CN117406731A - Unmanned moving target vehicle cooperative formation control method and system - Google Patents
Unmanned moving target vehicle cooperative formation control method and system Download PDFInfo
- Publication number
- CN117406731A CN117406731A CN202311391982.7A CN202311391982A CN117406731A CN 117406731 A CN117406731 A CN 117406731A CN 202311391982 A CN202311391982 A CN 202311391982A CN 117406731 A CN117406731 A CN 117406731A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- target
- barrier
- speed
- car
- 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.)
- Pending
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 238000005457 optimization Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims description 68
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 5
- 238000012163 sequencing technique Methods 0.000 claims description 5
- 210000004556 brain Anatomy 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000009472 formulation Methods 0.000 claims 2
- 239000000203 mixture Substances 0.000 claims 2
- 230000000903 blocking effect Effects 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Abstract
The invention discloses a method and a system for controlling unmanned moving target vehicles to cooperatively form a team, which relate to the technical field of target vehicle cooperative control and comprise the following steps: a data acquisition module; the data acquisition module comprises: the device comprises a speed detection unit, a wind power detection unit, a blocking object detection unit, a positioning unit, a path information acquisition unit and a communication module; an integrated optimization module; an execution module; an intelligent control module; through the arrangement of the data acquisition module and the execution module, when the advancing angle of the target vehicle is deviated, the advancing angle of the target vehicle can be adjusted correspondingly according to the deviating angle, and when the advancing speed of the target vehicle is changed, the advancing speed of the target vehicle is adjusted correspondingly according to the difference value of the speeds; through being provided with integrated optimization module, can be according to the target car receive the influence value size of environment to the adjustment priority of target car to order, the priority is adjusted the target car that influence value is big, maintains the uniformity of collaborative formation as far as possible.
Description
Technical Field
The invention relates to the technical field of cooperative control of target vehicles, in particular to a cooperative formation control method and system for unmanned moving target vehicles.
Background
Along with the development of the novel technology of the unmanned technology, various informationized states carrying the unmanned technology start developing demonstration work in different fields, wherein an unmanned target vehicle is an important means for threatening personnel and weapons of army of the army in the simulation of the battle process, so that the effective training of various army weapons of the army is ensured, the target vehicle developed by the unmanned technology is beneficial to replacing a target vehicle driven manually, and the casualties are effectively reduced;
under certain conditions, the target vehicles are required to be cooperatively formed, but the training mode has higher requirements on the control mode of the target vehicles, and the existing formation control mode can keep the consistency of the target vehicle cooperative formation on the flat ground, but in the actual field environment, the wind speed of the environment and the obstacle of the travelling path can influence the consistency of the target vehicle formation more;
the existing formation control mode mainly maintains the formation synergy by controlling the traveling angle and the traveling speed of the target vehicles, but if the target vehicles cause the traveling angle and the traveling speed of the target vehicles due to the external environment, certain target vehicles are deviated and the capability of adjusting according to the situation is lacking.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a method and a system for controlling the cooperative formation of unmanned moving target vehicles.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an unmanned mobile target vehicle cooperative formation control system, the unmanned mobile target vehicle cooperative formation control system comprising:
a data acquisition module; the data acquisition module is used for gathering target car information, and the data acquisition module includes:
a speed detection unit mounted on each target car for detecting a moving speed of the target car;
a wind power detection unit installed on each target car for detecting an ambient wind speed when the target car moves;
the barrier detection unit is arranged at the front end of each target car and is used for detecting whether a barrier exists at the front end when the target car moves;
the positioning unit is arranged on each target car and is used for detecting the position information of the target car;
a path information collection unit for collecting road information of a travel route;
a communication module; the communication module is used for realizing information sharing and cooperative cooperation between the target vehicles;
an integrated optimization module; the method is used for optimizing aiming at requirements and scenes and realizing the optimal effect of formation collaboration;
an execution module; install on every target car, it is used for realizing the accurate control to unmanned target car.
An intelligent control module; the intelligent control system comprises an intelligent control unit, a control unit and an execution module, wherein the intelligent control unit is used for transmitting the optimized decision to the execution module;
the control console is used for constructing a plane coordinate system, taking the control console as an origin, obtaining a plane position from the positioning unit and determining target vehicle coordinates (Xn, yn);
acquiring the moving speed sensed by the speed detection unit and marking the moving speed as V; the wind power obtained by induction of the wind power detection unit is obtained and marked as F; the method comprises the steps of obtaining the distance between a barrier detection unit and a barrier, marking d, and obtaining the area of the barrier sensed by the barrier detection unit, marking S;
calculating an influence value Qr of the moving environment of the target vehicle, and representing the influence degree of the barrier through the influence value Qr, wherein the influence value Qr is calculated as follows:
firstly, calculating the time t required by the target vehicle to reach the position of the barrier by the formula t=d/V;
then calculating a wind power influence value Fr received when the target vehicle moves to the position of the barrier according to a formula Fr=F×t;
then calculating according to the formula Rt=V2×S/(d2) to obtain the resistance Rt of the target vehicle;
finally, calculating according to a formula qr=rt+fr to obtain an influence value Qr of the barrier;
comparing the influence value Qr with a preset threshold value, judging whether the influence value Qr is larger than the threshold value, and if so, transmitting an alarm signal by the control platform.
Preferably, the communication module is used for realizing information sharing and cooperative cooperation between target vehicles, and specifically comprises the following steps:
each target car is communicated and networked by using a WiFi module, and is connected with each other as a brain through a Linux operating system.
Preferably, the integrated optimization module is used for sequencing the adjustment priority of the target vehicle, specifically;
obtaining an influence value Qr of the target vehicle under the mobile environment;
obtaining a deviation value of the target vehicle and the predicted path, and marking the deviation value as Hn;
and (3) calculating to obtain an adjustment priority value Tb of the target vehicle by using a formula Tb=a1×Qr+a2×Hn+a3, sequencing the adjustment priority values Tb of the target vehicle from large to small, and sending signals to an execution module, wherein a1, a2 and a3 are weight factors.
Preferably, the deviation value Hn of the target vehicle and the predicted path is obtained by:
acquiring coordinates (Xn, yn) of the target vehicle;
taking the control console as an origin, and acquiring coordinates (X1, Y1), (X2, Y2), (X3, Y3) … (Xm, ym) of the target vehicle travel route from the path information acquisition unit;
calculating the vertical distance of the target vehicle from the nth coordinate point to the predicted route by the formula an=sqrt [ (Xn-X1)/(2+ (Yn-Y1)/(2 ]):
then calculating the horizontal distance from the nth coordinate point to the predicted route of the target vehicle through a formula Bn=abs [ (Xn-X1) cos (theta) - (Yn-Y1) sin (theta) ], wherein theta is the direction angle of the predicted route and is calculated through a formula theta=atan 2 (Y1-Y0, X1-X0);
finally, calculating according to a formula Hn=sprt (An 2+Bn 2) to obtain a deviation value Hn of the target vehicle and the predicted path.
Preferably, the execution module includes:
an angular velocity adjustment unit; the angular speed adjusting unit is used for adjusting the running angle of the target vehicle;
when the traveling angle of the target car deviates, the deviation angle Jm of the target car is obtained through calculation of a formula Jm=atan2 (An/Bn), and the angular speed adjusting unit correspondingly adjusts the traveling angle of the target car according to the deviation angle Jm.
Preferably, the execution module further includes:
an acceleration adjustment unit; the acceleration adjusting unit is used for adjusting the running speed of the target vehicle;
according to the moving speed V of the target vehicle obtained by the speed detection unit, setting the preset moving speed of the target vehicle as No, calculating a difference Bw of the obtained speed, judging whether the difference Bw of the speed is equal to zero, and if not, sending an adjusting signal by the control console;
when the travelling speed of the target vehicle changes, a speed difference Bw is obtained through calculation of a formula Bw=V-No, and the acceleration adjusting unit correspondingly adjusts the travelling speed of the target vehicle according to the speed difference Bw.
Preferably, the integrated optimization module is further used for controlling the execution module to adjust the traveling angle and the traveling speed of the target vehicle when the target vehicle travels and encounters the barrier;
the specific mode for adjusting the advancing angle of the target car is as follows:
acquiring coordinates (Xn, yn) of the target vehicle, judging whether a traveling route of the target vehicle intersects with a center point of the barrier, and if so, calculating through a formula Jq=atan (S/Vp) to obtain a rotation angle Jq required by the target vehicle to bypass the barrier;
if not, calculating to obtain the rotation angle Jq required by the target vehicle to bypass the barrier through a formula Jq=atan (S/Vp) +atan (F/Vp);
the integrated optimization module sends a rotation angle Jq required by the target vehicle to bypass the barrier to the control console, and sends an adjustment signal to the execution module through the control console to adjust the advancing angle of the target vehicle.
Preferably, the specific mode of adjusting the travelling speed of the target car when the travelling of the target car encounters the blocking object is as follows:
setting a speed change value required by the target vehicle to bypass the barrier as Gu, and calculating according to a formula Gu=Vp×tan (Jq) to obtain the speed change value Gu required by the target vehicle to bypass the barrier;
the integrated optimization module sends a speed change value Gu required by the target vehicle to bypass the barrier to the control console, and sends an adjustment signal to the execution module through the control console to adjust the travelling speed of the target vehicle.
On the other hand, the invention also provides a control method for the unmanned moving target vehicle cooperative formation, which is suitable for the control system for the unmanned moving target vehicle cooperative formation and comprises the following steps:
s1: acquiring a moving speed V sensed by a speed detection unit;
s2: acquiring wind force F obtained by induction of a wind force detection unit;
s3: acquiring a distance d between the barrier and the sensor of the barrier detection unit;
s4: acquiring a barrier area S sensed by a barrier detection unit;
s5: calculating an influence value Qr of the moving environment of the target vehicle, and representing the influence degree of the barrier through the influence value Qr;
s6: comparing the influence value Qr with a preset threshold value, judging whether the influence value Qr is larger than the threshold value, and executing S7 if the influence value Qr is larger than the threshold value;
s7: the control platform transmits an alarm signal.
Compared with the prior art, the invention has the following beneficial effects:
1. through the arrangement of the data acquisition module and the execution module, when the advancing angle of the target vehicle is deviated, the advancing angle of the target vehicle can be adjusted correspondingly according to the deviating angle, and when the advancing speed of the target vehicle is changed, the advancing speed of the target vehicle is adjusted correspondingly according to the difference value of the speeds;
2. through being provided with integrated optimization module, can be according to the target car receive the influence value size of environment to the adjustment priority of target car and order, the priority is adjusted the target car that influence value is big, maintains the uniformity of coordinated formation as far as, when the target car meets the barrier, automatically regulated target car's advancing angle and advancing speed.
Drawings
FIG. 1 is a block diagram of a system according to the present invention
Fig. 2 is a flow chart of the method of the present invention.
Detailed Description
Referring to fig. 1 to 2
Example 1
An unmanned mobile target vehicle cooperative formation control system, the unmanned mobile target vehicle cooperative formation control system comprising:
a data acquisition module; the data acquisition module is used for gathering target car information, and the data acquisition module includes:
a speed detection unit mounted on each target car for detecting a moving speed of the target car;
a wind power detection unit installed on each target car for detecting an ambient wind speed when the target car moves;
the barrier detection unit is arranged at the front end of each target car and is used for detecting whether a barrier exists at the front end when the target car moves;
the positioning unit is arranged on each target car and is used for detecting the position information of the target car;
a path information collection unit for collecting road information of a travel route;
a communication module; the communication module is used for realizing information sharing and cooperative cooperation between the target vehicles;
an integrated optimization module; the method is used for optimizing aiming at requirements and scenes and realizing the optimal effect of formation collaboration;
an execution module; install on every target car, it is used for realizing the accurate control to unmanned target car.
An intelligent control module; the intelligent regulation and control unit is used for transmitting the optimized decision to the execution module:
step one: the control console is used for constructing a plane coordinate system, taking the control console as an origin, obtaining a plane position (Xn, yn) from the positioning unit, and obtaining target vehicle coordinates (Xn, yn);
step two: acquiring the moving speed sensed by the speed detection unit and marking the moving speed as V; the wind power obtained by induction of the wind power detection unit is obtained and marked as F; the method comprises the steps of obtaining the distance between a barrier detection unit and a barrier, marking d, and obtaining the area of the barrier sensed by the barrier detection unit, marking S;
step three: calculating an influence value Qr of the moving environment of the target vehicle, and representing the influence degree of the barrier through the influence value Qr, wherein the influence value Qr is calculated in the following manner;
step four: firstly, calculating the time t required by the target vehicle to reach the position of the barrier by the formula t=d/V;
then calculating a wind power influence value Fr received when the target vehicle moves to the position of the barrier according to a formula Fr=F×t;
then calculating according to the formula Rt=V2×S/(d2) to obtain the resistance Rt of the target vehicle;
finally, calculating according to a formula qr=rt+fr to obtain an influence value Qr of the barrier;
step five: comparing the influence value Qr with a preset threshold value, judging whether the influence value Qr is larger than the threshold value, and if so, transmitting an alarm signal by the control platform;
the communication module is used for realizing information sharing and cooperative cooperation among target vehicles, and specifically comprises the following steps:
each target vehicle is communicated and networked by using a WiFi module and is connected with each other as a brain through a Linux operating system; each target vehicle mutually transmits information through a communication network, so that the timeliness of communication is kept;
the integrated optimization module is used for sequencing the adjustment priority of the target vehicle, and specifically comprises the following steps:
step one: obtaining an influence value Qr of the target vehicle under the mobile environment;
step two: obtaining a deviation value of the target vehicle and the predicted path, and marking the deviation value as Hn;
step three: the method comprises the steps of obtaining an adjustment priority value Tb of a target vehicle through calculation according to a formula Tb=a1×Qr+a2×Hn+a3, sequencing the adjustment priority value Tb of the target vehicle from large to small, and sending signals to an execution module, wherein a1, a2 and a3 are weight factors; the values of a1, a2, a3 and a3 were 0.236, 0.176 and 0.174, respectively;
in the using process, the integrated optimization module preferentially sends the target vehicle information which needs to be adjusted first to the execution module according to the adjustment priority value Tb of the target vehicle, and the execution module adjusts the target vehicle information;
step four: the deviation value Hn of the target car and the predicted path is obtained by the following steps:
acquiring coordinates (Xn, yn) of the target vehicle;
taking the control console as an origin, and acquiring coordinates (X1, Y1), (X2, Y2), (X3, Y3) … (Xm, ym) of the target vehicle travel route from the path information acquisition unit;
calculating the vertical distance of the target vehicle from the nth coordinate point to the predicted route by the formula an=sqrt [ (Xn-X1)/(2+ (Yn-Y1)/(2 ]):
then calculating the horizontal distance from the nth coordinate point to the predicted route of the target vehicle through a formula Bn=abs [ (Xn-X1) cos (theta) - (Yn-Y1) sin (theta) ], wherein theta is the direction angle of the predicted route and is calculated through a formula theta=atan 2 (Y1-Y0, X1-X0);
finally, calculating according to a formula Hn=sprt (An 2+Bn 2) to obtain a deviation value Hn of the target vehicle and the predicted path.
Example 2
On the basis of embodiment 1, the device further comprises an execution module, wherein the execution module is used for adjusting the advancing angle and the advancing speed of the target vehicle by matching with the integrated optimization module, and specifically comprises the following steps:
step one: the execution module comprises an angular velocity adjusting unit; the angular speed adjusting unit is used for adjusting the running angle of the target vehicle;
step two: when the advancing angle of the target vehicle deviates, calculating to obtain the deviating angle Jm of the target vehicle through a formula Jm=atan2 (An/Bn), and correspondingly adjusting the advancing angle of the target vehicle by An angular speed adjusting unit according to the deviating angle Jm;
step three: the execution module further comprises an acceleration adjustment unit; the acceleration adjusting unit is used for adjusting the running speed of the target vehicle;
step four: according to the moving speed V of the target vehicle obtained by the speed detection unit, setting the preset moving speed of the target vehicle as No, calculating a difference Bw of the obtained speed, judging whether the difference Bw of the speed is equal to zero, and if not, sending an adjusting signal by the control console;
step five: when the travelling speed of the target vehicle changes, calculating to obtain a speed difference Bw through a formula Bw=V-No, and correspondingly adjusting the travelling speed of the target vehicle by the acceleration adjusting unit according to the speed difference Bw;
the integrated optimization module is also used for controlling the execution module to adjust the advancing angle and the advancing speed of the target vehicle when the target vehicle advances and encounters the blocking object;
the specific mode for adjusting the advancing angle of the target car is as follows:
step one: acquiring coordinates (Xn, yn) of the target vehicle, judging whether a traveling route of the target vehicle intersects with a center point of the barrier, and if so, calculating through a formula Jq=atan (S/Vp) to obtain a rotation angle Jq required by the target vehicle to bypass the barrier;
if not, the rotation angle Jq required by the target vehicle to bypass the barrier is calculated by the formula Jq=atan (S/Vp) +atan (F/Vp)
Step two: the integrated optimization module sends a rotation angle Jq required by the target vehicle to bypass the barrier to the control console, and sends an adjustment signal to the execution module through the control console to adjust the advancing angle of the target vehicle;
step three: setting a speed change value required by the target vehicle to bypass the barrier as Gu, and calculating according to a formula Gu=Vp×tan (Jq) to obtain the speed change value Gu required by the target vehicle to bypass the barrier;
step four: the integrated optimization module sends a speed change value Gu required by the target vehicle bypassing the barrier to the control console, and sends an adjustment signal to the execution module through the control console to adjust the travelling speed of the target vehicle;
after the target vehicle bypasses the barrier, the execution module readjusts according to the deviation angle and the deviation distance of the target vehicle after the target vehicle bypasses the barrier, so that the target vehicle returns to formation;
the obstacle can be bypassed in the shortest time of influencing the overall formation synergy, and the consistency of the synergy formation is maintained as much as possible.
Working principle:
through the setting of data acquisition module and execution module, can be when the travel angle of target car produces the skew, the travel angle of automatic corresponding adjustment target car according to the skew angle, when the travel speed of target car produces the change, the travel speed of corresponding adjustment target car according to the difference of speed, through being provided with integrated optimization module, can be according to the target car receive the influence value size of environment to the adjustment priority of target car, the priority is adjusted the target car that the influence value is big, maintenance cooperatees the uniformity of formation as far as, when the target car meets the barrier, the travel angle and the travel speed of automatic adjustment target car.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention are intended to be considered as protecting the scope of the present template.
Claims (9)
1. The unmanned moving target car cooperative formation control system is characterized by comprising:
a data acquisition module; the data acquisition module is used for acquiring target car information, and the data acquisition module comprises:
a speed detection unit mounted on each target car for detecting a moving speed of the target car;
a wind power detection unit installed on each target car for detecting an ambient wind speed when the target car moves;
the barrier detection unit is arranged at the front end of each target car and is used for detecting whether a barrier exists at the front end when the target car moves;
the positioning unit is arranged on each target car and is used for detecting the position information of the target car;
a path information collection unit for collecting road information of a travel route;
a communication module; the communication module is used for realizing information sharing and cooperative cooperation between target vehicles;
an integrated optimization module; the method is used for optimizing aiming at requirements and scenes and realizing the optimal effect of formation collaboration;
an execution module; install on every target car, it is used for realizing the accurate control to unmanned target car.
An intelligent control module; the intelligent control system comprises an intelligent control unit, a control unit and an execution module, wherein the intelligent control unit is used for transmitting the optimized decision to the execution module;
the control console is used for constructing a plane coordinate system, taking the control console as an origin, obtaining a plane position from the positioning unit and determining target vehicle coordinates (Xn, yn);
acquiring the moving speed sensed by the speed detection unit and marking the moving speed as V; the wind power obtained by induction of the wind power detection unit is obtained and marked as F; the method comprises the steps of obtaining the distance between a barrier detection unit and a barrier, marking d, and obtaining the area of the barrier sensed by the barrier detection unit, marking S;
calculating an influence value Qr of the moving environment of the target vehicle, and representing the influence degree of the barrier through the influence value Qr, wherein the influence value Qr is calculated as follows:
firstly, calculating the time t required by the target vehicle to reach the position of the barrier by the formula t=d/V;
then calculating a wind power influence value Fr received when the target vehicle moves to the position of the barrier according to a formula Fr=F×t;
then calculating according to the formula Rt=V2×S/(d2) to obtain the resistance Rt of the target vehicle;
finally, calculating according to a formula qr=rt+fr to obtain an influence value Qr of the barrier;
comparing the influence value Qr with a preset threshold value, judging whether the influence value Qr is larger than the threshold value, and if so, transmitting an alarm signal by the control platform.
2. The unmanned mobile target vehicle cooperative formation control system according to claim 1, wherein the communication module is configured to implement information sharing and cooperative cooperation between target vehicles, specifically:
each target car is communicated and networked by using a WiFi module, and is connected with each other as a brain through a Linux operating system.
3. The unmanned mobile target vehicle cooperative formation control system of claim 2, wherein the integrated optimization module is configured to rank adjustment priorities of target vehicles, in particular;
obtaining an influence value Qr of the target vehicle under the mobile environment;
obtaining a deviation value of the target vehicle and the predicted path, and marking the deviation value as Hn;
and (3) calculating to obtain an adjustment priority value Tb of the target vehicle by using a formula Tb=a1×Qr+a2×Hn+a3, sequencing the adjustment priority values Tb of the target vehicle from large to small, and sending signals to an execution module, wherein a1, a2 and a3 are weight factors.
4. A co-ordinated formation control system for unmanned mobile target vehicles as claimed in claim 3, wherein the deviation Hn of the target vehicle from the predicted path is obtained by:
acquiring coordinates (Xn, yn) of the target vehicle;
taking the control console as an origin, and acquiring coordinates (X1, Y1), (X2, Y2), (X3, Y3) … (Xm, ym) of the target vehicle travel route from the path information acquisition unit;
calculating the vertical distance of the target vehicle from the nth coordinate point to the predicted route by the formula an=sqrt [ (Xn-X1)/(2+ (Yn-Y1)/(2 ]):
then calculating the horizontal distance from the nth coordinate point to the predicted route of the target vehicle through a formula Bn=abs [ (Xn-X1) cos (theta) - (Yn-Y1) sin (theta) ], wherein theta is the direction angle of the predicted route and is calculated through a formula theta=atan 2 (Y1-Y0, X1-X0);
finally, calculating according to a formula Hn=sprt (An 2+Bn 2) to obtain a deviation value Hn of the target vehicle and the predicted path.
5. The unmanned mobile target vehicle co-ordination control system of claim 4, wherein the execution module comprises:
an angular velocity adjustment unit; the angular speed adjusting unit is used for adjusting the running angle of the target vehicle;
when the traveling angle of the target car deviates, the deviation angle Jm of the target car is obtained through calculation of a formula Jm=atan2 (An/Bn), and the angular speed adjusting unit correspondingly adjusts the traveling angle of the target car according to the deviation angle Jm.
6. The unmanned mobile target vehicle co-formulation control system of claim 5, wherein the execution module further comprises:
an acceleration adjustment unit; the acceleration adjusting unit is used for adjusting the running speed of the target vehicle;
according to the moving speed V of the target vehicle obtained by the speed detection unit, setting the preset moving speed of the target vehicle as No, calculating a difference Bw of the obtained speed, judging whether the difference Bw of the speed is equal to zero, and if not, sending an adjusting signal by the control console;
when the travelling speed of the target vehicle changes, a speed difference Bw is obtained through calculation of a formula Bw=V-No, and the acceleration adjusting unit correspondingly adjusts the travelling speed of the target vehicle according to the speed difference Bw.
7. The unmanned mobile target vehicle co-formulation control system of claim 6, wherein the integrated optimization module is further configured to control the execution module to adjust the travel angle and travel speed of the target vehicle when the target vehicle is traveling while encountering a barrier;
the specific mode for adjusting the advancing angle of the target car is as follows:
acquiring coordinates (Xn, yn) of the target vehicle, judging whether a traveling route of the target vehicle intersects with a center point of the barrier, and if so, calculating through a formula Jq=atan (S/Vp) to obtain a rotation angle Jq required by the target vehicle to bypass the barrier;
if not, calculating to obtain the rotation angle Jq required by the target vehicle to bypass the barrier through a formula Jq=atan (S/Vp) +atan (F/Vp);
the integrated optimization module sends a rotation angle Jq required by the target vehicle to bypass the barrier to the control console, and sends an adjustment signal to the execution module through the control console to adjust the advancing angle of the target vehicle.
8. The unmanned moving target car cooperative formation control system according to claim 7, wherein the specific way for the integrated optimization module to adjust the target car travel speed when the target car travel encounters a barrier is:
setting a speed change value required by the target vehicle to bypass the barrier as Gu, and calculating according to a formula Gu=Vp×tan (Jq) to obtain the speed change value Gu required by the target vehicle to bypass the barrier;
the integrated optimization module sends a speed change value Gu required by the target vehicle to bypass the barrier to the control console, and sends an adjustment signal to the execution module through the control console to adjust the travelling speed of the target vehicle.
9. The unmanned moving target car cooperative formation control method is applicable to the unmanned moving target car cooperative formation control system according to any one of claims 1 to 8, and is characterized by comprising the following steps:
s1: acquiring a moving speed V sensed by a speed detection unit;
s2: acquiring wind force F obtained by induction of a wind force detection unit;
s3: acquiring a distance d between the barrier and the sensor of the barrier detection unit;
s4: acquiring a barrier area S sensed by a barrier detection unit;
s5: calculating an influence value Qr of the moving environment of the target vehicle, and representing the influence degree of the barrier through the influence value Qr;
s6: comparing the influence value Qr with a preset threshold value, judging whether the influence value Qr is larger than the threshold value, and executing S7 if the influence value Qr is larger than the threshold value;
s7: the control platform transmits an alarm signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311391982.7A CN117406731A (en) | 2023-10-24 | 2023-10-24 | Unmanned moving target vehicle cooperative formation control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311391982.7A CN117406731A (en) | 2023-10-24 | 2023-10-24 | Unmanned moving target vehicle cooperative formation control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117406731A true CN117406731A (en) | 2024-01-16 |
Family
ID=89499587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311391982.7A Pending CN117406731A (en) | 2023-10-24 | 2023-10-24 | Unmanned moving target vehicle cooperative formation control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117406731A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010134824A1 (en) * | 2009-05-20 | 2010-11-25 | Modulprodukter As | Driving assistance device and vehicle system |
| US20180082591A1 (en) * | 2016-09-21 | 2018-03-22 | Wabco Europe Bvba | Method for controlling an own vehicle to participate in a platoon |
| CN112269389A (en) * | 2020-11-18 | 2021-01-26 | 武汉理工大学 | Multifunctional intelligent robot vehicle system for crew service and control method thereof |
| CN116506275A (en) * | 2023-05-15 | 2023-07-28 | 肇庆学院 | Communication network fault early warning method and system based on artificial intelligence |
| CN117250961A (en) * | 2023-10-24 | 2023-12-19 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
| CN117539244A (en) * | 2023-10-30 | 2024-02-09 | 东莞东晟装备科技有限公司 | Unmanned mobile target ship autonomous obstacle avoidance method and system |
-
2023
- 2023-10-24 CN CN202311391982.7A patent/CN117406731A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010134824A1 (en) * | 2009-05-20 | 2010-11-25 | Modulprodukter As | Driving assistance device and vehicle system |
| US20180082591A1 (en) * | 2016-09-21 | 2018-03-22 | Wabco Europe Bvba | Method for controlling an own vehicle to participate in a platoon |
| CN112269389A (en) * | 2020-11-18 | 2021-01-26 | 武汉理工大学 | Multifunctional intelligent robot vehicle system for crew service and control method thereof |
| CN116506275A (en) * | 2023-05-15 | 2023-07-28 | 肇庆学院 | Communication network fault early warning method and system based on artificial intelligence |
| CN117250961A (en) * | 2023-10-24 | 2023-12-19 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
| CN117539244A (en) * | 2023-10-30 | 2024-02-09 | 东莞东晟装备科技有限公司 | Unmanned mobile target ship autonomous obstacle avoidance method and system |
Non-Patent Citations (4)
| Title |
|---|
| 《汽车百科全书》编纂委员会: "汽车百科全书", 31 December 1992, 机械工业出版社, pages: 780 - 785 * |
| 崔建;张志文;: "自循迹移动靶车控制系统设计", 电子设计工程, no. 04, 5 April 2010 (2010-04-05) * |
| 李川鹏 等: "无人靶车及数字化技术", 数字技术与应用, 31 December 2021 (2021-12-31), pages 92 - 94 * |
| 李晖;伍清河;黄煌;: "车辆编队系统的分布式控制", 北京理工大学学报, no. 11, 15 November 2009 (2009-11-15) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109164809B (en) | Autonomous following control system and method for vehicle formation | |
| CN108898880B (en) | Vehicle control method and system | |
| CN109062209A (en) | A kind of intelligently auxiliary Ride Control System and its control method | |
| EP2306423B1 (en) | Train-of-vehicle travel support device | |
| CN110208842A (en) | Vehicle high-precision locating method under a kind of car networking environment | |
| CN113155123B (en) | Multi-intelligent-vehicle cooperative localization tracking method and device based on data sharing | |
| CN107798861A (en) | A kind of vehicle cooperative formula formation running method and system | |
| CN106696961A (en) | Control system and method for automatically driving onto and off ramp of freeway | |
| CN108011947A (en) | A kind of vehicle cooperative formula formation driving system | |
| CN110979327A (en) | Longitudinal control method and system for automatic driving vehicle | |
| CN105892464A (en) | Special car automatic driving system based on fixed routes and driving method for same | |
| CN108845579A (en) | A kind of automated driving system and its method of port vehicle | |
| CN105955257A (en) | Bus automatic driving system based on fixed route and driving method thereof | |
| CN108958237A (en) | For unpiloted mobile terminal, vehicle and Unmanned Systems | |
| CN105702083A (en) | Distributed vision-based parking lot-vehicle cooperative intelligent parking system and method | |
| AU2015354564B2 (en) | Work machine control system, work machine, work machine management system, and method for controlling work machine | |
| CN103204162A (en) | Lane Tracking System With Active Rear-steer | |
| CN102901510A (en) | Autonomous convoying technique for vehicles | |
| CN106843212A (en) | Automatic Pilot is based on the emergency vehicle auxiliary directional system and method for yaw angle amendment | |
| CN110569602B (en) | Data acquisition method and system for unmanned vehicle | |
| EP4055460B1 (en) | Method and system for controlling vehicle | |
| CN105387858A (en) | Houseboat intelligent navigation system and working method thereof | |
| US11490234B2 (en) | Cooperative ADAS and cooperative safety systems and methods using V2X communications | |
| CN111785027B (en) | Automatic driving closed-loop information system | |
| CN117406731A (en) | Unmanned moving target vehicle cooperative formation control method and system |
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 |