Route tracking method for patrol car
A patrol car, route technology, used in measuring devices, instruments, surveying and navigation, etc.
Pending Publication Date: 2021-04-23
盐城中科高通量计算研究院有限公司
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Problems solved by technology
[0002] With the continuous development of society, more and more large-scale enterprise factories use automatic patrol vehicles to replace manual patrols, which can greatly improve the efficiency of inspections. However, after memory, can you ensure that the next inspection can still be carried out according to the originally set route? At this time, it is necessary to plan and calibrate the route during the inspection process. To solve the above problems , the applicant proposes a route tracking method for patrol cars
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[0025] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:
[0026] The present invention provides a route tracking method for a patrol car, which moves a patrol car on a set movement route for one cycle, and then detects the distance deviation between each road segment in the motion cycle and the original set route segment during the movement process. Analysis is performed to fine-tune the patrol car's route.
[0027] As an embodiment of the present invention, the application provides such as figure 1 A patrol car route tracking method shown, the specific steps are as follows:
[0028] Step 1: According to the remote instruction, load the corresponding route question, and analyze and process the route file;
[0029] Step 2: Simulate the driving trajectory of the vehicle, check the feasibility of the route, continue to execute if the driving conditions are satisfied, and return an error if the driving c...
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The invention discloses a route tracking method for a patrol car. The method comprises the following steps: loading a corresponding route problem according to a remote instruction, and carrying out the analysis of a route file; simulating a vehicle driving track, and checking route feasibility; acquiring high-precision positioning data, and judging whether the positioning precision meets the requirement or not; cutting the route into a plurality of sections; converting a coordinate system; calculating a vehicle and deviation value according to the real-time position of the vehicle; obtaining a vector equation according to the real-time position and heading of the vehicle, solving the difference between the slopes of the two equations to obtain a heading deviation value, and obtaining a center deviation distance according to the distance from a point to a straight line; calculating vehicle adjustment parameters according to the vehicle deviation value, and finally adding the accumulated deviation to perform adjustment and correction; judging the surrounding state of the vehicle according to radar feedback; and issuing a control instruction, analyzing and processing the route file, simulating a vehicle driving track, checking route feasibility, and finally judging a vehicle surrounding state and issuing the control instruction according to radar feedback.
Description
technical field [0001] The invention relates to the field of route tracking for patrol cars, in particular to a route tracking method for patrol cars. Background technique [0002] With the continuous development of society, more and more large-scale enterprise factories use automatic patrol vehicles to replace manual patrols, which can greatly improve the efficiency of inspections. However, after memory, can you ensure that the next inspection can still be carried out according to the originally set route? At this time, it is necessary to plan and calibrate the route during the inspection process. To solve the above problems , the applicant proposes a route tracking method for a patrol car. Contents of the invention [0003] In order to solve the above problems, the present invention provides a route tracking method for a patrol car, by moving the patrol car for a cycle on the already set motion route, and then moving each road section in the motion cycle with the origin...
Claims
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IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 周晓宇陈传飞薛巨峰范东睿
Owner 盐城中科高通量计算研究院有限公司