establishing ΨfTo ΨrThe transformation relationship model of (1). ΨfPoint P infWith it at ΨrCoordinate P of (1)rThe method has the following conversion relation:
(Pr,1)T＝Trf(Pf,1)T (6)
where T represents the matrix transpose, TrfIs ΨfTo ΨrAnd has:
Figure BDA0002874861190000041
wherein gamma is the articulated angle of the seismic source vehicle, lrfThe distance of the antenna to the hinge point is located for the GNSS.
Step 7.2: on the basis of step 5.3, ΨfTo ΨmThe transformation relationship model of (1). ΨfPoint P infWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm,1)T＝TmwTwrTwf(Pf,1)T (8)
where T denotes a matrix transpose. Solving the external rectangle R of the front vehicle body according to the formulaifFour vertices at ΨmCoordinates of (2).
Further, step 8 specifically includes the following steps:
step 8.1: according to the step 5.3 and the step 7.2, solving the external rectangle R of the front vehicle body of each vehicle in the formationifAnd a rear vehicle body external rectangle RirAt psimCoordinates of (2).
Step 8.2: and calculating the shortest distance between the vehicle and other vehicles in the formation by using a rotating stuck shell algorithm.
Advantageous effects
Compared with the prior art, the method has the advantages that the existing equipment such as the MESH ad hoc network radio station of the vibroseis vehicles, the GNSS positioning system, the corner sensor and the like are fully utilized, the economic advantage is remarkable, and the accurate detection of the vehicle distance during formation operation of the vibroseis vehicles is realized under the condition that no additional distance measuring sensor is added. Because the communication is carried out by depending on the ad hoc network, the method is not influenced by environmental factors and has high reliability. Because the mode of vehicle distance detection is fundamentally different from the detection of the traditional distance measuring sensor, the invention theoretically has no blind zone of vehicle distance detection.
In addition, the invention realizes the accurate calculation of the outer contour of the articulated vehicle by establishing a conversion relation model of 'rear vehicle body coordinate-geodetic coordinate' and 'front vehicle body coordinate-geodetic coordinate'.
In conclusion, the device has the characteristics of all-weather, all-time, high reliability and no blind area, can provide safety guarantee for safe running and operation of the vibroseis vehicle, has good economy, can realize vehicle distance detection without adding additional equipment, and has wide application prospect.
Drawings
FIG. 1 is a flow chart of a vibroseis vehicle anti-collision control method based on vehicle-to-vehicle communication;
FIG. 2 is a schematic steering diagram of a vibroseis vehicle;
FIG. 3 is a schematic diagram of a circumscribed rectangle of a front and a rear vehicle bodies of a vibroseis vehicle;
fig. 4 is a flowchart of the shortest vehicle distance calculation.
In the figure, 1-GNSS directional antenna position, 2-vibroseis vehicle hinge point position, 3-GNSS positioning antenna position, 4-front right vertex of front vehicle body external rectangle, 5-front right vertex of front vehicle body external rectangle, 6-front right vertex of rear vehicle body external rectangle, 7-rear right vertex of rear vehicle body external rectangle, 8-rear left vertex of rear vehicle body external rectangle, 9-rear left vertex of rear vehicle body external rectangle, 10-front left vertex of front vehicle body external rectangle, and 11-front left vertex of front vehicle body external rectangle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, a method for controlling collision avoidance of a vibroseis vehicle based on vehicle-to-vehicle communication comprises the following steps:
step 1: the MESH ad hoc network radio station of the controlled seismic source vehicle is used for building a formation ad hoc network, and the MESH ad hoc network radio station is installed in a driving cab of the controlled seismic source vehicle and is directly connected with a controlled seismic source vehicle controller through a network cable.
Step 2: and broadcasting the self positioning information and the articulation angle information to other vehicles in the formation, and analyzing the positioning and articulation angle information of other vehicles in the formation. The format of a broadcast message sent by each vibroseis vehicle in the formation is set to be '$ TEAM ID LAT LON ANG', wherein $ TEAM is a message frame header, ID is the unique number of the vehicle in the formation, LAT is latitude information of the vehicle GNSS positioning antenna, LON is precision information of the vehicle GNSS positioning antenna, and ANG is the vehicle hinge angle.
And step 3: respectively establishing a whole vehicle coordinate system psi for each vibroseis vehicle in the formationw. Taking one of the trolleys as an example, as shown in fig. 2, a two-dimensional right-handed coordinate system O is established with the GNSS positioning antenna as the originwXwYwIs denoted as ΨwThe y-axis forward direction is the GNSS heading, i.e., the GNSS positioning antenna is pointed to the GNSS directional antenna.
And 4, step 4: establishing a rear vehicle coordinate system psi for each vibroseis vehicle in the formationr. Taking one of the trolleys as an example, as shown in fig. 2, a two-dimensional right-handed coordinate system O is established with the GNSS positioning antenna as the originrXrYrIs denoted as ΨrAnd the y axis points to the hinge point of the vibroseis vehicle in the positive direction, namely the hinge point is pointed by the GNSS positioning antenna.
And 5: establishing a rear vehicle coordinate system psi for each vibroseis vehicle in the formationrWith the geodetic coordinate system ΨmThe transformation relationship model of (1). Taking one trolley as an example, the step can be divided into the following three small steps:
step 5.1: as shown in fig. 2, θwThe angle is the GNSS heading angle, namely the included angle between the connecting line between the GNSS positioning antenna and the directional antenna and the true north direction. Direct localization point (x) in known GNSSm,ym) In the case of (2), find ΨwPoint P inwWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm，1)T＝Tmw(Pw，1)T (1)
where T represents the matrix transpose, TmwIs ΨwTo ΨmAnd has:
Figure BDA0002874861190000061
step 5.2: as shown in fig. 2, θrIs Ψw、ΨrIs included, theta, given the articulation angle of the vehicle, isrObtained by triangle analysis. The analytical expression is as follows:
Figure BDA0002874861190000062
wherein lrHorizontal distance l from the vibroseis vehicle hinge point to the GNSS positioning antennafThe horizontal distance from the hinge point to the GNSS directional antenna, γ is the hinge angle. In obtaining thetarAfter the size is obtained, ΨrPoint P inrWith it at ΨwCoordinate of lower PwThe method has the following conversion relation:
(Pw，1)T＝Twr(Pr，1)T (4)
where T represents the matrix transpose, TwrIs ΨrTo ΨwAnd has a transformation matrix of
Figure BDA0002874861190000063
Step 5.3: based on 5.1 and 5.2, psi can be obtainedrTo ΨmThe transformation relationship model of (1). ΨrPoint P inrWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm,1)T＝TmwTwr(Pr,1)T (6)
where T denotes a matrix transpose.
Step 6: respectively establishing a front vehicle coordinate system psi for each vibroseis vehicle in the formationf. Taking one of the trolleys as an example, as shown in fig. 2, a two-dimensional right-hand coordinate system Ψ of the front vehicle is established by taking a hinge point as a coordinate originfThe y-axis points forward to the GNSS directional antenna.
And 7: respectively establishing a front vehicle coordinate system psi for each vibroseis vehicle in the formationfWith the geodetic coordinate system ΨmThe transformation relationship model of (1). Taking one trolley as an example, the step can be divided into the following two steps.
Step 7.1: as shown in FIG. 2, γ is the source vehicle articulation angle, lrAnd the horizontal distance from the vibroseis vehicle hinge point to the GNSS positioning antenna. ΨfPoint P infWith it at ΨrCoordinate P of (1)rThe method has the following conversion relation:
(Pr,1)T＝Trf(Pf,1)T (7)
where T represents the matrix transpose, TrfIs ΨfTo ΨrAnd has a transformation matrix of
Figure BDA0002874861190000071
Step 7.2: on the basis of step 5.3, ΨfTo ΨmThe transformation relationship model of (1). ΨfPoint P infWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm,1)T＝TmwTwrTwf(Pf,1)T (9)
where T denotes a matrix transpose.
And 8: on the basis of the step 5.3 and the step 7.2, the external rectangle R of the front and rear vehicle bodies of each vehicle in the formation is solvedif、RirEach vertex at ΨmCoordinates of (2).
As shown in 4-11 in FIG. 3The positions P of the vertices 4, 5, 10 and 11 of the circumscribed rectangle of the front body of the vibroseis vehicle in the coordinate system of the front vehicle are shownfAnd rear body circumscribed rectangle vertices 6, 7, 8, 9 in rear body coordinate system PrThe position in (a) is fixed and an accurate value can be obtained by measurement. Respectively calculating the psi of the coordinate system of the earth of each point according to the step 5.3 and the step 7.2mCoordinates of (2).
The above-mentioned ways of selecting the external shape of the front and rear vehicle bodies are various, and those skilled in the art will understand that the above-mentioned external rectangular way is an exemplary illustration, and different external shapes, such as an external octagon, can be selected according to the requirements in the specific implementation.
After the vertex of the circumscribed quadrangle of the front and rear vehicle bodies of each vehicle in the formation is obtained, the shortest distance between the vehicle and the rest vehicles can be calculated by using a rotary clamping method. As shown in fig. 4, the shortest vehicle distance calculating method includes:
step 8.1: initializing shortest vehicle distance EcpsSome large value (e.g., 9999, in m);
step 8.2: calculating the shortest distance E between the current vehicle and the ith vehicle by using a rotating card shell algorithmtmp. Wherein EtmpThe minimum value of the distance between the external rectangles of the front and rear vehicle bodies of the current vehicle and the external rectangle of the front and rear vehicle bodies of the ith vehicle is obtained;
step 8.3: if Etmp＜EcpsLet Ecps＝Etmp(ii) a Otherwise, continuously traversing the next vehicle, repeating the steps 8.1 to 8.3 until all vehicles in the traversing formation are left, and outputting Ecps。
And step 9: the shortest vehicle distance E calculated in step 8cpsAs the basis for judgment, EcpsAnd when the emergency stopping distance is smaller than the preset emergency stopping distance, the triggering controller sends a stopping instruction to the controllable seismic source vehicle, so that the driving and operation safety of the seismic source vehicle is ensured.

Claims (4)

1. A vibroseis vehicle anti-collision control method based on workshop communication is characterized by comprising the following steps:
step 1: establishing a controlled seismic source vehicle operation formation ad hoc network through an MESH ad hoc network radio station;
step 2: broadcasting the self-positioning information and the articulation angle information of the vehicle to other vehicles in the formation, and analyzing the positioning and articulation angle information of the other vehicles in the formation;
and step 3: for each vehicle in the formation, establishing a whole vehicle coordinate system psi of the controlled seismic source vehiclew；
And 4, step 4: for each vehicle in the formation, establishing a rear vehicle coordinate system psi of the controllable seismic source vehicler；
And 5: for each vehicle in the formation, establishing its rear vehicle coordinate system psirWith the geodetic coordinate system ΨmThe conversion relation model comprises the following steps:
step 5.1: establishing ΨwTo ΨmThe transformation relationship model of (1);
therein, ΨwPoint P inwWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm，1)T＝Tmw(Pw，1)T(1) where T represents the matrix transpose, TmwIs ΨwTo ΨmAnd has:
Figure FDA0003233772070000011
wherein, thetawIs the GNSS heading angle, xm、ymDirectly positioning information for the GNSS;
step 5.2: establishing ΨrTo ΨwThe transformation relationship model of (1);
therein, ΨrPoint P inrWith its entire vehicle coordinate system ΨwCoordinate of lower PwThe method has the following conversion relation:
(Pw，1)T＝Twr(Pr，1)T(3) where T represents the matrix transpose, TwrIs ΨrTo ΨwAnd has:
Figure FDA0003233772070000012
in the formula, thetarIs Ψw、ΨrThe y-axis positive included angle;
step 5.3: on the basis of step 5.1 and step 5.2, psi is establishedrTo ΨmThe transformation relationship model of (1);
therein, ΨrPoint P inrWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm,1)T＝TmwTwr(Pr,1)T (5)
wherein T represents a matrix transpose;
step 6: for each vehicle in the formation, establishing a vehicle front coordinate system psi of the controlled seismic sourcef；
And 7: for each vehicle in the formation, establishing a coordinate system psi of the vehicle aheadfWith the geodetic coordinate system ΨmThe conversion relation model comprises the following steps:
step 7.1: establishing ΨfTo ΨrThe transformation relationship model of (1);
therein, ΨfPoint P infWith it at ΨrCoordinate P of (1)rThe method has the following conversion relation:
(Pr,1)T＝Trf(Pf,1)T(6) where T represents the matrix transpose, TrfIs ΨfTo ΨrAnd has:
Figure FDA0003233772070000021
wherein gamma is the articulated angle of the seismic source vehicle, lrfPositioning a distance from an antenna to a hinge point for the GNSS;
step 7.2: establishing ΨfTo ΨmThe transformation relationship model of (1);
Ψfpoint P infWith its coordinate system Ψ in the earth's coordinate systemmCoordinate of lower PmThe method has the following conversion relation:
(Pm,1)T＝TmwTwrTwf(Pf,1)T (8)
wherein T represents matrix transposition, and the external rectangle R of the front vehicle body is obtained according to the formulaifFour vertices at ΨmCoordinates of (5);
and 8: obtaining the external rectangle R of the front vehicle body of each vehicle in the formationifAnd a rear vehicle body external rectangle RirAt psimCoordinates of (5);
in the geodetic coordinate system ΨmNext, calculating the shortest distance between the vehicle and other vehicles in the formation by using a rotary shell-jamming algorithm;
and step 9: judging whether the shortest vehicle distance calculated in the step 8 is smaller than the emergency stopping distance or not, and if so, sending a stopping instruction to the vibroseis vehicle controller; if the emergency stop distance is not within the emergency stop distance, repeating the steps 2 to 9 until the operation is completed.
2. The method for controlling collision avoidance of the vibroseis vehicle based on vehicle-to-vehicle communication as claimed in claim 1, wherein step 3 establishes the whole vehicle coordinate system Ψ of the vibroseis vehicle for each vehicle in the formationwThen, a GNSS positioning antenna is used as a coordinate origin to establish a whole vehicle two-dimensional right-hand coordinate system psiwAnd the forward direction of the y axis is the GNSS heading.
3. The method for controlling collision avoidance of the vibroseis vehicle based on vehicle-to-vehicle communication as claimed in claim 1, wherein step 4 is to establish a vibroseis vehicle rear vehicle coordinate system Ψ for each vehicle in the formationrThen, a GNSS positioning antenna is used as a coordinate origin to establish a two-dimensional right-hand coordinate system psi of the rear vehiclerAnd the y axis points to the hinge point of the vibroseis vehicle in the positive direction.
4. The vibroseis vehicle anti-collision control method based on workshop communication as claimed in claim 1, wherein step 6 is to establish a vibroseis vehicle front vehicle coordinate system Ψ for each vehicle in the formationfIn the meantime, a two-dimensional right-hand coordinate system psi of the front vehicle is established by taking a hinge point as a coordinate originfWherein the y-axis is pointing forward towards the GNSS directional antenna.
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