CN117991693A - Unmanned moving target vehicle travel control method and system - Google Patents
Unmanned moving target vehicle travel control method and system Download PDFInfo
- Publication number
- CN117991693A CN117991693A CN202410070082.0A CN202410070082A CN117991693A CN 117991693 A CN117991693 A CN 117991693A CN 202410070082 A CN202410070082 A CN 202410070082A CN 117991693 A CN117991693 A CN 117991693A
- Authority
- CN
- China
- Prior art keywords
- target vehicle
- module
- target
- marking
- area
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000010276 construction Methods 0.000 claims abstract description 12
- 238000012163 sequencing technique Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process 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
- 238000005457 optimization Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method and a system for controlling the movement of an unmanned moving target vehicle, which relate to the technical field of remote wireless control, wherein the system for controlling the movement of the unmanned moving target vehicle comprises the following components: a target car module; the time acquisition module is used for acquiring current time information: the space construction module is used for constructing a space coordinate system; a travel route construction module for calculating a travel route of the target vehicle; the deviation detection module is used for detecting whether the traveling section of the target car can influence the normal traveling of the target car; through setting up of skew detection module, can mark the region of jolting in the target car route of traveling according to the data of traveling of target car module, preferentially adjust the target car when the target car passes through the region of jolting, can obtain the concrete coordinate of target car fast according to the image data in front of the target car moreover to the route of traveling of target car is formulated.
Description
Technical Field
The invention relates to the technical field of remote wireless control, in particular to a method and a system for controlling the running of an unmanned mobile target vehicle.
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;
the traveling environment of the target car is in the wild, the unmanned target car is driven by remote control, a camera is usually fixed at the front end of the car, an image of a first visual angle of a driver is transmitted back to a control hand through an image transmission device, the control hand controls the traveling direction of the car according to the image, but if a bumpy road surface is met, the image transmission is delayed, the personnel control is delayed, the steering engine is delayed to execute, the technology of the driver is tested, and the movement of the target car is easy to generate offset.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an unmanned moving target vehicle running control system.
In order to achieve the above purpose, the present invention provides the following technical solutions:
An unmanned mobile target vehicle travel control system comprising:
A target car module;
The space construction module is used for constructing a space coordinate system;
the offset detection module is used for judging whether the traveling section of the target car belongs to a normal area or not, and specifically comprises the following steps:
Equally dividing the travel route into a plurality of areas;
The offset detection module comprises an image acquisition module, wherein the image acquisition module is arranged right in front of the target car module, and the image acquisition module is arranged right in front of the target car module;
Acquiring video information in front of the target car module, and intercepting the video information every second to acquire a picture frame;
The offset detection module further comprises a picture processing module, wherein the picture processing module is used for analyzing and acquiring picture information from the picture frames acquired by the image acquisition module;
Setting a preset moving speed of the target vehicle, marking the preset moving speed as Vq, calculating coordinate information of the target vehicle at each second interval of the target vehicle according to the obtained travelling route, and marking the coordinate information as preset coordinate information;
obtaining coordinate information of the target vehicle according to the picture information, obtaining corresponding coordinate information according to a picture frame per second, marking the coordinate information as actual coordinate information of a target vehicle module, comparing preset coordinate information and actual coordinate information in each area, carrying out difference value calculation, marking the difference value as We, and setting a difference coefficient as Rt;
According to the formula Calculating and obtaining a displacement total difference Y of the target vehicle module in each area;
Sequencing time points corresponding to the offset preset coordinates of the target car module in each region according to sequence, calculating the difference value of the time points generated by two adjacent offsets to obtain offset time intervals, summing the offset time intervals, obtaining the average offset interval of the target car module in each region, and marking the average offset interval as Ui;
According to the formula Calculating and obtaining a deviation value S of target vehicle equipment in each area;
Setting a threshold value of the deviation value as G, judging whether the deviation value S in each area is larger than the threshold value G, if the deviation value S is larger than the threshold value G, marking the area as a bumpy area, and if the deviation value S is not larger than the threshold value G, marking the area as a normal area;
The intelligent judging module is used for sequencing the adjustment priority values of each area;
And the control and regulation module is used for regulating the priority value according to the acquired regional information to formulate an optimal regulation scheme for the target car equipment.
Preferably, the space construction module further includes a reference table, and the space construction module uses the reference table as an origin, uses a direction of the transverse movement of the target car module as an x-axis, uses a direction of the longitudinal movement of the target car module as a y-axis, and uses a vertical direction as a z-axis to determine coordinates of the target car module.
Preferably, the travel route construction module is configured to calculate and obtain a travel route of the target vehicle, specifically:
acquiring initial coordinates of the target vehicle module, and acquiring coordinates of the destination;
and calculating and obtaining the travel route coordinates of the target vehicle according to the preset moving speed Vq of the target vehicle.
Preferably, the offset detection module calculates the current coordinate of the target vehicle according to the acquired picture frame, specifically;
Acquiring coordinates (x 1, y1, z 1) obtained by the picture frame record in the current time period;
Acquiring coordinates (x 2, y2, z 2) of the target car equipment one second before the current time period;
Obtaining an influence value H of the external environment when the target car equipment advances, and setting an influence value coefficient as K;
According to the formula:
x3＝Vq(x2-x1)+H×K；
y3＝Vq(y2-y1)+H×K；
y3＝Vq(y2-y1)+H×K；
coordinates (x 3, y3, z 3) of the target vehicle are calculated.
Preferably, the target vehicle device obtains the influence value H from the external environment when traveling as follows:
Acquiring wind power of the target vehicle module advancing environment in the current time period, and marking the wind power as L;
Acquiring the wind power direction of the target vehicle module advancing environment in the current time period, and marking the wind power direction as C;
acquiring the advancing direction of the target car module according to the advancing path of the target car, and marking the advancing direction as B;
Acquiring an included angle N between a wind power direction C and an object advancing direction B;
Calculating to obtain an influence value H of the external environment according to the formula H=L×Vq×cos (N) .
Preferably, the obtaining manner of the included angle N between the wind direction C and the object travelling direction B is as follows:
Setting the unit vector of the wind direction C as (D1, D2, D3), and setting the unit vector of the object travelling direction B as (D1, D2, D3);
According to the formula n= arccos (d1×d1+d2×d2+d2×d2), the angle N between the wind direction C and the object travelling direction B is calculated.
Preferably, the intelligent determination module is configured to sort adjustment priority values of each area, specifically:
obtaining deviation values S of target vehicle equipment in each area, arranging the deviation values S in sequence from large to small, sequencing the bumping degree of the areas according to the magnitude of the deviation values S, sending signals to the control and regulation module, and preferentially regulating the target vehicle module reaching the bumping area.
Preferably, the control and adjustment module is configured to make an optimal adjustment scheme for the target car device according to the environment, specifically:
Acquiring the current moving speed of the target car equipment at the current time point, and marking the current moving speed as M;
acquiring the gradient of the movement of the target car equipment at the current time point, and marking the gradient as T;
According to the formula q= (Vq-M) tan (T), the adjustment value Q required to obtain the target vehicle device back to the predetermined speed is calculated.
Preferably, the method for obtaining the gradient T of the movement of the target vehicle device at the current time point is as follows:
And acquiring the coordinates of the current time point of the target vehicle module, acquiring the coordinates of one second before the current time point of the target vehicle module, and calculating according to the two groups of coordinates to acquire the gradient T of the movement of the target vehicle equipment.
On the other hand, the invention also provides a method for controlling the travel of the unmanned moving target vehicle, which comprises the following steps:
S1: setting a preset moving speed of the target vehicle, marking the preset moving speed as Vq, calculating coordinate information of the target vehicle at each second interval of the target vehicle according to the obtained travelling route, and marking the coordinate information as preset coordinate information;
s2: obtaining coordinate information of the target vehicle according to the picture information, obtaining corresponding coordinate information according to a picture frame per second, marking the coordinate information as actual coordinate information of a target vehicle module, comparing preset coordinate information and actual coordinate information in each area, carrying out difference value calculation, marking the difference value as We, and setting a difference coefficient as Rt;
s3: calculating and obtaining a displacement total difference Y of the target vehicle module in each area;
s4: sequencing time points corresponding to the offset preset coordinates of the target car module in each region according to sequence, calculating the difference value of the time points generated by two adjacent offsets to obtain offset time intervals, summing the offset time intervals, obtaining the average offset interval of the target car module in each region, and marking the average offset interval as Ui;
S5: calculating and obtaining a deviation value S of target vehicle equipment in each area;
S6: setting the threshold value of the deviation value as G, judging whether the deviation value S in each area is larger than the threshold value G, executing S7 if the deviation value S is larger than the threshold value G, and executing S8 if the deviation value S is not larger than the threshold value G;
S7: this area is marked as a jounce area.
S8: this area is marked as a normal area.
Compared with the prior art, the invention has the following beneficial effects:
1. Through setting up of skew detection module, can mark the region of jolting in the target car route of traveling according to the data of traveling of target car module, preferentially adjust the target car when the target car passes through the region of jolting, can obtain the concrete coordinate of target car fast according to the image data in front of the target car moreover to the route of traveling of target car is formulated.
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 travel control system comprising:
A target car module;
The space construction module is used for constructing a space coordinate system;
the offset detection module is used for judging whether the traveling section of the target car belongs to a normal area or not, and specifically comprises the following steps:
Equally dividing the travel route into a plurality of areas;
the offset detection module comprises an image acquisition module, wherein the image acquisition module is arranged right in front of the target car module, and the image acquisition module is arranged right in front of the target car module;
acquiring video information in front of a target vehicle module, and intercepting the video information every second to acquire a picture frame;
the offset detection module further comprises a picture processing module, wherein the picture processing module is used for analyzing and acquiring picture information from the picture frames acquired by the image acquisition module;
Setting a preset moving speed of the target vehicle, marking the preset moving speed as Vq, calculating coordinate information of the target vehicle at each second interval of the target vehicle according to the obtained travelling route and the obtained travelling route, and marking the coordinate information as preset coordinate information;
Obtaining coordinate information of a target vehicle according to the picture information, obtaining corresponding coordinate information according to a picture frame of each second, marking the coordinate information as actual coordinate information of a target vehicle module, comparing preset coordinate information and actual coordinate information in each area, carrying out difference value calculation, marking the difference value as We, and setting a difference coefficient as Rt;
According to the formula Calculating and obtaining a displacement total difference Y of the target vehicle module in each area;
Sequencing time points corresponding to the offset preset coordinates of the target vehicle module in each region according to sequence, calculating the difference value of the time points generated by two adjacent offsets to obtain offset time intervals, summing the offset time intervals, obtaining the average offset interval of the target vehicle module in each region, and marking the average offset interval as Ui;
According to the formula Calculating and obtaining a deviation value S of target vehicle equipment in each area;
Setting a threshold value of the deviation value as G, judging whether the deviation value S in each area is larger than the threshold value G, if the deviation value S is larger than the threshold value G, marking the area as a bumpy area, and if the deviation value S is not larger than the threshold value G, marking the area as a normal area;
The space construction module further comprises a reference table, the space construction module takes the reference table as an origin, takes the direction of transverse movement of the target car module as an x axis, takes the direction of longitudinal movement of the target car module as a y axis and takes the vertical direction as a z axis, and determines the coordinates of the target car module;
the travel route construction module is used for calculating and obtaining a travel route of the target vehicle, and specifically comprises the following steps:
acquiring initial coordinates of a target vehicle module, and acquiring coordinates of a destination; calculating and obtaining the travel route coordinates of the target vehicle according to the preset moving speed Vq of the target vehicle;
The offset detection module calculates the current coordinate of the target vehicle according to the acquired picture frame, specifically;
acquiring coordinates (x 1, y1, z 1) obtained by obtaining a picture frame record in a current time period;
Acquiring coordinates (x 2, y2, z 2) of target car equipment of one second before the current time period;
Obtaining an influence value H of the external environment when the target vehicle equipment advances, and setting an influence value coefficient as K;
According to the formula:
x3＝Vq(x2-x1)+H×K；
y3＝Vq(y2-y1)+H×K；
y3＝Vq(y2-y1)+H×K；
Calculating to obtain coordinates (x 3, y3, z 3) of the target vehicle;
The target car equipment is in the following way of acquiring the influence value H from the external environment when in running, and the method is as follows:
Acquiring the wind power of the target vehicle module advancing environment in the current time period, and marking the wind power as L;
acquiring the wind power direction of the traveling environment of the target vehicle module in the current time period, and marking the wind power direction as C;
acquiring the advancing direction of a target vehicle module according to the advancing path of the target vehicle, and marking the advancing direction as B;
Acquiring an included angle N between a wind power direction C and an object advancing direction B;
Calculating according to a formula h=l×vq×cos (N) , to obtain an influence value H of the external environment;
the acquisition mode of the included angle N between the wind direction C and the object advancing direction B is as follows, and specifically:
Setting the unit vector of the wind direction C as (D1, D2, D3), and setting the unit vector of the object travelling direction B as (D1, D2, D3);
According to the formula n= arccos (d1×d1+d2×d2+d2×d2), the angle N between the wind direction C and the object travelling direction B is calculated.
Example 2
On the basis of embodiment 1, the method further includes an intelligent determination module for ordering the adjustment priority values of each region, specifically:
Obtaining deviation values S of target vehicle equipment in each area, arranging the deviation values S in sequence from large to small, sequencing the jolt degrees of the areas according to the magnitudes of the deviation values S, sending signals to a control and regulation module, and preferentially regulating the target vehicle modules reaching the jolt areas.
The control and regulation module is used for making an optimal regulation scheme for target car equipment according to the environment, and specifically comprises the following steps:
acquiring the current moving speed of the target car equipment at the current time point, and marking the current moving speed as M;
acquiring the gradient of the movement of the target car equipment at the current time point, and marking the gradient as T;
The adjustment value Q required to obtain the target vehicle equipment to return to the predetermined speed is calculated according to the formula q= (Vq-M) tan (T) ,.
The current time point target vehicle equipment moving gradient T is obtained by the following steps:
and acquiring the coordinates of the current time point of the target vehicle module, acquiring the coordinates of one second before the current time point of the target vehicle module, and calculating according to the two groups of coordinates to acquire the gradient T of the movement of the target vehicle equipment.
On the other hand, the invention also provides a method for controlling the travel of the unmanned moving target vehicle, which comprises the following steps:
s1: setting a preset moving speed of the target vehicle, marking the preset moving speed as Vq, calculating coordinate information of the target vehicle at each second interval of the target vehicle according to the obtained travelling route and the obtained travelling route, and marking the coordinate information as preset coordinate information;
s2: obtaining coordinate information of a target vehicle according to the picture information, obtaining corresponding coordinate information according to a picture frame of each second, marking the coordinate information as actual coordinate information of a target vehicle module, comparing preset coordinate information and actual coordinate information in each area, carrying out difference value calculation, marking the difference value as We, and setting a difference coefficient as Rt;
s3: calculating and obtaining a displacement total difference Y of the target vehicle module in each area;
S4: sequencing time points corresponding to the offset preset coordinates of the target vehicle module in each region according to sequence, calculating the difference value of the time points generated by two adjacent offsets to obtain offset time intervals, summing the offset time intervals, obtaining the average offset interval of the target vehicle module in each region, and marking the average offset interval as Ui;
S5: calculating and obtaining a deviation value S of target vehicle equipment in each area;
S6: setting the threshold value of the deviation value as G, judging whether the deviation value S in each area is larger than the threshold value G, executing S7 if the deviation value S is larger than the threshold value G, and executing S8 if the deviation value S is not larger than the threshold value G;
S7: this area is marked as a jounce area.
S8: marking the area as a normal area
Working principle: through setting up of skew detection module, can mark the region of jolting in the target car route of traveling according to the data of traveling of target car module, preferentially adjust the target car when the target car passes through the region of jolting, can obtain the concrete coordinate of target car fast according to the image data in front of the target car moreover to the route of traveling of target car is formulated.
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 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 (10)
1. An unmanned moving target vehicle travel control system, characterized in that the unmanned moving target vehicle travel control system comprises:
A target car module;
The space construction module is used for constructing a space coordinate system;
the offset detection module is used for judging whether the traveling section of the target car belongs to a normal area or not, and specifically comprises the following steps:
Equally dividing the travel route into a plurality of areas;
The offset detection module comprises an image acquisition module, wherein the image acquisition module is arranged right in front of the target car module, and the image acquisition module is arranged right in front of the target car module;
Acquiring video information in front of the target car module, and intercepting the video information every second to acquire a picture frame;
The offset detection module further comprises a picture processing module, wherein the picture processing module is used for analyzing and acquiring picture information from the picture frames acquired by the image acquisition module;
Setting a preset moving speed of the target vehicle, marking the preset moving speed as Vq, calculating coordinate information of the target vehicle at each second interval of the target vehicle according to the obtained travelling route, and marking the coordinate information as preset coordinate information;
obtaining coordinate information of the target vehicle according to the picture information, obtaining corresponding coordinate information according to a picture frame per second, marking the coordinate information as actual coordinate information of a target vehicle module, comparing preset coordinate information and actual coordinate information in each area, carrying out difference value calculation, marking the difference value as We, and setting a difference coefficient as Rt;
According to the formula Calculating and obtaining a displacement total difference Y of the target vehicle module in each area;
Sequencing time points corresponding to the offset preset coordinates of the target car module in each region according to sequence, calculating the difference value of the time points generated by two adjacent offsets to obtain offset time intervals, summing the offset time intervals, obtaining the average offset interval of the target car module in each region, and marking the average offset interval as Ui;
According to the formula Calculating and obtaining a deviation value S of target vehicle equipment in each area;
Setting a threshold value of the deviation value as G, judging whether the deviation value S in each area is larger than the threshold value G, if the deviation value S is larger than the threshold value G, marking the area as a bumpy area, and if the deviation value S is not larger than the threshold value G, marking the area as a normal area;
The intelligent judging module is used for sequencing the adjustment priority values of each area;
And the control and regulation module is used for regulating the priority value according to the acquired regional information to formulate an optimal regulation scheme for the target car equipment.
2. The unmanned moving target cart travel control system of claim 1, wherein the space building module further comprises a reference table, the space building module determining coordinates of the target cart module with the reference table as an origin, a direction of lateral movement of the target cart module as an x-axis, a direction of longitudinal movement of the target cart module as a y-axis, and a vertical direction as a z-axis.
3. The unmanned moving target vehicle travel control system of claim 2, wherein the travel route construction module is configured to calculate a travel route for the target vehicle, in particular:
Acquiring initial coordinates of the target vehicle module, and acquiring coordinates of the destination; and calculating and obtaining the travel route coordinates of the target vehicle according to the preset moving speed Vq of the target vehicle.
4. The unmanned mobile target vehicle travel control system of claim 3, wherein the offset detection module calculates current coordinates of the target vehicle from the acquired picture frames;
Acquiring coordinates (x 1, y1, z 1) obtained by the picture frame record in the current time period;
Acquiring coordinates (x 2, y2, z 2) of the target car equipment one second before the current time period;
Obtaining an influence value H of the external environment when the target car equipment advances, and setting an influence value coefficient as K;
According to the formula:
x3＝Vq(x2-x1)+H×K；
y3＝Vq(y2-y1)+H×K；
y3＝Vq(y2-y1)+H×K；
coordinates (x 3, y3, z 3) of the target vehicle are calculated.
5. The unmanned moving target vehicle travel control system according to claim 4, wherein the target vehicle device obtains the influence value H from the external environment during traveling in the following manner:
Acquiring wind power of the target vehicle module advancing environment in the current time period, and marking the wind power as L;
Acquiring the wind power direction of the target vehicle module advancing environment in the current time period, and marking the wind power direction as C;
acquiring the advancing direction of the target car module according to the advancing path of the target car, and marking the advancing direction as B;
Acquiring an included angle N between a wind power direction C and an object advancing direction B;
according to the formula h=l×vq×cos (N), the influence value H of the external environment is calculated.
6. The unmanned moving target vehicle travel control system according to claim 5, wherein the angle N between the wind direction C and the object travel direction B is obtained by:
Setting the unit vector of the wind direction C as (D1, D2, D3), and setting the unit vector of the object travelling direction B as (D1, D2, D3);
According to the formula n= arccos (d1×d1+d2×d2+d2×d2), the angle N between the wind direction C and the object travelling direction B is calculated.
7. The unmanned moving target vehicle travel control system of claim 6, wherein the intelligent determination module is configured to rank the adjustment priority values for each zone, in particular:
obtaining deviation values S of target vehicle equipment in each area, arranging the deviation values S in sequence from large to small, sequencing the bumping degree of the areas according to the magnitude of the deviation values S, sending signals to the control and regulation module, and preferentially regulating the target vehicle module reaching the bumping area.
8. The unmanned mobile target vehicle travel control system of claim 7, wherein the control adjustment module is configured to formulate an optimal adjustment scheme for the target vehicle device based on the environment, in particular:
Acquiring the current moving speed of the target car equipment at the current time point, and marking the current moving speed as M;
acquiring the gradient of the movement of the target car equipment at the current time point, and marking the gradient as T;
According to the formula q= (Vq-M) tan (T), the adjustment value Q required to obtain the target vehicle device back to the predetermined speed is calculated.
9. The unmanned moving target vehicle travel control system according to claim 8, wherein the current time point is obtained by the gradient T of the movement of the target vehicle device by the following steps:
And acquiring the coordinates of the current time point of the target vehicle module, acquiring the coordinates of one second before the current time point of the target vehicle module, and calculating according to the two groups of coordinates to acquire the gradient T of the movement of the target vehicle equipment.
10. An unmanned moving target vehicle running control method, which is applicable to the unmanned moving target vehicle running control system according to any one of claims 1 to 9, characterized in that the unmanned moving target vehicle running control method comprises the following steps:
S1: setting a preset moving speed of the target vehicle, marking the preset moving speed as Vq, calculating coordinate information of the target vehicle at each second interval of the target vehicle according to the obtained travelling route, and marking the coordinate information as preset coordinate information;
s2: obtaining coordinate information of the target vehicle according to the picture information, obtaining corresponding coordinate information according to a picture frame per second, marking the coordinate information as actual coordinate information of a target vehicle module, comparing preset coordinate information and actual coordinate information in each area, carrying out difference value calculation, marking the difference value as We, and setting a difference coefficient as Rt;
s3: calculating and obtaining a displacement total difference Y of the target vehicle module in each area;
s4: sequencing time points corresponding to the offset preset coordinates of the target car module in each region according to sequence, calculating the difference value of the time points generated by two adjacent offsets to obtain offset time intervals, summing the offset time intervals, obtaining the average offset interval of the target car module in each region, and marking the average offset interval as Ui;
S5: calculating and obtaining a deviation value S of target vehicle equipment in each area;
S6: setting the threshold value of the deviation value as G, judging whether the deviation value S in each area is larger than the threshold value G, executing S7 if the deviation value S is larger than the threshold value G, and executing S8 if the deviation value S is not larger than the threshold value G;
S7: this area is marked as a jounce area.
S8: this area is marked as a normal area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410070082.0A CN117991693B (en) | 2024-01-17 | 2024-01-17 | Unmanned moving target vehicle travel control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410070082.0A CN117991693B (en) | 2024-01-17 | 2024-01-17 | Unmanned moving target vehicle travel control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117991693A true CN117991693A (en) | 2024-05-07 |
| CN117991693B CN117991693B (en) | 2024-07-26 |
Family
ID=90888163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410070082.0A Active CN117991693B (en) | 2024-01-17 | 2024-01-17 | Unmanned moving target vehicle travel control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117991693B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002193055A (en) * | 2000-12-27 | 2002-07-10 | Nissan Motor Co Ltd | Car lane deviation alarm device for vehicle |
| JP2008122292A (en) * | 2006-11-14 | 2008-05-29 | Denso Corp | Method of detecting shift amount of detecting center axis |
| CN112729017A (en) * | 2020-12-17 | 2021-04-30 | 陕西华通机电制造有限公司 | Unmanned target vehicle control system |
| CN113110151A (en) * | 2021-04-01 | 2021-07-13 | 福建润军智能科技有限公司 | Individual soldier moving target control system |
| CN113225680A (en) * | 2020-12-17 | 2021-08-06 | 陕西华通机电制造有限公司 | Unmanned target vehicle communication system |
| CN115790282A (en) * | 2022-10-11 | 2023-03-14 | 西安岳恒机电工程有限责任公司 | Direction control system and control method for unmanned target vehicle |
| 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 |
-
2024
- 2024-01-17 CN CN202410070082.0A patent/CN117991693B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002193055A (en) * | 2000-12-27 | 2002-07-10 | Nissan Motor Co Ltd | Car lane deviation alarm device for vehicle |
| JP2008122292A (en) * | 2006-11-14 | 2008-05-29 | Denso Corp | Method of detecting shift amount of detecting center axis |
| CN112729017A (en) * | 2020-12-17 | 2021-04-30 | 陕西华通机电制造有限公司 | Unmanned target vehicle control system |
| CN113225680A (en) * | 2020-12-17 | 2021-08-06 | 陕西华通机电制造有限公司 | Unmanned target vehicle communication system |
| CN113110151A (en) * | 2021-04-01 | 2021-07-13 | 福建润军智能科技有限公司 | Individual soldier moving target control system |
| CN115790282A (en) * | 2022-10-11 | 2023-03-14 | 西安岳恒机电工程有限责任公司 | Direction control system and control method for unmanned target vehicle |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| 许世军: "遥控靶车运行速度的测量与计算", 机械科学与技术, no. 1, 31 July 2003 (2003-07-31), pages 119 - 121 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117991693B (en) | 2024-07-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105629974B (en) | A kind of robot path planning method and system based on modified Artificial Potential Field Method | |
| CN106155086B (en) | A kind of Road Detection unmanned plane and its automatic cruising method | |
| CN109085823B (en) | Automatic tracking driving method based on vision in park scene | |
| CN110244772A (en) | The navigator's system for tracking and navigator's follow-up control method of mobile robot | |
| US11906983B2 (en) | System and method for tracking targets | |
| CN106441286A (en) | Unmanned aerial vehicle tunnel inspection system based on BIM technology | |
| CN105447853A (en) | Flight device, flight control system and flight control method | |
| CN102208036A (en) | Vehicle position detection system | |
| CN102208035A (en) | Image processing system and position measurement system | |
| CN102176246A (en) | Camera relay relationship determining method of multi-camera target relay tracking system | |
| EP3842751A1 (en) | System and method of generating high-definition map based on camera | |
| CN110018688B (en) | Automatic guided vehicle positioning method based on vision | |
| CN112880599B (en) | Roadbed flatness detection system based on four-foot robot and working method | |
| CN112947550A (en) | Illegal aircraft striking method based on visual servo and robot | |
| CN110068827A (en) | A kind of method of the autonomous object ranging of unmanned plane | |
| CN117406731B (en) | Unmanned moving target vehicle cooperative formation control method and system | |
| CN117991693B (en) | Unmanned moving target vehicle travel control method and system | |
| CN109857122A (en) | Controlling of path thereof, device and the warehouse transportation system of warehouse haulage vehicle | |
| CN113341968A (en) | Accurate parking system and method for multi-axis flat car | |
| CN110244717B (en) | Port crane climbing robot automatic path finding method based on existing three-dimensional model | |
| CN103213579A (en) | Lane departure early warning method independent of camera parameters and vehicle system | |
| CN109712396A (en) | A kind of modeling method and system of bus or train route collaboration road surface wagon flow | |
| CN205644076U (en) | AGV vision sensor developments luminance compensation arrangement | |
| EP3389015A1 (en) | Roll angle calibration method and roll angle calibration device | |
| CN104019748A (en) | Observation standard unstability compensating type catenary offset detecting device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |