CN113031604A - Travel route deviation prediction method based on ALD model - Google Patents
Travel route deviation prediction method based on ALD model Download PDFInfo
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- CN113031604A CN113031604A CN202110246040.4A CN202110246040A CN113031604A CN 113031604 A CN113031604 A CN 113031604A CN 202110246040 A CN202110246040 A CN 202110246040A CN 113031604 A CN113031604 A CN 113031604A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a travel route deviation prediction method based on an ALD (atomic layer deposition) model, which comprises the following steps of: setting a driving section for a road section in front of a driving according to a driving navigation path, judging whether the road section deviates from the path according to the comparison of a real-time feedback path and a navigation planning path in the driving process, updating barriers and accident points on the driving path in time, and re-planning the navigation path. The invention judges whether the route deviates according to the comparison of the real-time feedback route and the navigation planning route in the driving process, a deviation interval is arranged in the navigation route, the barrier and the accident point are updated on the driving route in time, the GPS positioning of the vehicle position is compared with the navigation planning route every 2s, a driving safety interval is arranged according to the curvature radius of the lane of the vehicle, the range of the driving route interval can be reasonably planned, the route can be accurately updated and planned through the real-time comparison and update, the route can be predicted and analyzed in advance aiming at the barrier road section in the route, and the later prediction and judgment are convenient.
Description
Technical Field
The invention relates to the technical field of travel, in particular to a travel route deviation prediction method based on an ALD (atomic layer deposition) model.
Background
"travel" is travel, go out, i.e. the process of spatially traveling from first place to second place for the purpose of achieving a certain purpose; "tour" is going out for touring, sightseeing, entertainment, i.e. the travel for achieving these purposes. The two are combined to be a tour, so the tour is more important to travel, and the tour not only has 'travel', but also has sightseeing and entertainment meanings;
in the travel process, route planning is a key step, in the route planning, the problem of route deviation needs to be treated in a key mode, in the travel process, due to the fact that road condition information and vehicle information are not unified, the route planning method cannot be applied to the planned route at the same time, in the travel process, after the vehicle deviates from the route, an alarm cannot be given out timely, the route deviation is caused, and the loss is easily caused to travel crowds.
Disclosure of Invention
The invention aims to provide a travel route deviation prediction method based on an ALD (atomic layer deposition) model, which solves the technical problems that road condition information and vehicle information are not unified, a planned route cannot be simultaneously applied, and an alarm cannot be timely given out after a vehicle deviates from the route in the travel driving process.
The purpose of the invention can be realized by the following technical scheme:
an ALD model-based travel route deviation prediction method comprises the following steps:
s1, positioning the position information of the vehicle in the map road and obtaining the information of the map road where the vehicle is;
s2, identifying a lane line mark, a lane curvature radius, a vehicle lateral deviation and a course angle of a driving road in front of the vehicle;
s3, acquiring speed information, driving deviation angle information and steering lamp information of the vehicle;
s4, setting a driving section for the road section in front of the driving according to the navigation planning path of the driving;
and S5, recording the driving process of the vehicle through GPS positioning, judging whether the vehicle deviates from the route according to the comparison between the real-time feedback route and the navigation planning route in the driving process, setting a deviation interval in the navigation route, updating the barrier and the accident point on the driving route in time, and re-planning the navigation route.
As a further scheme of the invention: at S4, a driving safety zone is set according to the turning radius of the vehicle.
As a further scheme of the invention: in S5, the GPS position fix of the vehicle position is compared with the navigation plan route every 2S.
As a further scheme of the invention: in S5, the vehicle is provided with a vehicle direction and warning device.
As a further scheme of the invention: the vehicle pointing and alarming device comprises a chassis, a sucker, a GPS controller, a support rod, a positioning bolt, a slide block, a slide rail, a swing rod, a conductive shifting piece, a navigation controller, an electrode ball, a buzzer, a first swing needle, a first motor, an indicating slide plate, a warning crystal plate, a second swing needle, a second motor, a display panel and a pointing lamp, wherein the sucker is installed at the bottom side of the chassis, the support rod is installed at the top side of the chassis, the display panel is installed on the support rod, the pointing lamp is installed at the edge side of the display panel in an annular array manner, the first motor and the second motor are installed on the display panel in parallel, the first swing needle is installed on a rotating shaft of the first motor in a matching manner, the second swing needle is installed on a rotating shaft of the second motor in a matching manner, the indicating slide plate is installed at the bottom side of the second swing needle and the top side of the first swing needle, the warning crystal plate is installed at the central, the display device is characterized in that the sliding rails are fixed on the display disc in a matched mode, the sliding rails are symmetrically buckled with two sliding blocks, positioning bolts are installed on the top sides of the sliding blocks in a matched mode, the sliding blocks are provided with swing rods in a matched mode, the swing rods are provided with conductive shifting pieces, and the buzzer is installed on the display disc in a matched mode.
As a further scheme of the invention: the upper cambered surface and the lower cambered surface of the two indicating sliding plates are arranged in a tangent mode.
As a further scheme of the invention: the GPS controller and the navigation controller are arranged on the chassis in parallel, the GPS controller is connected with the first motor through the relay in a matching mode, and the navigation controller is connected with the second motor through the relay in a matching mode.
As a further scheme of the invention: the conductive shifting piece, the electrode ball, the buzzer and the power supply are connected into a series circuit through a lead.
The invention has the beneficial effects that:
the invention judges whether the route deviates according to the comparison of the real-time feedback route and the navigation planning route in the driving process, a deviation interval is arranged in the navigation route, the barrier and the accident point are updated on the driving route in time, the navigation route is re-planned, the GPS positioning of the vehicle position is compared with the navigation planning route every 2s, a driving safety interval is arranged according to the curvature radius of the lane of the vehicle, the range of the driving route interval can be reasonably planned, the route can be accurately updated and planned through the real-time comparison and update, the prediction and analysis can be carried out in advance aiming at the barrier road section in the route, and the later prediction and judgment are convenient.
The GPS controller is based on the parking space direction of a vehicle, the GPS controller controls a first motor, the top side of a first swing needle is a predicted direction, the bottom side of the first swing needle is the position of the vehicle, the swing direction of the first swing needle is the swing direction deviation of the actual position and the navigation position, a second motor is connected with the navigation controller, a second swing needle is operated, the second swing needle is the actual driving direction of the vehicle, a direction lamp is arranged on the side of a display panel, the flashing position of the direction lamp is the direction position of the navigation, the driving direction operation of the vehicle is convenient, when the swing angle of the first swing needle is overlarge, an electrode ball is in contact with a conductive shifting sheet, a buzzer is electrified, an alarm can be sent out timely, the warning for a driver can be warned, when the vehicle swings, warning crystal plates are respectively arranged on two indicating sliding plates, the deviation state display can be timely realized through the dislocation of the two warning crystal plates, the operation of the driver can be reminded, the driving safety can be better guaranteed, and the accuracy of a travel route is guaranteed.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic front perspective view of a vehicle direction and warning device in a travel route deviation prediction method based on an ALD model;
FIG. 2 is a schematic left-view perspective of a vehicle direction and warning device in a travel route deviation prediction method based on an ALD model;
FIG. 3 is a schematic diagram of a right-view perspective structure of a vehicle direction and alarm device in a travel route deviation prediction method based on an ALD model;
FIG. 4 is a schematic diagram of a schematic front view of a travel route deviation prediction method based on an ALD model;
in the figure: 1. a chassis; 2. a suction cup; 3. a GPS controller; 4. a support bar; 5. positioning the bolt; 6. a slider; 7. a slide rail; 8. a swing lever; 9. a conductive paddle; 10. a navigation controller; 11. an electrode ball; 12. a buzzer; 13. a first swing pin; 14. a first motor; 15. an indication slide; 16. a warning crystal plate; 17. a second swing needle; 18. a second motor; 19. a display panel; 20. a directional light.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, a method for predicting deviation of travel route based on ALD model comprises the following steps:
s1, positioning the position information of the vehicle in the map road and obtaining the information of the map road where the vehicle is;
s2, identifying a lane line mark, a lane curvature radius, a vehicle lateral deviation and a course angle of a driving road in front of the vehicle;
s3, acquiring speed information, driving deviation angle information and steering lamp information of the vehicle;
s4, setting a driving section for the road section in front of the driving according to the navigation planning path of the driving;
and S5, recording the driving process of the vehicle through GPS positioning, judging whether the vehicle deviates from the route according to the comparison between the real-time feedback route and the navigation planning route in the driving process, setting a deviation interval in the navigation route, updating the barrier and the accident point on the driving route in time, and re-planning the navigation route.
In an embodiment of the present invention, in S4, a safety zone for traveling is provided according to the turning radius of the vehicle.
As an embodiment of the present invention, in S5, the GPS position fix of the vehicle position is compared with the navigation plan route every 2S.
In S5, as an embodiment of the present invention, the vehicle is provided with a vehicle direction and warning device.
As an embodiment of the invention, the vehicle pointing and alarming device comprises a chassis 1, a suction cup 2, a GPS controller 3, a support rod 4, a positioning bolt 5, a slide block 6, a slide rail 7, a swing rod 8, a conductive pick 9, a navigation controller 10, an electrode ball 11, a buzzer 12, a first swing pin 13, a first motor 14, an indicating slide plate 15, a warning crystal plate 16, a second swing pin 17, a second motor 18, a display plate 19 and a pointing lamp 20, wherein the suction cup 2 is installed at the bottom side of the chassis 1, the support rod 4 is installed at the top side of the chassis 1, the display plate 19 is installed on the support rod 4, the pointing lamp 20 is installed at the edge side of the display plate 19 in an annular array, the first motor 14 and the second motor 18 are installed on the display plate 19 in parallel, the first swing pin 13 is installed on the rotating shaft of the first motor 14 in a matching manner, the second swing pin 17 is installed on the rotating shaft of the second motor 18 in a matching manner, the indicating slide plate 15 is installed at the bottom side of the second swing pin 17 and the, the central position of instruction slide 15 installs warning brilliant board 16, and slide rail 7 cooperates and fixes on display panel 19, and the symmetry is detained on slide rail 7 and is equipped with two sliders 6, and positioning bolt 5 is installed in the cooperation of the top side of slider 6, and the cooperation is installed swinging arms 8 on the slider 6, installs electrically conductive plectrum 9 on the swinging arms 8, and bee calling organ 12 cooperates and installs on display panel 19.
As an embodiment of the invention, the upper cambered surface and the lower cambered surface of the two indicating sliding plates 15 are tangentially arranged, the GPS controller 3 and the navigation controller 10 are arranged on the chassis 1 in parallel, the GPS controller 3 is connected with the first motor 14 through relay matching, and the navigation controller 10 is connected with the second motor 18 through relay matching, so that the accurate positioning of vehicle running paying-off and navigation reversing can be realized.
As an implementation mode of the invention, the conductive shifting piece 9, the electrode ball 11, the buzzer 12 and the power supply are connected into a series circuit through leads, so that the stability and accuracy of the warning process can be ensured.
The working principle of the invention is as follows: during operation, whether the vehicle deviates from the route is judged according to the comparison of a real-time feedback route and a navigation planning route in the driving process, a deviation interval is arranged in the navigation route, a barrier and an accident point are timely updated on the driving route, the navigation route is re-planned, the GPS location of the vehicle position is compared with the navigation planning route every 2S, a driving safety interval is arranged according to the curvature radius of a lane of the vehicle, the range of the driving route interval can be reasonably planned, the route can be accurately updated and planned through the real-time comparison and update, the barrier section in the route can be predicted and analyzed in advance, the later expectation and judgment are convenient, in the operation process, the GPS controller 3 controls a first motor 14 according to the direction of a parking space of the vehicle, the top side of a first swing needle 13 is a predicted direction, and the bottom side of the first swing needle 13 is the position of the vehicle, the swing direction of the first swing needle 13 is the swing direction deviation of the actual position and the navigation position, the second motor 18 is connected with the navigation controller 10, the second swing needle 17 is operated, the second swing needle 17 is the actual driving direction of the vehicle, the direction lamp 20 is arranged on the side of the display panel 19, the flashing position of the direction lamp 20 is the direction position of the navigation, the driving direction operation of the vehicle is convenient, when the swing angle of the first swing needle 13 is too large, the electrode ball 11 is in contact with the conductive shifting sheet 9, the buzzer 12 is powered on, an alarm can be given out in time, so that the alarm for a driver is convenient, when the swing is carried out, the warning crystal plates 16 are respectively arranged on the two indicating sliding plates 15, the deviation state display can be carried out in time through the dislocation of the two warning crystal plates 16, so that the driver is reminded of the operation, the driving safety can be better guaranteed, and the accuracy of a travel route is guaranteed.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. A travel route deviation prediction method based on an ALD model is characterized by comprising the following steps:
s1, positioning the position information of the vehicle in the map road and obtaining the information of the map road where the vehicle is;
s2, identifying a lane line mark, a lane curvature radius, a vehicle lateral deviation and a course angle of a driving road in front of the vehicle;
s3, acquiring speed information, driving deviation angle information and steering lamp information of the vehicle;
s4, setting a driving section for the road section in front of the driving according to the navigation planning path of the driving;
and S5, recording the driving process of the vehicle through GPS positioning, judging whether the vehicle deviates from the route according to the comparison between the real-time feedback route and the navigation planning route in the driving process, setting a deviation interval in the navigation route, updating the barrier and the accident point on the driving route in time, and re-planning the navigation route.
2. The method for predicting the deviation of the traveling route based on the ALD model set forth in claim 1, wherein in S4, a safety interval for traveling is set according to a turning radius of the vehicle.
3. The method of claim 1, wherein the GPS location of the vehicle position is compared with the navigation plan route every 2S in S5.
4. The method for predicting the deviation of the traveling route based on the ALD model set forth in claim 1, wherein in S5, a pointing and alarming device for the vehicle is provided on the vehicle.
5. The method for predicting the deviation of the travel route based on the ALD model is characterized in that the vehicle direction and alarm device comprises a chassis (1), a sucker (2), a GPS controller (3), a support rod (4), a positioning bolt (5), a sliding block (6), a sliding rail (7), a swinging rod (8), a conductive shifting sheet (9), a navigation controller (10), an electrode ball (11), a buzzer (12), a first swinging pin (13), a first motor (14), an indicating sliding plate (15), a warning crystal plate (16), a second swinging pin (17), a second motor (18), a display panel (19) and a direction lamp (20), the sucker (2) is installed on the bottom side of the chassis (1), the support rod (4) is installed on the top side of the chassis (1), the display panel (19) is installed on the support rod (4), and the direction lamps (20) are installed on the side of the display panel (19) in an annular array, a first motor (14) and a second motor (18) are arranged on the display disc (19) in parallel, a first swing needle (13) is arranged on the rotating shaft of the first motor (14) in a matching way, a second swing needle (17) is arranged on the rotating shaft of the second motor (18) in a matching way, the bottom side of the second swing needle (17) and the top side of the first swing needle (13) are both provided with an indicating sliding plate (15), a warning crystal plate (16) is arranged at the central position of the indication sliding plate (15), the slide rail (7) is fixed on the display disc (19) in a matching way, two slide blocks (6) are symmetrically buckled on the slide rail (7), a positioning bolt (5) is arranged on the top side of the sliding block (6) in a matching way, a swinging rod (8) is arranged on the sliding block (6) in a matching way, the swing rod (8) is provided with a conductive shifting sheet (9), and the buzzer (12) is arranged on the display disc (19) in a matching way.
6. The method for predicting deviation of travel route based on ALD model of claim 5, characterized in that the upper and lower arc surfaces of the two indicating skids (15) are tangentially arranged.
7. The method for predicting the deviation of the travel route based on the ALD model is characterized in that the GPS controller (3) and the navigation controller (10) are installed on the chassis (1) in parallel, the GPS controller (3) is connected with the first motor (14) through relay matching, and the navigation controller (10) is connected with the second motor (18) through relay matching.
8. The method for predicting a deviation of a travel route based on an ALD model according to claim 5, characterized in that the conductive pick-up (9), the electrode ball (11), the buzzer (12) and the power supply are connected in a series circuit by wires.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110246040.4A CN113031604A (en) | 2021-03-05 | 2021-03-05 | Travel route deviation prediction method based on ALD model |
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| CN202110246040.4A CN113031604A (en) | 2021-03-05 | 2021-03-05 | Travel route deviation prediction method based on ALD model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2014196907A (en) * | 2013-03-29 | 2014-10-16 | アイシン・エィ・ダブリュ株式会社 | Travel support system, travel support method and computer program |
| CN104596529A (en) * | 2014-05-07 | 2015-05-06 | 腾讯科技（深圳）有限公司 | Navigation method and navigation apparatus |
| KR20150086065A (en) * | 2014-01-17 | 2015-07-27 | 전남대학교산학협력단 | System and method for path planning for autonomous navigation of driverless ground vehicle |
| CN105651294A (en) * | 2015-12-30 | 2016-06-08 | 联动优势科技有限公司 | Navigation method and navigation device for route planning |
| CN110329253A (en) * | 2018-03-28 | 2019-10-15 | 比亚迪股份有限公司 | Lane Departure Warning System, method and vehicle |
| CN111009148A (en) * | 2019-12-18 | 2020-04-14 | 斑马网络技术有限公司 | Vehicle navigation method, terminal equipment and server |
-
2021
- 2021-03-05 CN CN202110246040.4A patent/CN113031604A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014196907A (en) * | 2013-03-29 | 2014-10-16 | アイシン・エィ・ダブリュ株式会社 | Travel support system, travel support method and computer program |
| KR20150086065A (en) * | 2014-01-17 | 2015-07-27 | 전남대학교산학협력단 | System and method for path planning for autonomous navigation of driverless ground vehicle |
| CN104596529A (en) * | 2014-05-07 | 2015-05-06 | 腾讯科技（深圳）有限公司 | Navigation method and navigation apparatus |
| CN105651294A (en) * | 2015-12-30 | 2016-06-08 | 联动优势科技有限公司 | Navigation method and navigation device for route planning |
| CN110329253A (en) * | 2018-03-28 | 2019-10-15 | 比亚迪股份有限公司 | Lane Departure Warning System, method and vehicle |
| CN111009148A (en) * | 2019-12-18 | 2020-04-14 | 斑马网络技术有限公司 | Vehicle navigation method, terminal equipment and server |
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