A competitive racing car and its intelligent control method, system and computer-readable storage medium

Abstract

A competitive racing car and its intelligent control method, system, and computer-readable storage medium provided by the present invention improve the intelligent control method of the competitive racing car, partition the competition map, detect the current position of the competitive racing car, control the working state of the sensors of the competitive racing car when it is in different partitions, adjust its pulse repetition frequency, thereby controlling the frequency of data acquisition, and intelligently control the swinging state of the robotic arm, so that the competitive racing car can swing the robotic arm more intelligently to prepare for its striking action; on the one hand, this can avoid the sensors from collecting data overloaded for a long time, reduce the data acquisition frequency, reduce the pressure on the processor to process data, and avoid system lag caused by the processor overloading to process the collected data; on the other hand, the processor configuration of the competitive racing car can be appropriately reduced, reducing the manufacturing cost; in addition, intelligent sensor control can balance the striking ability and endurance of the competitive racing car.

Description

Technical Field

[0001] The present invention relates to the field of competitive racing cars, and particularly to a competitive racing car, an intelligent control method, a system and a computer-readable storage medium thereof. Background Art

[0002] A competitive racing car refers to a racing car with a robotic arm / swing arm, also known as a robotic racing car or a fighting robot. Competitive racing cars usually appear in relatively enclosed arenas, can receive control instructions from users, and complete actions such as moving, waving the robotic arm / swing arm, etc. to participate in competitive races. This field has made remarkable developments in recent years. Not only has the technology become increasingly mature, but it also shows broad prospects in aspects such as market application, competitive activities, and scientific research exploration. With the rapid development of technologies such as artificial intelligence, machine vision, and motion control, the intelligent level of competitive racing cars has been continuously improved. They can complete complex action combinations, precise strikes, and efficient defenses, demonstrating amazing competitive capabilities.

[0003] The existing intelligent control technologies for competitive racing cars mainly focus on maintaining the balance of competitive racing cars and how to improve the striking ability of competitive racing cars, etc. Although the swing arm of a competitive racing car is used to implement striking operations and there is no need to intervene too much in the control motor of its swing arm. Generally, the greater the power of this motor and the faster the rotation speed, the stronger the striking ability of this competitive racing car. However, an excessive motor load may cause damage to the power supply, chip or device; and due to the limited power supply carried by the competitive racing car, if it runs at a high load continuously, the sensor and the processor continuously process the collected data. Although its striking ability is improved, its endurance ability decreases. Even during the competition, due to the overload of the processor, the system may freeze or crash, resulting in the loss of competitive ability.

[0004] In addition, due to the competitive nature of competitive racing cars, their lifespan is reduced. If higher hardware facilities are used, when an accident occurs during the competition, the hardware will be damaged and cannot be reused.

[0005] Therefore, there is an urgent need for an intelligent control method applied to competitive racing cars to improve the intelligence level of competitive racing cars, reduce the manufacturing cost of competitive racing cars, and balance the striking ability and endurance ability of competitive racing cars. Summary of the Invention

[0006] The present invention proposes a competitive racing car, an intelligent control method, a system and a computer-readable storage medium thereof to solve the problems of low intelligence level, imbalance between striking ability and endurance ability of existing competitive racing cars.

[0007] To achieve the above object, the present invention provides an intelligent control method applied to a competitive racing car, and the method includes the following steps:

[0008] S101 Obtain the competition map;

[0009] S102 Perform zoning processing on the competition map;

[0010] S103 Obtain the current position of the competition racing car, and adjust the control program of the competition racing car according to the current position;

[0011] S104 Receive a strike instruction and control the robotic arm to perform a strike action.

[0012] Specifically, the S101 to obtain the competition map includes:

[0013] Obtain the pre-imported competition map, or perform on-site collection through a laser sensor or a vision acquisition system to obtain the competition map.

[0014] Specifically, the S102 to perform zoning processing on the competition map includes:

[0015] Obtain the central position O of the competition map, and set it as the first zone with the central position O as the center and R0 as the radius;

[0016] Set the area with a width of W from the edge of the competition map as the third zone;

[0017] Set the remaining area of the competition map as the second zone.

[0018] Specifically, the S103 to obtain the current position of the competition racing car and adjust the control program of the competition racing car according to the current position includes:

[0019] If the current position of the competition racing car is in the first zone, start the first control program;

[0020] If the current position of the competition racing car is in the second zone, start the second control program;

[0021] If the current position of the competition racing car is in the third zone, start the third control program;

[0022] Among them,

[0023] The first control program is: Detect the current position and speed of the target racing car; Set the ultrasonic sensor or radar sensor to the first working state, and the first working state includes setting the pulse repetition frequency of the ultrasonic sensor or the radar sensor to the first frequency F1; When the relative position between the competition racing car and the target racing car is less than the first threshold, start the robotic arm swing program and set the robotic arm to the swing state;

[0024] The second control program is as follows: Detect the current position and speed of the target racing car; Set the ultrasonic sensor or the radar sensor to the second working state, and the second working state includes setting the pulse repetition frequency to the second frequency; When the relative position is less than the second threshold, start the robotic arm swinging program and set the robotic arm to the swinging state; The second threshold is less than the first threshold.

[0025] The third control program is as follows: Do not detect the current position and speed of the target racing car, and set the ultrasonic sensor or the radar sensor to the sleep state.

[0026] Specifically, the first frequency is calculated by the following formula:

[0027] ;

[0028] is the initial pulse repetition frequency, α and β are adjustment coefficients, v is the current speed of the competitive racing car, is the reference speed of the competitive racing car, and Δv is the relative speed between the competitive racing car and the target racing car.

[0029] Specifically, S104 receives the striking instruction and controls the robotic arm to execute the striking action, including:

[0030] Obtain the current attitude of the competitive racing car, adjust the attitude of the competitive racing car to face the target racing car, and execute the striking action.

[0031] Furthermore, the method further includes:

[0032] S105 monitors the robotic arm of the target racing car and adjusts the position of the competitive racing car according to the state of the robotic arm of the target racing car.

[0033] On the other hand, the present invention also provides a competitive racing car, which includes:

[0034] A sensor module for collecting the position and speed information of the competitive racing car and the target racing car;

[0035] A communication module for sending and receiving the collected data and control instructions;

[0036] A processor for executing the intelligent control method as described above.

[0037] On the other hand, the present invention also provides an intelligent control system applied to a competitive racing car. The system includes a server, and the server executes the intelligent control method as described above.

[0038] On the other hand, the present invention also provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program is used to execute the intelligent control method as described above.

[0039] Compared with the problems existing in the prior art, an arena racing car, an intelligent control method, a system and a computer-readable storage medium thereof provided by the present invention improve the intelligent control method of the arena racing car, partition the arena map, detect the current position of the arena racing car, control the working state of the sensors of the arena racing car when it is in different partitions, adjust its pulse repetition frequency, thereby controlling the frequency of data collection, and intelligently control the swinging state of the robotic arm, so that the arena racing car can swing the robotic arm more intelligently to prepare for its striking action; in this way, on the one hand, it can avoid the sensors from collecting data in an overloaded state for a long time, reduce the data collection frequency, reduce the pressure on the processor to process data, and avoid system lag caused by the processor overloading to process the collected data; on the other hand, the processor configuration of the arena racing car can be appropriately reduced, reducing the manufacturing cost. In addition, intelligent sensor control can balance the striking ability and endurance of the arena racing car. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art.

[0041] Figure 1 It is a flowchart of an intelligent control method applied to an arena racing car;

[0042] Figure 2 It is a schematic diagram of the structural module of an arena racing car. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In order to describe the present invention in more detail, the following will specifically describe an arena racing car, an intelligent control method, a system and a computer-readable storage medium thereof provided by the present invention with reference to the drawings.

[0044] Competitive racing cars, referring to racing cars with robotic arms / swing arms, are also known as robotic racing cars and fighting robots. Competitive racing cars usually appear in relatively enclosed arenas, can receive control instructions from users, and complete actions such as moving, waving robotic arms / swing arms, etc. Competitive racing cars generally include a racing car body with wheels, as well as various sensors and robotic arms installed on the body. By controlling the forward and reverse rotation of the corresponding motors, the competitive racing car can be controlled to complete operations such as moving forward, backward, turning, and controlling the robotic arm to perform swinging, hitting, etc.

[0045] As Figure 1 shown, the present invention provides an intelligent control method applied to a competitive racing car, and the method includes the following steps:

[0046] S101 Obtain a competition map;

[0047] S102 Perform zoning processing on the competition map;

[0048] S103 Obtain the current position of the competitive racing car, and adjust the control program of the competitive racing car according to the current position;

[0049] S104 Receive a strike instruction and control the robotic arm to perform a strike action.

[0050] It can be understood that traditional competitive racing cars do not include an intelligent control system and only achieve their movement through the control of users. However, with the improvement of people's requirements, traditional competitive racing cars are no longer able to meet the requirements, and people have begun to add processors and various sensors to competitive racing cars to improve their competitive ability.

[0051] In this embodiment, by detecting the position of the competitive racing car and intelligently adjusting its control program according to its position, the degree of intelligence is improved while taking into account its battery life.

[0052] Specifically, the step S101 of obtaining a competition map includes:

[0053] Obtain a pre-imported competition map, or perform on-site collection through a laser sensor or a visual acquisition system to obtain a competition map.

[0054] It is understandable that when competing in a competition, the competitive cars are usually in a relatively closed area. The user controls the mechanical arm of his competitive car to perform operations such as backlogging and hitting other users' competitive cars, so that the other party's competitive car is damaged or unable to continue to move, in order to win the game. Usually, there are two competitive cars participating in the competition, but of course it is not limited to this. There are also competitions with multiple competitive cars fighting. In the competition, because the speed of the competitive cars is relatively fast, in order for the competitive cars to maximize their mobility, they usually fight in the middle area of ​​the competition area.

[0055] In this embodiment, by importing the competition map into the competition car in advance, it is possible to analyze the competition map in advance and divide the competition map into regions. When the competition car is in different regions, different control procedures are adopted.

[0056] In another embodiment, a laser sensor or a visual acquisition system may also be provided for the competitive car, so that after the competitive car arrives at the competition venue, the competition map can be scanned dynamically and in real time to improve the control accuracy.

[0057] Furthermore, the step S102 performs partition processing on the competition map, including:

[0058] Obtain the center position O of the competition map, take the center position O as the center of a circle, and set R0 as the radius to set the first partition;

[0059] An area with a width W from the edge of the competition map is set as a third partition;

[0060] The remaining area of ​​the competitive map is set as a second partition.

[0061] It is understandable that the competitive map is usually rectangular or circular, and the method disclosed in this embodiment partitions it to achieve intelligent control of competitive racing. Specifically, the center position O of the competitive map is obtained. When the competitive map is circular or elliptical, the center position O can be the center of the circular or elliptical map; when the competitive map is rectangular, the center position O can be the intersection of the diagonals of the rectangular map; when the competitive map is other regular or irregular graphics, the center position O can be determined according to the characteristics of the graphics, such as extracting the maximum length of the map in the horizontal and vertical directions, making it equivalent to a circle or rectangle, and taking the center of the circular or rectangular area as the center position O.

[0062] As described above, since the speed of the racing car is relatively fast during the competition, in order for the racing car to maximize its mobility, the battle usually takes place in the central area of the competition area. Therefore, in this embodiment, a virtual circle is drawn with the above-mentioned central position O as the center and R0 as the radius, and it is used as the first partition. Among them, the radius R0 can be set as needed and will not be specifically limited here; for example: the radius R0 can be set to 5-8 times the maximum length or maximum width of the racing car, preferably, 6 times the maximum length of the racing car; or the radius R0 is set to 0.3-0.6 times the maximum length or maximum width of the map area.

[0063] During the competition, since enclosures are usually set at the edges of the competition map to prevent the racing cars from flying out of the competition venue. Therefore, during the competition, when the user drives the racing car to the edge area of the competition map, the manipulator of the racing car is usually not operated. On the one hand, the mobility of the racing car in the edge area is poor and it cannot accurately hit other racing cars. On the other hand, operating the manipulator in the edge area may cause the manipulator to get stuck in the enclosure, causing unnecessary damage. Therefore, in this embodiment, an area with a width of W from the edge of the competition map is set as the third partition. Among them, the width W can be set as needed and will not be specifically limited here; for example: the width W can be 2 times the maximum length or maximum width of the racing car; or the width W can be set to 0.05-0.1 times the maximum length or maximum width of the competition map area. It can be understood that this third partition is the outermost area of the competition map, and its shape matches the outer contour line of the competition map; when the competition map is circular, its third partition is an annulus; when the competition map is rectangular, its third partition is a rectangular annulus.

[0064] Based on the above first partition and third partition, the remaining area of the competition map is set as the second partition. It can be understood that when the racing car is in the second partition, it is usually in a competition preparation state or a state of adjusting the racing car's attitude. The racing cars in this area need to be ready to enter the competition state at all times.

[0065] Further, the step S103 of obtaining the current position of the racing car and adjusting the control program of the racing car according to the current position includes:

[0066] If the current position of the racing car is located in the first partition, start the first control program;

[0067] If the current position of the racing car is located in the second partition, start the second control program;

[0068] If the current position of the racing car is located in the third partition, start the third control program;

[0069] Among them,

[0070] The first control program is as follows: Detect the current position and speed of the target racing car; Set the ultrasonic sensor or radar sensor to the first working state, and the first working state includes setting the pulse repetition frequency of the ultrasonic sensor or the radar sensor to the first frequency F1; When the relative position between the competitive racing car and the target racing car is less than the first threshold, start the manipulator swing program and set the manipulator to the swing state;

[0071] The second control program is as follows: Detect the current position and speed of the target racing car; Set the ultrasonic sensor or the radar sensor to the second working state, and the second working state includes setting the pulse repetition frequency to the second frequency; When the relative position is less than the second threshold, start the manipulator swing program and set the manipulator to the swing state; The second threshold is less than the first threshold;

[0072] The third control program is as follows: Set the ultrasonic sensor or the radar sensor to the sleep state and do not detect the target racing car.

[0073] It can be understood that in this embodiment, by intelligently controlling each sensor on the competitive racing car for different partitions, unnecessary data collection is avoided, which causes the processing load of the processor to be too high. As mentioned above, when the competitive racing car is in the first partition, since it is in a combat state, it is necessary to maintain the timeliness of the sensor data collection to improve its mobility and reduce the data processing delay caused by untimely sensor sampling, which may lead to the manipulator not being able to enter the swing state in time. When the user controls the manipulator of the competitive racing car to perform a striking action, usually the manipulator needs to enter the swing state first, and use the centrifugal force when the manipulator swings to increase its striking force. However, if the competitive racing car first executes the swinging manipulator and then the striking action when receiving the user's striking instruction, it may cause the striking action to be untimely and unable to hit the target racing car; and if the striking action is directly executed, its striking force is insufficient and it cannot cause damage to the target racing car.

[0074] Therefore, in this embodiment, by detecting the current position of the racing car, when it is in the first zone, the ultrasonic sensor or radar sensor on the racing car is set to the first working state to increase the pulse repetition frequency of the sensor. Further, since both the user's racing car and the opponent's target car are in a high-speed moving state, if only the speed of the user's racing car is used as the benchmark for intelligent control, there is a problem of low control accuracy. The main reason for the low accuracy is that the moving speed of the opponent's target car is fast, resulting in a relatively high relative speed between the two. Therefore, during this process, the current position and speed of the target car are detected simultaneously; based on the position and speed information of both sides, the pulse repetition frequency is dynamically adjusted to improve the timeliness of the sensor to obtain data; and when the relative position between the racing car and the target car is less than the first threshold, the robotic arm swing program is started, and the robotic arm is set to the swing state, so that the robotic arm enters the preparation state for performing the striking action, and can quickly perform the striking action and accurately strike the target car when receiving the striking instruction. For the detection of the positions and speeds of the racing car and the target car, as well as their relative speed, it can be achieved through technologies such as distance sensors, laser rangefinders, or 3D structured light, combined with data fusion algorithms or differential algorithms.

[0075] When the racing car is in the second zone, since it is in the racing preparation state or the state of adjusting the racing car's attitude, it does not require too high timeliness. If the sensor keeps collecting data at the pulse repetition frequency in the first zone, it will lead to an excessive amount of collected data, increasing the computing pressure on the processor, and in severe cases, it will cause the system to freeze or crash. Therefore, in this embodiment, when the racing car is in the second zone, the ultrasonic sensor or the radar sensor is set to the second working state; the pulse repetition frequency is set to the second frequency, and the second frequency can be the initial pulse repetition frequency of the ultrasonic sensor or the radar sensor; when the relative position is less than the second threshold, the robotic arm swing program is started, and the robotic arm is set to the swing state; the second threshold is less than the first threshold. It can be understood that for the racing car in the second zone, the pulse repetition frequency of its sensor is appropriately reduced; and when the relative position between the two is less than the second threshold, it means that the opponent's target car is relatively close to the user's racing vehicle, and the robotic arm needs to be set to the swing state to enter the striking preparation.

[0076] When the racing car is in the third zone, usually no striking operation is performed. Therefore, the pulse repetition frequency of the sensor can be reduced to the lowest level, or directly set to sleep, so that the sensor and the processor can "rest" maximally and maintain the best state of the racing car.

[0077] Further, in order to enable the sensor to collect data more timely when the competitive racing car is in the first zone, the pulse repetition frequency of the ultrasonic sensor or the radar sensor is set to a first frequency , the first frequency is calculated by the following formula:

[0078] ;

[0079] is the initial pulse repetition frequency, α and β are adjustment coefficients, v is the current speed of the competitive racing car, is the reference speed of the competitive racing car, and Δv is the relative speed between the competitive racing car and the target racing car.

[0080] It can be understood that the reference speed can be the average speed of the competitive racing car over a past period of time, or the average of the maximum speed and the minimum speed of the competitive racing car; the first frequency will be dynamically adjusted according to the speeds of the competitive racing car and the target racing car. When the speed of the competitive racing car is faster and the speed of the target racing car is faster, the first frequency is larger, the interval for the sensor to collect data is smaller, and the data collection is more timely.

[0081] To further improve the competitive ability of the competitive racing car, the S104 receives a strike instruction and controls the robotic arm to perform a strike action, which further includes: obtaining the current posture of the competitive racing car, adjusting the posture of the competitive racing car so that it faces the target racing car, and performing a strike action.

[0082] It can be understood that usually the robotic arm can only move back and forth in one direction; if the strike action of the robotic arm is to accurately hit the target, it is necessary to adjust the vehicle posture of the competitive racing car or the posture of the pan-tilt where the robotic arm is located. However, during the competition, due to the highly tense state of the user, it may cause the user to be unable to correctly adjust the correct orientation of the competitive racing car or the pan-tilt. In this embodiment, the specific orientation of the target racing car can be obtained by analyzing the data collected by the sensors on the competitive racing car, and the posture of the competitive racing car can be adjusted so that the competitive racing car faces the target racing car. In this way, when the user issues a strike instruction, the robotic arm can accurately hit the target racing car.

[0083] The postures in the above embodiments are only for the position and orientation of the racing car for competition, but are not limited thereto. When designing the racing car for competition, in order to improve its competitive ability, components similar to joints are set with reference to robots, so that the racing car for competition can adjust the posture of the whole vehicle, such as tilting forward and backward, etc., to improve its striking ability and evading ability. For this type of racing car for competition, by applying the method of this embodiment, the posture of the racing car for competition can be adjusted while performing the striking action. For example, when the robotic arm moves forward to perform the striking action, it cooperates with the racing car for competition to tilt forward, so as to maximize its striking force.

[0084] Further, the method further includes:

[0085] S105 Monitor the robotic arm of the target racing car, and adjust the position of the racing car for competition according to the state of the robotic arm of the target racing car.

[0086] It can be understood that various sensors and a visual acquisition system can be set in the racing car for competition, and it can analyze the state of the target racing car according to the collected data through image recognition technology. When it detects that the target racing car is performing a striking action, it adjusts the racing car for competition to perform an evading operation in time to avoid the robotic arm of the target racing car hitting the vital parts of the racing car for competition.

[0087] To achieve the object of the present invention, as Figure 2 shown, the present invention further provides a racing car for competition, and the racing car for competition includes:

[0088] A sensor module, configured to collect the position and speed information of the racing car for competition and the target racing car;

[0089] A communication module, configured to send and receive the collected data and control instructions;

[0090] A processor, configured to execute the intelligent control method as described above.

[0091] To achieve the object of the present invention, the present invention further provides an intelligent control system applied to a racing car for competition. The system includes a server, and the server executes the intelligent control method as described above.

[0092] To achieve the object of the present invention, the present invention further provides a computer-readable storage medium, storing a computer program for electronic data exchange, wherein the computer program is used to execute the intelligent control method as described above.

[0093] Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a floppy disk, hard disk, or optical disc of a computer, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0094] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent control method applied to competitive racing, characterized in that: The method comprises the following steps: S101 obtains the competitive map; S102 partitions the competition map; S103: obtaining the current position of the competitive car, and adjusting the control program of the competitive car according to the current position; S104 receives the striking instruction and controls the robot arm to perform the striking action; Wherein, the step S103 acquires the current position of the competitive car, and adjusts the control program of the competitive car according to the current position, including: If the current position of the competitive racing car is in the first partition, starting a first control program; If the current position of the competitive racing car is in the second partition, starting a second control program; If the current position of the competitive racing car is in the third zone, starting a third control program; in, The first control program is: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a first working state, wherein the first working state includes setting the pulse repetition frequency of the ultrasonic sensor or the radar sensor to a first frequency F1; when the relative position of the competitive racing car and the target racing car is less than a first threshold, starting the mechanical arm swinging program and setting the mechanical arm to a swinging state; The second control program is as follows: detecting the current position and speed of the target racing car; setting the ultrasonic sensor or the radar sensor to a second working state, wherein the second working state includes setting the pulse repetition frequency to a second frequency; when the relative position is less than a second threshold, starting the mechanical arm swing program and setting the mechanical arm to a swing state; the second threshold is less than the first threshold; The third control procedure is: setting the ultrasonic sensor or the radar sensor to a dormant state and not detecting the target racing car.

2. The intelligent control method according to claim 1, characterized in that: The step S101 of obtaining a competition map includes: Get pre-imported competitive maps, or collect them on-site with laser sensors or vision acquisition systems.

3. The intelligent control method according to claim 1, characterized in that: The step S102 performs partition processing on the competition map, including: Obtain the center position O of the competition map, take the center position O as the center of a circle, and set R0 as the radius to set the first partition; An area with a width W from the edge of the competition map is set as a third partition; The remaining area of ​​the competitive map is set as a second partition.

4. The intelligent control method according to claim 1, characterized in that: The first frequency Calculated using the following formula: ； is the initial pulse repetition frequency, α and β are adjustment coefficients, v is the current speed of the racing car, is the reference speed of the competitive car, and Δv is the relative speed between the competitive car and the target car.

5. The intelligent control method according to claim 1, characterized in that: The step S104 receives the striking instruction and controls the robot arm to perform the striking action, including: The current posture of the competitive car is obtained, the posture of the competitive car is adjusted to face the target car, and a striking action is performed.

6. The intelligent control method according to claim 1, characterized in that: The method further comprises: S105 monitors the mechanical arm of the target racing car, and adjusts the position of the competitive racing car according to the state of the mechanical arm of the target racing car.

7. A competitive racing car, characterized in that: The competitive racing car comprises: A sensor module, used to collect position and speed information of the competitive racing car and the target racing car; Communication module, used to send and receive collected data and control instructions; A processor, used to execute the intelligent control method according to any one of claims 1 to 6.

8. An intelligent control system applied to competitive racing cars, the system comprising a server, and the server executes the intelligent control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program is used to execute the intelligent control method according to any one of claims 1 to 6.

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