CN102768795A - System and method for commanding and dispatching leading vehicle of guard vehicle platoon based on JTDDS algorithm - Google Patents
System and method for commanding and dispatching leading vehicle of guard vehicle platoon based on JTDDS algorithm Download PDFInfo
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Abstract
The invention provides a system for commanding and dispatching a guard duty based on a JTDDS algorithm. The system comprises a vehicular device and a commanding and dispatching processing unit, and the vehicular device comprises a vehicle position detection module and an image protection module, wherein the vehicle position detection module can be in communication with a commanding control center and is used for determining position information of a leading vehicle in real time and transmitting the position information to the commanding control center, and the image protection module is used for prompting commanding and dispatching instructions to a driver. The commanding and dispatching processing unit comprises a plan data storage module, a comparative judgment module, an instruction output module, a data correction module and a process data generation module, wherein the plan data storage module is used for storing path plan information of the guard duty, the comparative judgment module is used for judging whether the leading vehicle normally runs or not as planned, the instruction output module is used for outputting the commanding and dispatching instructions, the data correction module is used for associating the received position information of the leading vehicle with longitude and latitude information of roads on an electronic map, and the process data generation module is used for generating a process data list of the guard duty leading vehicle and recording precise moments of the guard duty leading vehicle panned to arrive at passing points according to the corresponding path plan information and arrival time of the guard duty.
Description
Technical field
The present invention relates to the traffic control system technical field, relate in particular to a kind of guard's fleet's command dispatching system and method.
Background technology
Along with fast development of society, each big city often runs into a plurality of guard fleet and never sets out with the guard station when undertaking large-scale international conference, large-scale activity, arrives same meeting-place simultaneously.How to guarantee the time that each guard fleet can be according to the rules, official hour is accurate to second ground and arrives a destination at interval, reduces the influence to normal traffic to greatest extent, is the target that the public security traffic commanding pursues.
Existing Chinese patent document CN 1581242 A disclose a kind of automatic command dispatching system of fleet and operation method of large-scale guard duty; Artificial on electronic chart with broken line mode guard's route track route that draws; System records the position coordinates of each broken line flex point in guard's prediction scheme database as guard's route transit point positional information; Carry out in the guard duty process in reality; On computers for each fleet sets up corresponding virtual fleet, and extrapolate each virtual location constantly of each virtual fleet according to prediction scheme; Utilize vehicle locating device that the advanced positions of actual fleet is monitored simultaneously; With physical location and virtual location comparison; When the physical location deviate of finding fleet exceeds the setting deviation threshold; Can conclude that this fleet excessive velocities occurred or crossed slow phenomenon, can realize the automatic command scheduling that fleet advances immediately from trend task executor transmission speed adjustment instruction.Adopt technique scheme,, also have following problem though can realize dispatching in time, exactly large-scale guard duty:
1, in the technique scheme; Need artificial on electronic chart with the broken line mode guard duty route that draws; To estimate average speed stores as prediction scheme information; Obtain vehicle by way of each point according to estimating average speed; Therefore prediction scheme information all is to estimate to obtain, and the prediction scheme information of coming according to estimation is carried out command scheduling and can not be guaranteed accuracy;
2, in technique scheme, when carrying out guard duty, the virtual location of storing in the process data table calculates according to circuit, departure time and the expectation speed of a motor vehicle artificially, can not meet fleet's actual motion demand fully;
3, when carrying out large-scale guard duty, need arrival destination that fleet is accurate to second and time interval between fleet and the fleet also will be accurate to second; According to technique scheme, fleet's current location and when estimating distance between virtual location and exceeding threshold value is commanded its adjustment speed of a motor vehicle; In actual driving process; Different rows vehicle speed according to road conditions is different, and the same distance travel time is not necessarily identical, and therefore above-mentioned command scheduling scheme can not guarantee that the accurate performance of command scheduling is accurate to second;
4, adopt technique scheme; Whether the Security Services who executes the task can not obtain in the guard fleet traveling process positional information that according to the rules time has arrived regulation timely in the process of executing the task; When especially in official hour, not arriving assigned position; Need to rely on the continuous notice that receives the commanding can learn just how oneself need adjust the speed of a motor vehicle, can not in time initiatively adjust the speed of a motor vehicle, reach the purpose that is accurate to second.
Summary of the invention
Whether technical matters to be solved by this invention is can not guarantee in the guard duty command dispatching system of the prior art that command scheduling can not be accurate to second can not in time obtain fleet intuitively with the Security Services who executes the task and advance according to plan, so provide a kind of be accurate to second can in time point out the guard duty command dispatching system of carrying out guard duty personal scheduling instruction based on the JTDDS algorithm.
For solving the problems of the technologies described above, the present invention provides following technical scheme: the leading car command dispatching system of a kind of guard fleet based on the JTDDS algorithm comprises:
Car-mounted device: be arranged on the leading car of guard fleet; Comprise the vehicle location detection module that can carry out communication with the command and control center; Said vehicle location detection module is confirmed preceding guide-car's latitude and longitude information and running time in real time, and preceding guide-car's latitude and longitude information and running time are transferred to the command and control center;
Command scheduling processing unit: be arranged at inside, command and control center, comprise
Prediction scheme data memory module: the prediction scheme information that is used to store the guard duty route; The leading car of said prediction scheme information record guard fleet carry out in the guard duty process by way of reference position information and running time, said running time information is accurate to second and is unit with the second;
Compare judge module: judge whether according to plan cruising of the leading car of guard fleet;
The instruction output module: according to the said relatively judged result of judge module, the instruction of output command scheduling;
Said command scheduling processing unit also comprises:
Process data generation module: to guide-car before the fleet that carries out guard duty; In conjunction with guard's route prediction scheme information and plan due in; Generate guard duty process data table, the leading car of record guard fleet is executed the task and is arrived in the process by way of the accurate benchmark of each reference position constantly in the said process data table;
Process data memory module: be used to store said guard duty process data table;
Data correction module: comprise the electronic chart that has latitude and longitude information; Receive preceding guide-car's latitude and longitude information that said vehicle location detection module detects; On electronic chart, confirm leading car position; Join with the spot correlation on the nearest road of the leading spacing of distance, leading car position is associated with road gets on;
Said car-mounted device also comprises image projection module, and said image projection module receives to be projected in after the command scheduling instruction of said instruction output module output and is prompted to the driver on the windshield.
Said vehicle location detection module is the GPS locating module.
Said car-mounted device comprises the sounding module.
A kind of guard fleet leading car command scheduling method based on the JTDDS algorithm may further comprise the steps:
(1) generate prediction scheme information:
A, employing arabic numeral " 1-N " (1-N is a natural number) are numbered for the guard duty route; The guide-car is respectively along the speed of guard duty route during with actual executing the task before utilizing in advance; In the process of moving, guide-car's latitude and longitude information and running time t before said vehicle location detection module detects in real time
s, and with guide-car's latitude and longitude information before said and running time t
s, transfer to the command scheduling center, said t
sWith s is unit;
After guide-car's latitude and longitude information, leading car position is associated with on the nearest with it road before b, said data correction module receive, adopts and the nearest road point latitude and longitude coordinates information (x of leading spacing
i, y
i) represent before guide-car's latitude and longitude coordinates information, and as preceding guide-car's reference position information (x
i, y
i) be stored in the prediction scheme information;
C, said prediction scheme data memory module comprise: reference position information (x with the prediction scheme information of the stored in form guard duty route of tables of data
i, y
i), preceding guide-car arrives the running time t of each reference position
s
(2) generate the process data table:
Guide-car's numbering before adopting arabic numeral " 1-M " (1-M is a natural number) for the fleet that carries out guard duty; Before carrying out guard duty; Route when the commanding carries out guard duty according to fleet calls corresponding prediction scheme information; Automatically on electronic chart, generate the guard duty route map, when many routes crossed, note joint positional information was (H
x, H
y);
Said process data generation module combines prediction scheme information according to the plan due in of fleet, the process data table when generating guard fleet leading car execution guard duty, the said process data table record preceding guide-car's of fleet traffic route, reference position information (x
i, y
i), joint positional information (H
x, H
y), preceding guide-car arrives t reference time of each reference position
i, said reference time t
iWith reference position information (x
i, y
i) have a well-determined corresponding relation t
i=f (x
i, y
i);
(3) storage process tables of data
Said process data generation module is sent to said process data memory module storage with the process data table that generates;
(4) assign out and send instructions:
The guide-car is ready before the fleet; Request is set out; Said process data memory module activates guide-car's guard duty process data table before the fleet; Said instruction output module is assigned " setting out " instruction back fleet and is set out, and guide-car's latitude and longitude information was sent to said data correction module and revises and obtain leading car position information (x before said vehicle location detection module detected in real time
j, y
j);
(5) real-time judge fleet process;
A, system's per second are all with the moment of the benchmark in current time T and plan t
iContrast one by one, if in current time and the plan arbitrary benchmark moment consistent, read the leading car position information (x of current time immediately
D, y
D);
B, said relatively judge module are with the leading car of current time position information (x
D, y
D) with the process data table in reference position information compare one by one, find and nearest reference position, the leading car of current time position, with (x
D, y
D) represent and the latitude and longitude coordinates of nearest reference position, leading car position that guide-car's current location should corresponding t reference time before confirming
D=f (x
D, y
D);
C, calculate t reference time that current time T and preceding guide-car's current location should be corresponding
D=f (x
D, y
D) error amount C
W=| T-t
D|, gained result and deviation alarm threshold value C compare:
Work as C
WDuring≤C, the guide-car " normally advances " before explaining;
Work as C
W>=C and " T-t
D" be on the occasion of the time, guide-car's " lag behind, need give it the gun " before explaining;
Work as C
W>=C and " T-t
D" when being negative value, guide-car before explaining " leading, as to need Reduced Speed Now ";
(7) generate the command scheduling instruction:
Based on the said relatively judged result of judge module, said instruction output module is exported corresponding command scheduling instruction, and said image projection module receives said command scheduling instruction and is projected in the prompting driver makes next step action.
Vehicle location detection module described in step (1) and the said step (6) adopt can with the GPS locating module of command and control center communication, guide-car's latitude and longitude coordinates information before said GPS locating module is confirmed once p.s..
In the said step (7), said image projection module is projected in the command scheduling instruction and is prompted to the driver on the windshield,
When preceding guide-car's normal row was advanced, said image projection module projection " was normally advanced, is kept the speed of a motor vehicle ";
Preceding guide-car lags behind when going, said image projection module projection " fleet lags behind, and please give it the gun ";
When preceding guide-car goes in advance, said image projection module projection " fleet is leading, asks Reduced Speed Now ".
Car-mounted device also comprises a sounding module described in the said step (7), and said sounding module is play said command scheduling instruction.
There is following beneficial effect in the present invention:
1, among the present invention the gait of march of guard fleet do not adopted the mode of estimation; But utilize the preceding guide-car who is provided with the vehicle location detecting unit; Before carrying out guard duty according to the actual guard duty route running that will walk a time; The mode of real time record in the process of moving, the positional information that the vehicle location detecting unit is confirmed are in real time carried out in the guard duty process in reality as the reference position; The timely adjustment speed of a motor vehicle just when the current physical location of vehicle corresponding reference time is excessive with the difference of current time, thus can be accurate to second in the assurance fleet driving process.
2, vehicle all is to carry out corrected through electronic chart by way of information among the present invention; Therefore as long as the starting point and the destination of input travel route; Just can demonstrate many guard's routes on the electronic chart automatically and supply the command scheduling personnel selection, need not the manual work traffic route of drawing.
3, among the present invention, according to the moment of prediction scheme information and fleet arrival destination, the process data table that obtains; The moment value that fleet is arrived each reference position all is accurate to showing of second; And in the whole process of executing the task, all be with the foundation of time as command scheduling, in case fleet surpasses alarm threshold value at the time leading or that lag behind; System just can send the command scheduling instruction, guarantees that fleet can be accurate to the arrival destination of second.
4, adopt image projection module among the present invention, in the process of executing the task, the command scheduling instruction is projected on the windshield, whether real-time prompting task executor current vehicle normally advances; Can also adopt the sounding module to be aided with auditory tone cues, make the driver can independently obtain the command scheduling instruction at any time, next step action is made in instruction according to command scheduling.
Description of drawings
Fig. 1 is a system construction drawing of the present invention;
Fig. 2 is a process flow diagram of the present invention.
Embodiment
, specific embodiments of the invention at first provides the expression formula of JTDDS algorithm before setting forth:
Wherein, T representes current time, and system p.s. is with t reference time in current time T and the said process data table
iContrast one by one, when current time T is identical with the reference time in the said process data table, read leading car position information immediately;
The longitude coordinate and the latitude coordinate of reference position in the longitude coordinate of leading car position information and latitude coordinate and the said process data table are compared one by one, found the longitude and the latitude of the nearest reference position coordinate in the leading car of distance position, by x
DAnd y
DExpression, and (x
D, y
D) represented that preceding guide-car is in the position of current time in the process data table;
Because reference time and reference position in the said process data table have well-determined corresponding relation t
i=f (x
i, y
i), so t
D=f (x
D, y
D) guide-car's current location should be corresponding before the expression reference time;
Hence one can see that, C
WThe express time error amount, C
W=| T-t
D| represented t reference time that current time T and preceding guide-car's current location should be corresponding
DDifference;
C is the deviation alarm threshold value;
Work as C
WDuring>=C, the guide-car does not go according to schedule before explaining, system just can send the command scheduling instruction;
Below in conjunction with accompanying drawing and embodiment the present invention is discussed in more detail.
Embodiment 1
The leading car command dispatching system of the said guard fleet based on the JTDDS algorithm of present embodiment comprises:
Car-mounted device: be arranged on the leading car of guard fleet; Comprise the vehicle location detection module that can carry out communication with the command and control center; Said vehicle location detection module is confirmed preceding guide-car's latitude and longitude information and running time in real time, and preceding guide-car's latitude and longitude information and running time are transferred to the command and control center;
In the present embodiment, said vehicle location detection module is the GPS locating module, said GPS locating module definite once preceding guide-car's latitude and longitude coordinates information p.s.;
Command scheduling processing unit: be arranged at inside, command and control center, comprise
Prediction scheme data memory module: the prediction scheme information that is used to store the guard duty route; The leading car of said prediction scheme information record guard fleet carry out in the guard duty process by way of reference position information and running time, said running time information is accurate to second and is unit with the second;
Compare judge module: judge whether according to plan cruising of the leading car of guard fleet;
The instruction output module: according to the said relatively judged result of judge module, the instruction of output command scheduling;
Said command scheduling processing unit also comprises:
Process data generation module: to guide-car before the fleet that carries out guard duty; In conjunction with guard's route prediction scheme information and plan due in; Generate guard duty process data table, the leading car of record guard fleet is executed the task and is arrived in the process by way of the accurate benchmark of each reference position constantly in the said process data table;
Process data memory module: be used to store said guard duty process data table;
Data correction module: comprise the electronic chart that has latitude and longitude information; Receive preceding guide-car's latitude and longitude information that said vehicle location detection module detects; On electronic chart, confirm leading car position; Join with the spot correlation on the nearest road of the leading spacing of distance, leading car position is associated with road gets on;
Said car-mounted device also comprises image projection module, and said image projection module receives to be projected in after the command scheduling instruction of said instruction output module output and is prompted to the driver on the windshield.
A kind of guard fleet leading car command scheduling method based on the JTDDS algorithm may further comprise the steps:
(1) generate prediction scheme information:
A, employing arabic numeral " 1-N " (1-N is a natural number) are numbered for the guard duty route; The guide-car is respectively along the speed of guard duty route during with actual executing the task before utilizing in advance; In the process of moving, guide-car's latitude and longitude information and running time t before said vehicle location detection module detects in real time
s, and with guide-car's latitude and longitude information before said and running time t
s, transfer to the command scheduling center, said t
sWith s is unit;
In the present embodiment, said vehicle location detection module adopt can with the GPS locating module of command and control center communication, guide-car's latitude and longitude coordinates information before said GPS locating module is confirmed once p.s.;
After guide-car's latitude and longitude information, leading car position is associated with on the nearest with it road before b, said data correction module receive, adopts and the nearest road point latitude and longitude coordinates information (x of leading spacing
i, y
i) represent before guide-car's latitude and longitude coordinates information, and as preceding guide-car's reference position information (x
i, y
i) be stored in the prediction scheme information;
C, said prediction scheme data memory module comprise: reference position information (x with the prediction scheme information of the stored in form guard duty route of tables of data
i, y
i), preceding guide-car arrives the running time t of each reference position
s
Be depicted as the prediction scheme information that arrives the Great Hall of the People from the prediction scheme information of the Friendship Hotel arrival Great Hall of the People with from hotel, Jingxi district like table 1 and table 2.
Table 1 Friendship Hotel is to Great Hall of the People guard route prediction scheme information
Starting point: Friendship Hotel terminal point: the Great Hall of the People
Hotel, table 2 Jingxi district is to Great Hall of the People guard route prediction scheme information
Departure place: hotel, Jingxi district purpose: the Great Hall of the People
Prediction scheme information shown in table 1 and table 2; The latitude and longitude coordinates information of said reference position all is through the corrected information of electronic chart; Makeover process is following: the GPS locating module on the preceding guide-car sends to said data correction module with preceding guide-car's latitude and longitude coordinates; Guide-car's latitude and longitude coordinates position before said data correction mould shows on electronic chart; Find the vehicle current location and which bar road is the most approaching, to doing vertical line near road, the intersection point of vertical line and road is revised reference position with vehicle current location point.
(2) generate the process data table:
Guide-car's numbering before adopting arabic numeral " 1-M " (1-M is a natural number) for the fleet that carries out guard duty; Before carrying out guard duty; Route when the commanding carries out guard duty according to fleet calls corresponding prediction scheme information; Automatically on electronic chart, generate the guard duty route map, when many routes crossed, note joint positional information was (H
x, H
y);
Reference position information in table 1 and the table 2 after generating automatically on the electronic chart, can be observed two guard's routes intuitively and located to cross at " Fuxingmennei Dajie recovery bridge ", and traffic route afterwards is overlapping.
Said process data generation module combines prediction scheme information according to the plan due in of fleet, the process data table when generating guard fleet leading car execution guard duty, the said process data table record preceding guide-car's of fleet traffic route, reference position information (x
i, y
i), joint positional information (H
x, H
y), preceding guide-car arrives t reference time of each reference position
i, said reference time t
iWith reference position information (x
i, y
i) have a well-determined corresponding relation t
i=f (x
i, y
i);
M for example
1Route when number guard fleet executes the task is for from the Friendship Hotel to the Great Hall of the People, and the plan due in is 14:30:00, m
2The route that number guard fleet carries out guard duty be from hotel, Jingxi district to the Great Hall of the People, the plan due in is 14:30:30;
m
1(m
1Be natural number and 1≤m
1≤M) the prediction scheme information in number guard fleet option table 1 can be obtained m by table 1
1To need the time be 3053s to the whole process of guide-car from the Friendship Hotel to the Great Hall of the People before number, and plan time of arrival is 14:30:00, then can infer m
1Before number the guide-car to arrive the moment of joint " Fuxingmennei Dajie recovery bridge " be 14:10:00, set out to be constantly can obtain m by 13:39:07
1Number guard fleet process data table is as shown in table 3.
m
2(m
2Be natural number and 1≤m
2≤M) the prediction scheme information in number guard fleet option table 2 can obtain m by table 2
2Preceding guide-car needs 2730s from hotel, Jingxi district to Great Hall of the People whole process, and the plan due in is 14:30:30, then can obtain m
2Before number the guide-car to arrive the moment of joint " Fuxingmennei Dajie recovery bridge " be 14:10:30, set out to be constantly can obtain m by 13:45:00
2Number guard fleet process data table is as shown in table 4.
Table 3 m
1The process data table of number fleet
Starting point: Friendship Hotel terminal point: the Great Hall of the People
Table 4 m
2Number fleet process table
Departure place: hotel, Jingxi district purpose: the Great Hall of the People
And the like, can obtain the process data table of all guard fleets.
(3) storage process tables of data
Said process data generation module is sent to said process data memory module storage with the process data table that generates;
(4) assign out and send instructions:
The guide-car is ready before the fleet; Request is set out; Said process data memory module activates guide-car's guard duty process data table before the fleet; Said instruction output module is assigned " setting out " instruction back fleet and is set out, and guide-car's latitude and longitude information was sent to said data correction module and revises and obtain leading car position information (x before said GPS locating module detected once p.s.
j, y
j);
(5) real-time judge fleet process;
A, system's per second are all with the moment of the benchmark in current time T and plan t
iContrast one by one, if in current time and the plan arbitrary benchmark moment consistent, read the leading car position information (x of current time immediately
D, y
D);
B, said relatively judge module are with the leading car of current time position information (x
D, y
D) with the process data table in reference position information compare one by one, find and nearest reference position, the leading car of current time position, with (x
D, y
D) represent and the latitude and longitude coordinates of nearest reference position, leading car position that guide-car's current location should corresponding t reference time before confirming
D=f (x
D, y
D);
C, calculate t reference time that current time T and preceding guide-car's current location should be corresponding
D=f (x
D, y
D) error amount C
W=| T-t
D|, gained result and deviation alarm threshold value C compare:
Work as C
WDuring≤C, the guide-car " normally advances " before explaining;
Work as C
W>=C and " T-t
D" be on the occasion of the time, guide-car's " lag behind, need give it the gun " before explaining;
Work as C
W>=C and " T-t
D" when being negative value, guide-car before explaining " leading, as to need Reduced Speed Now ";
Can select said deviation alarm threshold value C is 1s, is example with table 3, and for example current time T is 13:39:12, and preceding guide-car's current location information is (X
2, Y
2), said here before guide-car's current location information for through after the correction of data correction module;
Benchmark in current time and the plan is contrasted constantly one by one, detect with plan in benchmark constantly 13:39:12 is consistent, read preceding guide-car's current location information (X immediately
2, Y
2),
With preceding guide-car's current location information (X
2, Y
2) with said process data table in reference position information compare one by one, find with the nearest reference position information of current vehicle location be that longitude is X
2, latitude value is Y
2, then corresponding t reference time
2=f (x
2, y
2) be 13:39:08;
Said relatively judge module calculates time error C
W=| T-t
2| be 4 seconds, greater than C, and T-t
2For just, so fleet lagged behind 4 seconds;
(7) generate the command scheduling instruction:
Based on the said relatively judged result of judge module, said instruction output module is exported corresponding command scheduling instruction, and said image projection module receives said command scheduling instruction and is projected in the prompting driver makes next step action.
Said image projection module is projected in the command scheduling instruction and is prompted to the driver on the windshield,
When preceding guide-car's normal row was advanced, " normally advance, keep the speed of a motor vehicle " shown in said image projection module projection;
Preceding guide-car lags behind when going, said image projection module projection " fleet lags behind, and please give it the gun ";
When preceding guide-car goes in advance, said image projection module projection " fleet is leading, asks Reduced Speed Now ".
As disposable embodiment, shown in image projection module can point out the deviate between fleet and the plan constantly, for example fleet lagged behind 4 seconds, then image projection module can Projection Display: " the hysteresis 4s of fleet please give it the gun.
Embodiment 2
Present embodiment is on the basis of embodiment 1, and said car-mounted device also comprises a sounding module, and said sounding module is play the command scheduling instruction of said image projection module projection.
Though the present invention has carried out detailed elaboration through embodiment to it; But; Any form that does not exceed the claim protection domain that those skilled in the art should be understood that on this basis to be made and the variation of details all belong to invention which is intended to be protected.
Claims (7)
1. leading car command dispatching system of the guard fleet based on the JTDDS algorithm comprises:
Car-mounted device: be arranged on the leading car of guard fleet; Comprise the vehicle location detection module that can carry out communication with the command and control center; Said vehicle location detection module is confirmed preceding guide-car's latitude and longitude information and running time in real time, and preceding guide-car's latitude and longitude information and running time are transferred to the command and control center;
Command scheduling processing unit: be arranged at inside, command and control center, comprise
Prediction scheme data memory module: the prediction scheme information that is used to store the guard duty route; The leading car of said prediction scheme information record guard fleet carry out in the guard duty process by way of reference position information and running time, said running time information is accurate to second and is unit with the second;
Compare judge module: judge whether according to plan cruising of the leading car of guard fleet;
The instruction output module: according to the said relatively judged result of judge module, the instruction of output command scheduling;
It is characterized in that:
Said command scheduling processing unit also comprises:
Process data generation module: to guide-car before the fleet that carries out guard duty; In conjunction with guard's route prediction scheme information and plan due in; Generate guard duty process data table, the leading car of record guard fleet is executed the task and is arrived in the process by way of the accurate benchmark of each reference position constantly in the said process data table;
Process data memory module: be used to store said guard duty process data table;
Data correction module: comprise the electronic chart that has latitude and longitude information; Receive preceding guide-car's latitude and longitude information that said vehicle location detection module detects; On electronic chart, confirm leading car position; Join with the spot correlation on the nearest road of the leading spacing of distance, leading car position is associated with road gets on;
Said car-mounted device also comprises image projection module, and said image projection module receives to be projected in after the command scheduling instruction of said instruction output module output and is prompted to the driver on the windshield.
2. the leading car command dispatching system of the guard fleet based on the JTDDS algorithm according to claim 1 is characterized in that:
Said vehicle location detection module is the GPS locating module.
3. the leading car command dispatching system of the guard fleet based on the JTDDS algorithm according to claim 1 and 2 is characterized in that:
Said car-mounted device comprises the sounding module.
4. guard fleet leading car command scheduling method based on the JTDDS algorithm may further comprise the steps:
(1) generate prediction scheme information:
A, employing arabic numeral " 1-N " (1-N is a natural number) are numbered for the guard duty route; The guide-car is respectively along the speed of guard duty route during with actual executing the task before utilizing in advance; In the process of moving, guide-car's latitude and longitude information and running time t before said vehicle location detection module detects in real time
s, and with guide-car's latitude and longitude information before said and running time t
s, transfer to the command scheduling center, said t
sWith s is unit;
After guide-car's latitude and longitude information, leading car position is associated with on the nearest with it road before b, said data correction module receive, adopts and the nearest road point latitude and longitude coordinates information (x of leading spacing
i, y
i) represent before guide-car's latitude and longitude coordinates information, and as preceding guide-car's reference position information (x
i, y
i) be stored in the prediction scheme information;
C, said prediction scheme data memory module comprise: reference position information (x with the prediction scheme information of the stored in form guard duty route of tables of data
i, y
i), preceding guide-car arrives the running time t of each reference position
s
(2) generate the process data table:
Guide-car's numbering before adopting arabic numeral " 1-M " (1-M is a natural number) for the fleet that carries out guard duty; Before carrying out guard duty; Route when the commanding carries out guard duty according to fleet calls corresponding prediction scheme information; Automatically on electronic chart, generate the guard duty route map, when many routes crossed, note joint positional information was (H
x, H
y);
Said process data generation module combines prediction scheme information according to the plan due in of fleet, the process data table when generating guard fleet leading car execution guard duty, the said process data table record preceding guide-car's of fleet traffic route, reference position information (x
i, y
i), joint positional information (H
x, H
y), preceding guide-car arrives t reference time of each reference position
i, said reference time t
iWith reference position information (x
i, y
i) have a well-determined corresponding relation t
i=f (x
i, y
i);
(3) storage process tables of data
Said process data generation module is sent to said process data memory module storage with the process data table that generates;
(4) assign out and send instructions:
The guide-car is ready before the fleet; Request is set out; Said process data memory module activates guide-car's guard duty process data table before the fleet; Said instruction output module is assigned " setting out " instruction back fleet and is set out, and guide-car's latitude and longitude information was sent to said data correction module and revises and obtain leading car position information (x before said vehicle location detection module detected in real time
j, y
j);
(5) real-time judge fleet process;
A, system's per second are all with the moment of the benchmark in current time T and plan t
iContrast one by one, if in current time and the plan arbitrary benchmark moment consistent, read the leading car position information (x of current time immediately
D, y
D);
B, said relatively judge module are with the leading car of current time position information (x
D, y
D) with the process data table in reference position information compare one by one, find and nearest reference position, the leading car of current time position, with (x
D, y
D) represent and the latitude and longitude coordinates of nearest reference position, leading car position that guide-car's current location should corresponding t reference time before confirming
D=f (x
D, y
D);
C, calculate t reference time that current time T and preceding guide-car's current location should be corresponding
D=f (x
D, y
D) error amount C
W=| T-t
D|, gained result and deviation alarm threshold value C compare:
Work as C
WDuring≤C, the guide-car " normally advances " before explaining;
Work as C
W>=C and " T-t
D" be on the occasion of the time, guide-car's " lag behind, need give it the gun " before explaining;
Work as C
W>=C and " T-t
D" when being negative value, guide-car before explaining " leading, as to need Reduced Speed Now ";
(7) generate the command scheduling instruction:
Based on the said relatively judged result of judge module, said instruction output module is exported corresponding command scheduling instruction, and said image projection module receives said command scheduling instruction and is projected in the prompting driver makes next step action.
5. the guard fleet leading car command scheduling method based on the JTDDS algorithm according to claim 4 is characterized in that:
Vehicle location detection module described in step (1) and the said step (6) adopt can with the GPS locating module of command and control center communication, guide-car's latitude and longitude coordinates information before said GPS locating module is confirmed once p.s..
6. according to claim 4 or 5 described guard fleet leading car command scheduling methods, it is characterized in that based on the JTDDS algorithm:
In the said step (7), said image projection module is projected in the command scheduling instruction and is prompted to the driver on the windshield,
When preceding guide-car's normal row was advanced, said image projection module projection " was normally advanced, is kept the speed of a motor vehicle ";
Preceding guide-car lags behind when going, said image projection module projection " fleet lags behind, and please give it the gun ";
When preceding guide-car goes in advance, said image projection module projection " fleet is leading, asks Reduced Speed Now ".
7. according to the arbitrary described guard fleet leading car command scheduling method of claim 4-6, it is characterized in that based on the JTDDS algorithm:
Car-mounted device also comprises a sounding module described in the said step (7), and said sounding module is play said command scheduling instruction.
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