CN113916249A - Automatic driving mileage statistical method of mining truck under V2X protocol - Google Patents
Automatic driving mileage statistical method of mining truck under V2X protocol Download PDFInfo
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- CN113916249A CN113916249A CN202111094930.4A CN202111094930A CN113916249A CN 113916249 A CN113916249 A CN 113916249A CN 202111094930 A CN202111094930 A CN 202111094930A CN 113916249 A CN113916249 A CN 113916249A
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- 238000007619 statistical method Methods 0.000 title claims abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 25
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 238000009825 accumulation Methods 0.000 claims abstract description 4
- 238000005070 sampling Methods 0.000 claims description 22
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- 238000007796 conventional method Methods 0.000 abstract description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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Abstract
An automatic driving mileage statistical method of a mining truck under a V2X protocol. In the conventional method, data is sent to a server in a disk-dropping and dotting mode, and then offline calculation is performed. According to the invention, the vehicle end reports the vehicle state and position important information of a vehicle end positioning system and a chassis control system to the cloud end in real time according to the frame rate requirement through a V2X signal, and the cloud end calculates the mileage difference between two adjacent signals through coordinate position information; the vehicle end reports position state data, the reported state data are filtered, the longitude and latitude information of the vehicle can be reported to a cloud end when the vehicle end reports the information, the cloud end can calculate the great circle distance between two points through two adjacent longitude and latitude coordinates, when the vehicle state at the latest point coordinate is in an automatic driving state, the distance is marked as the automatic driving mileage, and finally the automatic driving mileage in the whole process is obtained through accumulation. The invention is used for automatic driving mileage statistics of the mining truck under the V2X protocol.
Description
Technical Field
The invention relates to a method for counting the automatic driving mileage of a mining truck under a V2X protocol.
Background
The technology for counting the automatic driving mileage of the mining truck under the V2X protocol is characterized in that information such as the position and the state of a vehicle is reported to a cloud end in real time by utilizing a V2X signal, and the accumulated automatic driving mileage and the total mileage of the mining truck are calculated at the cloud end; the automatic driving mileage is an important index for measuring the stability and the maturity of the designated automatic driving, whether the proportion of the automatic driving mileage in the operation process can be mastered in time or not is very important for the research, development and improvement of the automatic driving technology. In the conventional method, data is sent to a server in a disk-dropping and dotting mode, and then offline calculation is performed.
Disclosure of Invention
The invention aims to solve the existing problems and provides a method for counting the automatic driving mileage of a mining truck under a V2X protocol.
The above purpose is realized by the following technical scheme:
a method for counting the automatic driving mileage of a mining truck under a V2X protocol comprises the following steps:
(1) the vehicle end reports important information of vehicle states and positions of a vehicle end positioning system and a chassis control system to a cloud end in real time according to frame rate requirements through V2X signals, and the cloud end calculates the mileage difference between two adjacent signals through coordinate position information;
(2) according to the speed limit of the mining truck in the actual operation process, the truck end reports the position state data at the frequency of 10Hz, the cloud end sets the sampling frequency to be 1Hz, and the reported state data are filtered on the basis of the position state data, so that the statistical error of mileage is reduced;
(3) when the vehicle end reports information, the longitude and latitude information of the vehicle is reported to a cloud end, the cloud end can calculate the great circle distance between two points through two adjacent longitude and latitude coordinates, and a calculation formula of the great circle distance d is as follows:
wherein: r is the radius of the earth;
when the vehicle state at the latest point coordinate is the automatic driving state, the distance is marked as the automatic driving mileage, and finally the automatic driving mileage and the center angle in the whole process are obtained through accumulation
Calculating the formula:
the automatic driving mileage statistical method for the mining truck under the V2X protocol comprises the following steps of: the status of the executed task, position coordinates, speed, acceleration, whether the autonomous vehicle takes over.
The mining truck automatic driving mileage statistical method under the V2X protocol comprises the specific processes of the step (2): the speed of the mining truck in the actual operation process is limited to 4m/s, the position state data are reported by the truck end at the frequency of 10Hz, the sampling frequency is set to be 1Hz by the cloud, the sampling conditions are that the speed value is smaller than 4m/s, and the linear distance between the front sampling point and the rear sampling point is smaller than 4m, and the reported state data are filtered on the basis of the sampling conditions, so that the statistical error of mileage is reduced.
Has the advantages that:
1. the invention relates to a V2X automatic driving mileage counting technology which is established on the basis of V2X signal communication, a vehicle end reports information such as a vehicle task execution state, a position coordinate, a speed, an acceleration, whether an automatic driving vehicle takes over or not in real time to a cloud end through a V2X signal according to a certain frame rate requirement, and the cloud end calculates the distance difference of two adjacent message data through coordinate position information.
2. According to the invention, the vehicle end reports the position state data at a frequency of 10Hz, the sampling frequency is set to be 1Hz at the cloud end, the sampling conditions are that the speed value is less than 4m/s, and the linear distance between the front sampling point and the rear sampling point is less than 4m, so that the reported state data is filtered, and the statistical error of mileage is reduced.
3. The automatic driving mileage of the mining truck can assist a project group to timely master index changes of automatic driving and know the progress state of automatic driving research and development of the mining truck at present.
The specific implementation mode is as follows:
example 1:
a method for counting the automatic driving mileage of a mining truck under a V2X protocol comprises the following steps:
(1) the vehicle end reports important information of vehicle states and positions of a vehicle end positioning system and a chassis control system to a cloud end in real time according to frame rate requirements through V2X signals, and the cloud end calculates the mileage difference between two adjacent signals through coordinate position information;
(2) according to the speed limit of the mining truck in the actual operation process, the truck end reports the position state data at the frequency of 10Hz, the cloud end sets the sampling frequency to be 1Hz, and the reported state data are filtered on the basis of the position state data, so that the statistical error of mileage is reduced;
(3) when the vehicle end reports information, the longitude and latitude information of the vehicle is reported to a cloud end, the cloud end can calculate the great circle distance between two points through two adjacent longitude and latitude coordinates, and a calculation formula of the great circle distance d is as follows:
wherein: r is the radius of the earth;
when at the latest point coordinateWhen the vehicle state is the automatic driving state, the distance is marked as the automatic driving mileage, and finally the automatic driving mileage and the central angle in the whole process are obtained through accumulation
Calculating the formula:
example 2:
according to the method for counting the automatic driving mileage of the mining truck under the V2X protocol in embodiment 1, the vehicle-end state information includes: the status of the executed task, position coordinates, speed, acceleration, whether the autonomous vehicle takes over.
Example 3:
according to the method for counting the automatic driving mileage of the mining truck under the V2X protocol in embodiment 1 or 2, the specific process of the step (2) is as follows: the speed of the mining truck in the actual operation process is limited to 4m/s, the position state data are reported by the truck end at the frequency of 10Hz, the sampling frequency is set to be 1Hz by the cloud, the sampling conditions are that the speed value is smaller than 4m/s, and the linear distance between the front sampling point and the rear sampling point is smaller than 4m, and the reported state data are filtered on the basis of the sampling conditions, so that the statistical error of mileage is reduced.
Claims (3)
1. A mining truck automatic driving mileage statistical method under a V2X protocol is characterized in that: the method comprises the following steps:
(1) the vehicle end reports important information of vehicle states and positions of a vehicle end positioning system and a chassis control system to a cloud end in real time according to frame rate requirements through V2X signals, and the cloud end calculates the mileage difference between two adjacent signals through coordinate position information;
(2) according to the speed limit of the mining truck in the actual operation process, the truck end reports the position state data at the frequency of 10Hz, the cloud end sets the sampling frequency to be 1Hz, and the reported state data are filtered on the basis of the position state data, so that the statistical error of mileage is reduced;
(3) when the vehicle end reports information, the longitude and latitude information of the vehicle is reported to a cloud end, the cloud end can calculate the great circle distance between two points through two adjacent longitude and latitude coordinates, and a calculation formula of the great circle distance d is as follows:
wherein: r is the radius of the earth;
when the vehicle state at the latest point coordinate is the automatic driving state, the distance is marked as the automatic driving mileage, and finally the automatic driving mileage and the center angle in the whole process are obtained through accumulation
Calculating the formula:
2. the method of claim 1, wherein the method for counting the automatic driving mileage of the mining truck under the V2X protocol comprises the following steps: the vehicle end state information comprises: the status of the executed task, position coordinates, speed, acceleration, whether the autonomous vehicle takes over.
3. The method for counting the automatic driving mileage of the mining truck under the V2X protocol according to claim 2, wherein the method comprises the following steps: the specific process of the step (2) is as follows: the speed of the mining truck in the actual operation process is limited to 4m/s, the position state data are reported by the truck end at the frequency of 10Hz, the sampling frequency is set to be 1Hz by the cloud, the sampling conditions are that the speed value is smaller than 4m/s, and the linear distance between the front sampling point and the rear sampling point is smaller than 4m, and the reported state data are filtered on the basis of the sampling conditions, so that the statistical error of mileage is reduced.
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