A method, device, system and vehicle-mounted computer for automatic vehicle distance error

Abstract

The present invention is applicable to the technical field of vehicle path planning, and provides a method, device, system and an on-board computer for automatic vehicle staggering. Based on the wheel width of the vehicle's rolling wheel, the vehicle's turning radius and the overlapping width of the rolling path, a first deflection vector is obtained; based on the vehicle's starting direction, the vehicle's starting position and the first deflection vector, the vehicle's first deflection position is obtained; based on the vehicle's starting position and the first deflection position, the vehicle's turning position and second deflection position are obtained; based on the starting direction, starting position, wheel width and the overlapping width, the vehicle's re-navigation position is obtained; the vehicle's path is set to start from the starting position, pass through the first deflection position, the turning position, the second deflection position and the re-navigation position in sequence, and complete the staggering. This solution sets key nodes in the rolling process and performs steering according to the key nodes. Compared with the traditional staggering method, it significantly reduces the turning distance and the vehicle's driving path, and improves the rolling efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle path planning, and in particular relates to a vehicle automatic distance avoidance method, device, system and a vehicle-mounted computer. Background Art

[0002] Vehicle autonomous driving technology is currently widely used in engineering construction. It has the advantages of standardized construction, precise driving routes, high machinery utilization, and little damage to the human body.

[0003] In the scene of automated rolling construction, such as the rolling of embankments, vehicles need to move back and forth in an area to roll the road surface to fully compact the roadbed. In the process of reciprocating movement of vehicles, there must be a passing area. There is a risk of leakage in the passing area, so it is often necessary to decide whether to repeat the rolling of the road surface based on the actual situation, which will cause repeated construction of the working surface; or because the passing area is too large and the passing track is too long, the construction efficiency is reduced.

[0004] The current path planning method does not take into account the problem of large passing distances for unmanned vehicles during construction. Large rolling vehicles have many rolling tracks and high passing frequency during the rolling process. A larger passing area needs to be reserved to ensure normal operation of the machinery, which brings a lot of inconvenience to the construction. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a method for automatic vehicle misalignment, which aims to solve the problem that the current path planning method does not take into account the large misalignment distance of unmanned vehicles in engineering construction, and that large rolling vehicles have many rolling tracks and a high frequency of misalignment during the rolling process, so a large misalignment area needs to be reserved to ensure normal construction of the machinery, which brings many inconveniences to the construction.

[0006] The embodiment of the present application provides a method for automatic vehicle misalignment, the method comprising: obtaining a first deflection momentum based on the wheel width of a rolling wheel of the vehicle, the turning radius of the vehicle, and the overlap width of a rolling path;

[0007] Obtaining a first deflected position of the vehicle based on the initial orientation of the vehicle, the initial position of the vehicle, and the first deflection momentum;

[0008] Based on the starting position of the vehicle and the first deflection position, a turning position and a second deflection position of the vehicle are obtained; based on the starting orientation, the starting position, the wheel width and the overlap width, a re-navigation position is obtained;

[0009] The first deflection position is located at the midpoint of a line segment connecting the starting position and the return position, and the second deflection position is located at the midpoint of a line segment connecting the return position and the re-travel position;

[0010] The path of the vehicle is set to start from the starting position, pass through the first deflection position, the return position, the second deflection position and the re-navigation position in sequence to complete the offset.

[0011] Another object of an embodiment of the present application is to provide a vehicle automatic distance error device, the vehicle automatic distance error device comprising:

[0012] A first deflection momentum acquisition module, used to obtain a first deflection momentum based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path;

[0013] A first deflection position acquisition module, configured to obtain a first deflection position of the vehicle based on a starting orientation of the vehicle, a starting position of the vehicle and the first deflection momentum;

[0014] A module for acquiring a turning position, a second deflection position and a re-navigation position, for obtaining a turning position and a second deflection position of the vehicle based on the starting position and the first deflection position of the vehicle; and obtaining a re-navigation position based on the starting orientation, the starting position, the wheel width and the overlap width; the first deflection position is located at the midpoint of a line segment connected by the starting position and the turning position, and the second deflection position is located at the midpoint of a line segment connected by the turning position and the re-navigation position;

[0015] The staggered distance realization module sets the path of the vehicle to start from the starting position, successively pass through the first deflection position, the return position, the second deflection position and the re-navigation position to realize the staggered distance.

[0016] Another object of an embodiment of the present application is to provide an on-board computer, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of a vehicle automatic distance avoidance method as described above.

[0017] Another object of an embodiment of the present application is to provide an automatic misalignment system, the system comprising:

[0018] An on-board computer as described above, used to execute the automatic distance error method as described above; and

[0019] A vehicle is connected to the on-board computer by wire and / or wirelessly, and is used to execute control instructions of the on-board computer.

[0020] The embodiment of the present application provides a method for automatic vehicle staggering, which sets the key nodes in the rolling process and performs steering settings according to the key nodes. Compared with the traditional automatic or manual turning methods, there are innovations and improvements in terms of construction period, quality, and efficiency. This construction method can significantly reduce the turning distance and driving path of the vehicle and improve the rolling efficiency. Moreover, compared with the traditional turning method, this solution can significantly reduce the area of ​​the pressure leakage area during turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A step diagram of an automatic misalignment method provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a rolling route provided in an embodiment of the present application;

[0023] Figure 3 A specific schematic diagram of a turning path implemented based on this solution provided in an embodiment of the present application;

[0024] Figure 4 A specific schematic diagram of a turn based on a traditional method provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of a rolling situation of a continuous operation implemented based on the present solution provided in an embodiment of the present application;

[0026] Figure 6 A schematic diagram of a rolling situation of a continuous operation based on a traditional solution provided in an embodiment of the present application;

[0027] Figure 7 FIG. 4 is a block diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script without departing from the scope of this application.

[0030] In one embodiment, Figure 2As shown, a method of rolling the road surface is provided. In the figure, a represents the wheel width of the rolling wheel of the rolling vehicle, and x is the overlap area between the two rolling paths of the vehicle during the rolling process. The vehicle is constructed from the left side to the right side of the figure, and the construction direction is from left to right. The vehicle turns and adjusts its position in the turning stagger area. After the rolling machine finishes rolling a track, a certain turning stagger area needs to be provided to ensure turning to the next rolling track.

[0031] In one embodiment, Figure 1 As shown, a method for automatic vehicle distance adjustment is provided, and the method comprises the following steps:

[0032] S20: obtaining a first deflection momentum based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle, and the overlap width of the rolling path;

[0033] S30: obtaining a first deflection position of the vehicle based on the starting orientation of the vehicle, the starting position of the vehicle and the first deflection momentum;

[0034] S40: based on the starting position of the vehicle and the first deflection position, obtaining a turning position and a second deflection position of the vehicle; based on the starting direction, the starting position, the wheel width and the overlap width, obtaining a re-navigation position;

[0035] The first deflection position is located at the midpoint of a line segment connecting the starting position and the return position, and the second deflection position is located at the midpoint of a line segment connecting the return position and the re-travel position;

[0036] S50: The path of the vehicle is set to start from the starting position, pass through the first deflection position, the return position, the second deflection position and the re-navigation position in sequence to achieve the staggered distance.

[0037] In the embodiment of the present application, the system first obtains the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle, and the overlap width information of the rolling path. Then, a number of path points are generated, such as Figure 3 As shown, point N1 is the starting position of the vehicle, point N2 is the first deflection position, point N3 is the return position, N4 is the second deflection position, and N5 is the return position. Compared with the existing manual or traditional automatic path planning methods, the driving trajectory planned based on these path points provided by this solution can significantly reduce the area of ​​the missed pressure area of ​​the rolling vehicle during driving, reduce the turning distance and driving path of the vehicle, and improve the rolling efficiency.

[0038] In the embodiment of the present application, the first deflection vector is determined by the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path. After the deflection vector, i.e., the first deflection point, is determined, the turnaround position can be obtained, and the turnaround position and the starting position are located at two points symmetrical to the first turnaround position. Based on the starting orientation, starting position, wheel width and overlap width, the re-navigation position can be obtained; the second deflection position is located at the midpoint of the line segment connecting the turnaround position and the re-navigation position.

[0039] This embodiment provides a method for reducing the turning misalignment, wherein x represents the overlap width of the two rolling paths, a represents the wheel width of the rolling vehicle, and R represents the turning radius. In the turning misalignment area rolling machine, the vehicle moves from point N1 to point N2 at a fixed turning radius, and then moves in the opposite direction to point N3, and then the vehicle reverses through N4 and turns twice to N5. In the whole process, the vehicle turns four times with the turning radius of the vehicle wheel to pass the vehicle.

[0040] In this embodiment, if Figure 3 As shown in the figure, the vehicle immediately turns right with the minimum turning radius at the starting position N1, and keeps the turning radius unchanged and continues to drive; after reaching point N2, it immediately changes to turning left with the minimum turning radius, and keeps the turning radius unchanged and continues to drive; after reaching point N3, it immediately changes to turning right with the minimum turning radius, and keeps the turning radius unchanged and drives in reverse; after reaching point N4, it immediately changes to turning left with the minimum turning radius, and keeps the turning radius unchanged and continues to drive to point N5. The distance traveled on each arc path is equal.

[0041] In the embodiment of the present application, by setting the key nodes in the rolling process, the steering setting is performed according to the key nodes. Compared with the traditional automatic or manual turning method, there are innovations and improvements in terms of construction period, quality, and efficiency. This construction method can significantly reduce the turning distance and driving path of the vehicle and improve the rolling efficiency. Moreover, compared with the traditional turning method, this solution can significantly reduce the area of ​​the pressure leakage area during turning.

[0042] In one embodiment, the path of the vehicle from the starting position to the first deflection position, the path from the first deflection position to the return position, the path from the return position to the second deflection position, and the path from the second deflection position to the re-navigation position are each an arc with exactly the same arc angle and arc length; the vehicle path is composed of a combination of four arc paths that are connected at the end.

[0043] In an embodiment of the present application, in order to minimize redundant paths, the vehicle may not include a straight motion segment when running between key nodes on the path such as the starting position and the first deflection position, that is, it may directly run to the node position along an arc route with a fixed radius.

[0044] In one embodiment, it is characterized in that the distance z from the re-navigation position to the starting position is: z=ax, wherein a is the wheel width of the vehicle's rolling wheel, and x is the overlap width of the rolling path.

[0045] In the embodiment of the present application, after the starting position and the return position are determined, the coordinates of the first deflection position, the second deflection position and the return position in the entire path are also defined.

[0046] In one embodiment, the first deflection momentum is obtained based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path:

[0047]

[0048] in, is the first deflection vector, a is the wheel width of the vehicle's rolling wheel, R is the turning radius of the vehicle, and x is the overlap width of the rolling path.

[0049] In one embodiment, the vehicle's motion mode is set to:

[0050] The vehicle moves toward the first deflection position with a fixed turning radius at the starting position, and the turning direction is the same direction as the direction to be constructed; after reaching the first deflection position, the vehicle immediately changes the turning direction to the opposite direction of the direction to be constructed, and moves toward the turning position with a fixed turning radius; after reaching the turning position, the vehicle immediately changes the turning direction to the same direction as the direction to be constructed, and moves toward the second turning position with a fixed turning radius; after reaching the second turning position, the vehicle immediately changes the turning direction to the opposite direction of the direction to be constructed, and moves to the re-navigation position with a fixed turning radius.

[0051] In the embodiment of the present application, the vehicle always runs at a fixed turning radius and does not turn between two path nodes to reduce the occupation of the staggered area. Figure 2 The direction of the construction work waiting to be rolled over by vehicles is shown.

[0052] In the embodiment of the present application, the first deflection momentum is determined by the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path. Based on the starting position and starting orientation of the vehicle, combined with the first deflection momentum, the first deflection position of the vehicle path can be obtained.

[0053] In one embodiment, preferably, the turning radius is the minimum turning radius allowed by the vehicle itself, so as to obtain a smaller turning path and space occupancy.

[0054] In one embodiment, a plane rectangular coordinate system is established at the position of the vehicle, and the starting direction of the vehicle is the positive direction of the y-axis. The starting point N1 of the turning misalignment zone is taken as the coordinate origin, the rolling overlap width is x, the rolling wheel width is a, and the minimum turning radius of the vehicle is R. The coordinates of the other key nodes are:

[0055]

[0056]

[0057]

[0058] N5(ax,0),

[0059] The length of the turning misalignment zone is

[0060] The driving route is

[0061] In one embodiment of the present application, Figure 4 As shown in the figure, the most mainstream staggering method is provided. The widely used method is that the rolling machine moves from point N1 to point N2 at the minimum turning radius in the turning staggering area, and then the vehicle moves to point N3 in the opposite direction, and then the vehicle moves to point N4 in a straight line reverse manner.

[0062] Taking the starting point N1 of the turning staggered zone as the coordinate origin, the coordinates of the other key nodes are:

[0063]

[0064]

[0065] N′4(ax,0),

[0066] The length of the turning misalignment zone is

[0067] The driving route is

[0068] In one embodiment of the present application, the rolling overlap width x=0.4m, the rolling wheel width a=2m, and the minimum turning radius R=6.5m of the vehicle during construction are taken as an example.

[0069] According to formulas (1) and (2), the minimum turning offset zone length of the present invention is 4.5 m, and the minimum driving path length is 9.2 m.

[0070] According to equations (3) and (4), the minimum turning error zone length of the traditional turning method is 6.2 m, and the minimum driving path length is 12.7 m.

[0071] Compared with the traditional driving method, the turning method provided by the present invention reduces the turning distance by 27.4% and the driving path by 27.6% compared with the theoretical situation. With the help of unmanned driving technology, the turning distance can be reduced by carefully planning the key nodes and driving paths.

[0072] In addition, Figure 5 and Figure 6 As shown in the comparison, in two adjacent unit projects, the present invention is used Figure 5 The steering method is different from the traditional Figure 6 The method shown can significantly reduce the area of ​​the unrolled area in the passing area, improve the rolling construction quality, avoid repeated rolling of the area, and improve work efficiency.

[0073] In one embodiment, a path taken by the vehicle from the starting position to the first deflected position is a portion of a circumference of a circle having a radius equal to the turning radius.

[0074] In one embodiment, the vehicle goes to the re-navigation position after reaching the turn-around position by directly reversing from the turn-around position, passing through the second turn-around position, and then reversing to the re-navigation position.

[0075] In one embodiment, the path of the vehicle starting from the starting position, successively passing through the first deflection position, the return position, the second deflection position and the re-entry position is formed by a combination of four arcs with exactly the same arc angle and arc length.

[0076] In the embodiments of the present application, Figure 3 As shown, the four continuous arcs are respectively N1-N2, N2-N3, N3-N4, and N4-N5. The vehicle immediately turns right at the minimum turning radius at the starting position N1, and continues to drive with the turning radius unchanged; after reaching point N2, it immediately changes to turn left at the minimum turning radius, and continues to drive with the turning radius unchanged; after reaching point N3, it immediately changes to turn right at the minimum turning radius, and drives in reverse with the turning radius unchanged; after reaching point N4, it immediately changes to turn left at the minimum turning radius, and continues to drive to point N5 with the turning radius unchanged. The distance traveled on each arc path is equal.

[0077] In one embodiment, a vehicle automatic misalignment device is provided, the vehicle automatic misalignment device comprising:

[0078] A first deflection momentum acquisition module, used to obtain a first deflection momentum based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path;

[0079] A first deflection position acquisition module, configured to obtain a first deflection position of the vehicle based on a starting orientation of the vehicle, a starting position of the vehicle and the first deflection momentum;

[0080] A module for acquiring a turning position, a second deflection position and a re-navigation position, for obtaining a turning position and a second deflection position of the vehicle based on the starting position and the first deflection position of the vehicle; and obtaining a re-navigation position based on the starting orientation, the starting position, the wheel width and the overlap width; the first deflection position is located at the midpoint of a line segment connected by the starting position and the turning position, and the second deflection position is located at the midpoint of a line segment connected by the turning position and the re-navigation position;

[0081] The staggered distance realization module sets the path of the vehicle to start from the starting position, successively pass through the first deflection position, the return position, the second deflection position and the re-navigation position to realize the staggered distance.

[0082] In the embodiments of the present application, the description of the above-mentioned device can refer to the above-mentioned automatic misalignment method.

[0083] This device sets the key nodes in the rolling process and makes steering settings according to the key nodes. Compared with the traditional automatic or manual turning methods, this construction method has innovations and improvements in construction period, quality, and efficiency. It can significantly reduce the turning distance and driving path of the vehicle and improve the rolling efficiency.

[0084] Moreover, compared with the traditional turning method, this solution can significantly reduce the area of ​​the pressure leakage area during turning. Compared with manual driving, the combination of unmanned driving technology and this design solution can accurately control the driving trajectory, scientifically plan the route, and avoid excessive reliance on driver experience and waste caused by manual operation errors.

[0085] Figure 7 FIG. 2 shows the internal structure of a vehicle-mounted computer in one embodiment. Figure 7As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program, which, when executed by the processor, enables the processor to implement the vehicle automatic misalignment method. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to execute the vehicle automatic misalignment method. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0086] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0087] In one embodiment, the vehicle automatic distance error method device provided by the present application can be implemented in the form of a computer program. The computer program can be Figure 7 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the vehicle automatic misalignment device. The computer program composed of various program modules enables the processor to execute the steps of the vehicle automatic misalignment method in various embodiments of the present application described in this specification.

[0088] For example, Figure 7 The computer device shown can execute the steps through the first deflection vector module in the vehicle automatic misalignment device: based on the wheel width of the vehicle rolling wheel, the turning radius of the vehicle and the overlap width of the rolling path, obtain the first deflection vector. And so on.

[0089] It should be understood that, although each step in the flow chart of each embodiment of the present application is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have strict order restrictions, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages does not have to be performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0090] In one embodiment, an automatic misalignment system is provided, the system comprising:

[0091] An on-board computer as described above, used to execute the automatic vehicle distance error method as described above; and

[0092] A vehicle is connected to the on-board computer by wire and / or wirelessly, and is used to execute control instructions of the on-board computer.

[0093] The vehicle controlled by the automatic misalignment method provided in this embodiment can realize automatic driving of the vehicle. Compared with the technical method of directly misaligning vehicles according to the minimum turning radius, it ensures the minimum misalignment area while significantly reducing the driving path and turning time of the crushed vehicle during the misalignment process.

[0094] Compared with the traditional turning method, this solution can significantly reduce the area of ​​the pressure leakage area when turning. Compared with manual driving, the combination of unmanned driving technology and this design solution can accurately control the driving trajectory, scientifically plan the route, and avoid excessive reliance on driver experience and waste caused by manual operation errors.

[0095] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0096] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0097] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for automatic vehicle distance adjustment, characterized in that: The method comprises: Obtaining a first deflection momentum based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle, and the overlap width of the rolling path; Obtaining a first deflected position of the vehicle based on the initial orientation of the vehicle, the initial position of the vehicle, and the first deflection momentum; Based on the starting position of the vehicle and the first deflection position, a turning position and a second deflection position of the vehicle are obtained; based on the starting orientation, the starting position, the wheel width and the overlap width, a re-navigation position is obtained; The first deflection position is located at the midpoint of a line segment connecting the starting position and the return position, and the second deflection position is located at the midpoint of a line segment connecting the return position and the re-travel position; The path of the vehicle is set to start from the starting position, successively pass through the first deflection position, the return position, the second deflection position and the re-navigation position to achieve the staggered distance; The path of the vehicle from the starting position to the first deflection position, the path from the first deflection position to the return position, the path from the return position to the second deflection position, and the path from the second deflection position to the re-navigation position are all arcs with the same arc angle and arc length; The vehicle path is composed of four arc paths connected end to end; The first deflection momentum obtained based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path is: in, is the first deflection vector, is the wheel width of the vehicle rolling wheel, is the turning radius of the vehicle, is the overlap width of the rolling path.

2. The vehicle automatic distance misalignment method according to claim 1, characterized in that: The distance from the return position to the starting position for: , in, is the wheel width of the vehicle rolling wheel, is the overlap width of the rolling path.

3. The vehicle automatic distance misalignment method according to claim 1, characterized in that: The vehicle's motion is set to: The vehicle moves from the starting position to the first deflection position with a fixed turning radius, and the turning direction is the same as the direction to be constructed; After reaching the first deflection position, the vehicle immediately changes the steering direction to the opposite direction of the construction direction, and moves to the return position with a fixed steering radius; After reaching the turning position, the vehicle immediately changes the steering direction to the same direction as the construction direction, and moves toward the second deflection position with a fixed steering radius; After reaching the second deflection position, the vehicle immediately changes the steering direction to the opposite direction of the direction to be constructed, and moves toward the re-navigation position with a fixed steering radius.

4. The vehicle automatic distance error method according to any one of claims 1 to 3, characterized in that: The turning radius of a vehicle is the vehicle's minimum turning radius.

5. The vehicle automatic distance misalignment method according to claim 1, characterized in that: The vehicle goes to the re-navigation position after reaching the turning position by directly reversing from the turning position, passing through the second deflection position, and then reversing to the re-navigation position.

6. A vehicle automatic distance-shifting device, characterized in that: The vehicle automatic distance-shifting device comprises: A first deflection momentum acquisition module, used to obtain a first deflection momentum based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path; A first deflection position acquisition module, configured to obtain a first deflection position of the vehicle based on a starting orientation of the vehicle, a starting position of the vehicle and the first deflection momentum; A module for acquiring a turning position, a second deflection position and a re-navigation position, for obtaining a turning position and a second deflection position of the vehicle based on the starting position and the first deflection position of the vehicle; and obtaining a re-navigation position based on the starting orientation, the starting position, the wheel width and the overlap width; the first deflection position is located at the midpoint of a line segment connected by the starting position and the turning position, and the second deflection position is located at the midpoint of a line segment connected by the turning position and the re-navigation position; The staggered distance realization module is configured such that the path of the vehicle is set to start from the starting position, successively pass through the first deflection position, the return position, the second deflection position and the re-navigation position to realize the staggered distance; The path of the vehicle from the starting position to the first deflection position, the path from the first deflection position to the return position, the path from the return position to the second deflection position, and the path from the second deflection position to the re-navigation position are all arcs with the same arc angle and arc length; The vehicle path is composed of four arc paths connected end to end; The first deflection momentum obtained based on the wheel width of the rolling wheel of the vehicle, the turning radius of the vehicle and the overlap width of the rolling path is: in, is the first deflection vector, is the wheel width of the vehicle rolling wheel, is the turning radius of the vehicle, is the overlap width of the rolling path.

7. A vehicle-mounted computer, characterized in that: The invention comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of a vehicle automatic distance misalignment method as claimed in any one of claims 1 to 5.

8. An automatic misalignment system, characterized in that: The system comprises: An on-board computer as claimed in claim 7, used to execute the automatic distance error method as claimed in any one of claims 1 to 5; and A vehicle is connected to the on-board computer by wire and / or wirelessly, and is used to execute control instructions of the on-board computer.

Images