CN104574940A - Method and system capable of enabling leader car to run exactly by second according to time table - Google Patents
Method and system capable of enabling leader car to run exactly by second according to time table Download PDFInfo
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- CN104574940A CN104574940A CN201410389452.3A CN201410389452A CN104574940A CN 104574940 A CN104574940 A CN 104574940A CN 201410389452 A CN201410389452 A CN 201410389452A CN 104574940 A CN104574940 A CN 104574940A
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- car
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- time
- front guide
- latitude
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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Abstract
The invention provides a method and a system capable of enabling a leader car to run exactly by the second according to a time table. An execution time table is obtained according to a planned time table and the moment that the leader car is required to reach the destination; the values of the moments that the lead car reaches all reference positions are displayed exactly by the second; the time is taken as the basis for commanding and dispatching in the overall process of executing a task; when the position of the leader car is different from the reference position of the execution time table, namely the position of the leader car lags behind or exceeds the reference position, a driver can be reminded to run the leader car at the corresponding speed, so as to ensure that the position of the leader car is kept consistent with the reference position of the execution time table within the preset time; after the position of the leader car coincides with the reference position stated in the execution time table, the driver also can be reminded to run the leader car at the corresponding speed, so as to ensure that the coincided state of the position of the leader car and the reference position stated in the execution time table continues to be kept in the future. The scheme disclosed by the invention can ensure that the leader car runs exactly by the second according to the preset time table.
Description
Technical field
The present invention relates to public safety traffic management technical field, specifically a kind of energy realizes the method and system run according to timetable that front guide-car is accurate to second.
Background technology
Along with the fast development in city, the scale in city constantly expands, and the frequency of economic interaction is accelerated, the influence power in many cities grows with each passing day, domestic and international leader these cities of visiting become normality, and especially annual two Conferences held in capital and provincial capital, carrys out pressure to traffic guard work strip.Guarantee domestic and international leader during the visit safely, to arrive punctually at the destination and the representative of attending convention can arrive meeting-place fast, be one of public safety traffic management department vital task.When performing the guard duty of high standard, generally all passing through front guide-car and guiding by the fleet of guard, being directed to destination according to the route determined from origin.In order to reduce the impact that guard fleet normally goes on a journey on people, the time that fleet arrives every bit is on the way very important to allow Security Services on the way know accurately, before fleet arrives a certain crossing, all-clear can be provided in time like this, with reduce fleet by during crossing on the impact of normal traffic.The time arriving each crossing due to current guard fleet in operational process is uncertain, therefore, police generally closes in regulation on the time basis at a certain crossing, turn increase redundancy time, bring inconvenience to people's trip, on the basis of guaranteeing guard fleet safety, how to reduce the impact that guard fleet aligns normal traffic become vehicle supervision department's problem demanding prompt solution.
In order to address this problem, first inventor of the application has applied for a series of patent, existing patent documentation CN102521975A discloses a kind of system that front guide-car can be guided accurately to complete guard duty, the moment of destination is arrived according to prediction scheme information and fleet, the execution timetable obtained, moment value fleet being arrived each reference position is accurate to showing of second, and in the whole process of executing the task, using the time as the foundation of command scheduling, once fleet exceedes alarm threshold value at advanced or delayed time, system just can send command scheduling instruction, ensure that fleet can be accurate to the arrival destination of second.But also there is following technical matters in technique scheme:
1, current guide-car position is different from execution timetable reference position, namely during guide-car's lag or lead, can only point out driver's acceleration or deceleration, the value of driver's acceleration or deceleration can not be pointed out to be how many.
2, after the position of current guide-car overlaps with the reference position specified in execution timetable, driver can not be pointed out will to keep coincidence status future, be that maintenance present speed is constant, still want acceleration or deceleration, the value of its acceleration-deceleration is how many.
In above-mentioned two situations, driver can only drive according to the experience of oneself, still accurately can not ensure that front guide-car is accurate to each reference position of arrival of second.
Summary of the invention
Technical matters to be solved by this invention be to provide a kind of can realize before guide-car be accurate to second according to timetable operation method and system.
For solving the problems of the technologies described above, the present invention is achieved by the following technical solutions:
Before the invention provides a kind of can realization, guide-car is accurate to the method run according to timetable of second, comprises the steps:
S1: generate schedule plan, specifically comprise the steps:
S11: before utilizing in advance, guide-car is along guard duty route with speeds during actual executing the task, and in the process of moving, p.s. all records following running data: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
S12: generate schedule plan, record the departure place of guard duty route, destination in described schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
S2: generate and perform timetable, specifically comprise the steps:
S21: transfer the schedule plan obtained in described step S1;
S22: according to the moment requirement arriving destination, determine that front guide-car arrives the moment of each reference position successively, obtain after reference time in schedule plan is adjusted to corresponding reference instant successively performing timetable, the moment wherein corresponding to departure place is for setting out the moment;
S3: during what current time equaled to determine in described step S22 set out moment, front guide-car sets out and according to the speeds that sets out;
S4: guide-car's process before real-time judge, specifically comprises the steps:
S41: the front guide-car's latitude and longitude information (X reading current time T in real time
d, Y
d);
S42: by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
S43: compare the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Work as T=T
dtime, enter step S44;
As T ≠ T
dtime, enter step S45;
S44: before prompting, guide-car is according to T in execution timetable
dthe datum velocity corresponding to next reference instant travel, enter step S5 afterwards;
S45: before prompting, guide-car travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) as reference position benchmark mileage corresponding in execution timetable, enter step S5 afterwards;
S5: before judging, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, if not identical, returns step S41, otherwise terminate.
In described step S1, S4, latitude and longitude information, the running time of guide-car before adopting the GPS locating module be arranged on front guide-car to obtain; The distance travelled that before adopting the OBD module be arranged on front guide-car to obtain, guide-car is real-time and travel speed.
In described step S44, S45, the mode of the LCDs display word be arranged on front guide-car is adopted to point out front guide-car driver.
In described step S44, S45, the mode adopting the Audio Players be arranged on front guide-car to play voice is pointed out front guide-car driver.
Before the present invention also provides a kind of can realization, guide-car is accurate to the system run according to timetable of second, comprising:
Be arranged at the vehicle positioning module on front guide-car: for determining front guide-car's latitude and longitude information (X in real time
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation module, specifically comprises:
Running data acquiring unit, before utilizing in advance, guide-car is along guard duty route with speeds during actual executing the task, and in the process of moving, obtains the running data that described vehicle positioning module all records p.s.: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation unit, for generating schedule plan, the departure place of guard duty route, destination is recorded in described schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
Perform timetable generation module: transfer the schedule plan that described schedule plan generation module generates, according to the moment requirement arriving destination, determine that front guide-car arrives the moment of each reference position successively, obtain after reference time in schedule plan is adjusted to corresponding reference instant successively performing timetable, the moment wherein corresponding to departure place is for setting out the moment;
To set out command output module, set out described in current time equals the moment time, assign front guide-car and to set out and according to the instruction of the speeds that sets out;
Front guide-car's process judge module, for guide-car's process before real-time judge, specifically comprises:
Data capture unit, guide-car's latitude and longitude information (X before Real-time Obtaining current time T from described vehicle positioning module
d, Y
d);
First comparing unit, by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
Second comparing unit, compares the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Information Tip element, at T=T
dtime prompting before guide-car according to execution timetable in T
dthe datum velocity corresponding to next reference instant travel; At T ≠ T
dtime prompting before guide-car travel according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) performing benchmark mileage corresponding in timetable as reference position;
Judge module: before judging, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, terminates to dispatch when whether current guide-car's latitude and longitude information is identical with the latitude and longitude information of destination.
Described vehicle positioning module comprises the GPS locating module of latitude and longitude information for obtaining front guide-car, running time; With the OBD module of the real-time distance travelled and travel speed for obtaining front guide-car.
Described information Tip element, comprises the LCDs be arranged on front guide-car, points out front guide-car driver in the mode showing word.
Described information Tip element, comprises the Audio Players be arranged on front guide-car, points out front guide-car driver in the mode playing voice.
Technique scheme of the present invention has the following advantages compared to existing technology:
Before energy of the present invention realizes, guide-car is accurate to the method and system run according to timetable of second, the moment of destination is arrived according to guide-car before schedule plan and requirement, the execution timetable obtained, the moment value front guide-car being arrived each reference position is accurate to showing of second, and in the whole process of executing the task, are all the foundations using the time as command scheduling.Current guide-car position does not overlap with the reference position performed in timetable corresponding to current time, namely during guide-car's lag or lead, driver can be pointed out with which kind of speeds could to ensure within the predetermined time and perform timetable to be consistent.And the position of current guide-car with perform in timetable after the reference position specified overlaps, driver also can be pointed out will to continue maintenance coincidence status future, need with which kind of speeds.Front guide-car really realizes being accurate to travelling according to the timetable preset of second to adopt the such scheme in the present invention to ensure.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein:
Fig. 1 is accurate to the method flow diagram run according to timetable of second for realizing front guide-car described in one embodiment of the invention;
Fig. 2 is accurate to the method flow diagram run according to timetable of second for realizing front guide-car described in one embodiment of the invention;
Fig. 3 is for travelling schematic diagram data under the advanced travel situations of guide-car front described in one embodiment of the invention;
Fig. 4 is for travelling schematic diagram data under the delayed travel situations of guide-car front described in one embodiment of the invention;
Fig. 5 is accurate to the system chart run according to timetable of second for realizing front guide-car described in one embodiment of the invention.
Embodiment
embodiment 1
Before the present embodiment provides a kind of can realization, guide-car is accurate to the method run according to timetable of second, as depicted in figs. 1 and 2, comprises the steps:
S1: generate schedule plan, specifically comprise the steps:
S11: before utilizing in advance, guide-car is along guard duty route with speeds during actual executing the task, and in the process of moving, p.s. all records following running data: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i.
S12: generate schedule plan, record the departure place of guard duty route, destination in described schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out.
S2: generate and perform timetable, specifically comprise the steps:
S21: transfer the schedule plan obtained in described step S1.
S22: according to the moment requirement arriving destination, determine that front guide-car arrives the moment of each reference position successively, obtain after reference time in schedule plan is adjusted to corresponding reference instant successively performing timetable, the moment wherein corresponding to departure place is for setting out the moment.
S3: during what current time equaled to determine in described step S22 set out moment, front guide-car sets out and according to the speeds that sets out.
S4: guide-car's process before real-time judge, specifically comprises the steps:
S41: the front guide-car's latitude and longitude information (X reading current time T in real time
d, Y
d).
S42: by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d.
S43: compare the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Work as T=T
dtime, enter step S44.
As T ≠ T
dtime, enter step S45.
S44: before prompting, guide-car is according to T in execution timetable
dthe datum velocity corresponding to next reference instant travel, enter step S5 afterwards.
S45: before prompting, guide-car travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) as reference position benchmark mileage corresponding in execution timetable, enter step S5 afterwards.
S5: before judging, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, if not identical, returns step S41, otherwise terminate.
It is as shown in table 1 for front guide-car is from the schedule plan of the Friendship Hotel arrival Great Hall of the People.As previously mentioned, this schedule plan utilizes front guide-car in advance along guard duty route with speeds during actual executing the task, in the process of moving, and the data recorded p.s..
Table 1 schedule plan
Departure place: Friendship Hotel destination: the Great Hall of the People
Schedule plan as shown in table 1, the latitude and longitude information of front guide-car, running time, distance travelled and travel speed are all adopt the GPS locating module that is arranged on front guide-car and OBD module to obtain.
Obtain performing timetable according to the moment arriving destination.Such as, before requiring, guide-car arrives the moment of destination is 14:30:00, then can obtain performing timetable according to table 1, directly the time arriving destination is adjusted to 14:30:00, then as benchmark, is carried out adjustment reference time before respectively and obtain reference instant.As shown in table 2;
Table 2 performs timetable
Departure place: Friendship Hotel destination: the Great Hall of the People
Obtaining performing after timetable 2, front guide-car is expert at into process and just travels according to the reference instant described in table 2 and reference position and datum velocity.Once deviate from the reference position that in table 2, current time should arrive in leading car traveling process, driver then can be pointed out immediately to need to adjust the speed of front guide-car, and driver can be pointed out according to great speeds, before can making in official hour, guide-car's current location overlaps with the reference position in table 2 corresponding to current time.
Be such as 14:09:58 at current time T, now detect that front guide-car's latitude and longitude information is for (X
n, Y
n), after the reference position information in this latitude and longitude information and table 2 is carried out comparison one by one, finding be longitude with identical reference position information is X
n, latitude value is Y
n, obtain T reference time that this position is corresponding
dfor 14:10:00.Then T ≠ T
d, now need to make the moment corresponding to front guide-car's current location, consistent with the position performed in timetable corresponding to current time in official hour.Official hour described herein is the time adjustment threshold value T described in the present embodiment
h.Choose according to actual conditions, such as, can be chosen as 3S, 5S etc.The running data should considering to ensure front guide-car when selecting this time to adjust threshold value as early as possible with data consistent in execution timetable, the travel speed of front guide-car can not be made again to exceed the speed limit in this section simultaneously.And, when the running data of current guide-car is larger with the running data deviation performed in timetable, this time adjustment threshold value can suitably select larger value, when the running data of current guide-car is less with the running data deviation performed in timetable, this time adjustment threshold value can select suitably less value.In order to make the above-mentioned situation described in the present embodiment more clear, composition graphs 3 is described, and in Fig. 3, rightmost side arrow represents travel direction.
As shown in the figure, each point represents a reference position, and the reference position that current time T is corresponding is set as (X
i, Y
i), corresponding benchmark mileage is S
i; Reference position corresponding to the front guide-car's latitude and longitude information under current time T is (X
d, Y
d), corresponding benchmark mileage is S
d; Current time T adds time adjustment threshold value T
hcorresponding reference position is set as (X
h, Y
h), corresponding benchmark mileage is S
h.Obviously, when as shown in Figure 3, the reference position that the reference position before current time T corresponding to guide-car's physical location and benchmark mileage should be corresponding than current time in timetable and benchmark mileage advanced.Suppose that before requiring, guide-car ensures that after 6S its driving parameters overlaps with the driving parameters in execution timetable, then need front guide-car at time T
hinterior from reference position (X
d, Y
d), travel to reference position (X
h, Y
h), namely its mileage travelled is S
h-S
d.Therefore, the travel speed required for front guide-car is V
t=(S
h-S
d)/T
h.Shown in Fig. 4, shown in situation with Fig. 3, situation is contrary, is the situation of the delayed traveling of front guide-car.But as can be seen from the figure, if guide-car overlaps with execution timetable after time adjustment threshold value before wanting, the travel speed required for it is still V
t=(S
h-S
d)/T
h.
And once the running data of front guide-car can to perform in timetable the corresponding traveling data consistent that records, then before can pointing out order, guide-car travels according to the datum velocity corresponding to next reference instant.
As the optional scheme of one, in described step S1, S4, adopt the latitude and longitude information of the front guide-car of GPS locating module acquisition be arranged on front guide-car, running time, distance travelled and travel speed.
Preferably, in described step S44, S45, the mode of the LCDs display word be arranged on front guide-car is adopted to point out front guide-car driver.As directly passed through text importing " please with the speeds of 35Km/ hour ".
Further preferably, in described step S44, S45, the mode adopting the Audio Players be arranged on front guide-car to play voice is pointed out front guide-car driver.As play-overed the voice messaging of " please with the speeds of 35Km/ hour ".
embodiment 2
Before the present embodiment provides a kind of can realization, guide-car is accurate to the system run according to timetable of second, as shown in Figure 5, comprising:
Be arranged at the vehicle positioning module on front guide-car: for determining front guide-car's latitude and longitude information (X in real time
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i.
Schedule plan generation module, specifically comprises:
Running data acquiring unit, before utilizing in advance, guide-car is along guard duty route with speeds during actual executing the task, and in the process of moving, obtains the running data that described vehicle positioning module all records p.s.: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i.
Schedule plan generation unit, for generating schedule plan, the departure place of guard duty route, destination is recorded in described schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out.
Perform timetable generation module: transfer the schedule plan that described schedule plan generation module generates, according to the moment requirement arriving destination, determine that front guide-car arrives the moment of each reference position successively, obtain after reference time in schedule plan is adjusted to corresponding reference instant successively performing timetable, the moment wherein corresponding to departure place is for setting out the moment.
To set out command output module, set out described in current time equals the moment time, assign front guide-car and to set out and according to the instruction of the speeds that sets out.
Front guide-car's process judge module, for guide-car's process before real-time judge, specifically comprises:
Data capture unit, guide-car's latitude and longitude information (X before Real-time Obtaining current time T from described vehicle positioning module
d, Y
d).
First comparing unit, by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d.
Second comparing unit, compares the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Information Tip element, at T=T
dtime prompting before guide-car according to execution timetable in T
dthe datum velocity corresponding to next reference instant travel; At T ≠ T
dtime prompting before guide-car travel according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) performing benchmark mileage corresponding in timetable as reference position.
Judge module: before judging, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, terminates to dispatch when whether current guide-car's latitude and longitude information is identical with the latitude and longitude information of destination.
Preferably, described vehicle positioning module adopts GPS locating module and OBD module, guide-car's latitude and longitude information and running time before described GPS locating module reads, and described OBD module reads travel speed and the distance travelled of front guide-car.Described information Tip element, comprises the LCDs be arranged on front guide-car, points out front guide-car driver in the mode showing word.Described information Tip element, comprises the Audio Players be arranged on front guide-car, points out front guide-car driver in the mode playing voice.
Before can realize described in above-described embodiment, guide-car is accurate to the method and system run according to timetable of second, the moment of destination is arrived according to guide-car before schedule plan and requirement, the execution timetable obtained, the moment value front guide-car being arrived each reference position is accurate to showing of second, and in the whole process of executing the task, are all the foundations using the time as command scheduling.Current guide-car position is different from execution timetable reference position, namely during guide-car's lag or lead, driver can be pointed out with which kind of speeds could to ensure within the predetermined time and perform timetable to be consistent.And the position of current guide-car with perform in timetable after the reference position specified overlaps, driver also can be pointed out will to continue maintenance coincidence status future, need with which kind of speeds.Adopt the such scheme in the present invention can ensure front guide-car real be accurate to travelling according to the timetable preset of second.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Claims (8)
1. before realizing, guide-car is accurate to the method run according to timetable of second, it is characterized in that, comprises the steps:
S1: generate schedule plan, specifically comprise the steps:
S11: before utilizing in advance, guide-car is along guard duty route with speeds during actual executing the task, and in the process of moving, p.s. all records following running data: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
S12: generate schedule plan, record the departure place of guard duty route, destination in described schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
S2: generate and perform timetable, specifically comprise the steps:
S21: transfer the schedule plan obtained in described step S1;
S22: according to the moment requirement arriving destination, determine that front guide-car arrives the moment of each reference position successively, obtain after reference time in schedule plan is adjusted to corresponding reference instant successively performing timetable, the moment wherein corresponding to departure place is for setting out the moment;
S3: during what current time equaled to determine in described step S22 set out moment, front guide-car sets out and according to the speeds that sets out;
S4: guide-car's process before real-time judge, specifically comprises the steps:
S41: the front guide-car's latitude and longitude information (X reading current time T in real time
d, Y
d);
S42: by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
S43: compare the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Work as T=T
dtime, enter step S44;
As T ≠ T
dtime, enter step S45;
S44: before prompting, guide-car is according to T in execution timetable
dthe datum velocity corresponding to next reference instant travel, enter step S5 afterwards;
S45: before prompting, guide-car travels according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) as reference position benchmark mileage corresponding in execution timetable, enter step S5 afterwards;
S5: before judging, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, if not identical, returns step S41, otherwise terminate.
2. energy according to claim 1 realizes the method run according to timetable that front guide-car is accurate to second, it is characterized in that:
In described step S1, S4, latitude and longitude information, the running time of guide-car before adopting the GPS locating module be arranged on front guide-car to obtain; The distance travelled that before adopting the OBD module be arranged on front guide-car to obtain, guide-car is real-time and travel speed.
3. energy according to claim 1 and 2 realizes the method run according to timetable that front guide-car is accurate to second, it is characterized in that:
In described step S44, S45, the mode of the LCDs display word be arranged on front guide-car is adopted to point out front guide-car driver.
4. described can realize the method according to timetable operation that front guide-car is accurate to second according to claim 1-3 is arbitrary, it is characterized in that:
In described step S44, S45, the mode adopting the Audio Players be arranged on front guide-car to play voice is pointed out front guide-car driver.
5. before realizing, guide-car is accurate to the system run according to timetable of second, it is characterized in that, comprising:
Be arranged at the vehicle positioning module on front guide-car: for determining front guide-car's latitude and longitude information (X in real time
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation module, specifically comprises:
Running data acquiring unit, before utilizing in advance, guide-car is along guard duty route with speeds during actual executing the task, and in the process of moving, obtains the running data that described vehicle positioning module all records p.s.: front guide-car's latitude and longitude information (X
i, Y
i), running time T
i, distance travelled L
i, travel speed V
i;
Schedule plan generation unit, for generating schedule plan, the departure place of guard duty route, destination is recorded in described schedule plan, and the described running data of acquisition p.s. in described step S11, wherein said front guide-car's latitude and longitude information (X
i, Y
i) as reference position, described running time T
ias reference time, described distance travelled L
ias benchmark mileage, described travel speed V
ias datum velocity, the reference time corresponding to departure place be " 0s ", the datum velocity corresponding to departure place is the speed of setting out;
Perform timetable generation module: transfer the schedule plan that described schedule plan generation module generates, according to the moment requirement arriving destination, determine that front guide-car arrives the moment of each reference position successively, obtain after reference time in schedule plan is adjusted to corresponding reference instant successively performing timetable, the moment wherein corresponding to departure place is for setting out the moment;
To set out command output module, set out described in current time equals the moment time, assign front guide-car and to set out and according to the instruction of the speeds that sets out;
Front guide-car's process judge module, for guide-car's process before real-time judge, specifically comprises:
Data capture unit, guide-car's latitude and longitude information (X before Real-time Obtaining current time T from described vehicle positioning module
d, Y
d);
First comparing unit, by guide-car's latitude and longitude information (X before under current time
d, Y
d) with the reference position information (X performed in timetable
i, Y
i) carry out comparison one by one, determine with current time under before guide-car's latitude and longitude information (X
d, Y
d) corresponding to reference instant T
d;
Second comparing unit, compares the front guide-car's latitude and longitude information (X under current time T and current time
d, Y
d) corresponding to reference instant T
d:
Information Tip element, at T=T
dtime prompting before guide-car according to execution timetable in T
dthe datum velocity corresponding to next reference instant travel; At T ≠ T
dtime prompting before guide-car travel according to following speed:
V
t=(S
h-S
d)/T
h, wherein T
htime adjustment threshold value, i.e. elapsed time T
hmake front guide-car's latitude and longitude information (X afterwards
d, Y
d) corresponding to reference instant T
dand the error between current time T is zero; Wherein S
hadd time adjustment threshold value T with current time T
hbenchmark mileage corresponding in timetable is being performed as reference time; S
dguide-car's latitude and longitude information (X before being
d, Y
d) performing benchmark mileage corresponding in timetable as reference position;
Judge module: before judging, whether guide-car's latitude and longitude information is identical with the latitude and longitude information of destination, terminates to dispatch when whether current guide-car's latitude and longitude information is identical with the latitude and longitude information of destination.
6. energy according to claim 5 realizes the system run according to timetable that front guide-car is accurate to second, it is characterized in that:
Described vehicle positioning module comprises the GPS locating module of latitude and longitude information for obtaining front guide-car, running time; With the OBD module of the real-time distance travelled and travel speed for obtaining front guide-car.
7. before can realize according to claim 5 or 6, guide-car is accurate to the system run according to timetable of second, it is characterized in that:
Described information Tip element, comprises the LCDs be arranged on front guide-car, points out front guide-car driver in the mode showing word.
8. described can realize the system according to timetable operation that front guide-car is accurate to second according to claim 5-7 is arbitrary, it is characterized in that:
Described information Tip element, comprises the Audio Players be arranged on front guide-car, points out front guide-car driver in the mode playing voice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410389452.3A CN104574940A (en) | 2014-08-08 | 2014-08-08 | Method and system capable of enabling leader car to run exactly by second according to time table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410389452.3A CN104574940A (en) | 2014-08-08 | 2014-08-08 | Method and system capable of enabling leader car to run exactly by second according to time table |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104574940A true CN104574940A (en) | 2015-04-29 |
Family
ID=53090885
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410389452.3A Pending CN104574940A (en) | 2014-08-08 | 2014-08-08 | Method and system capable of enabling leader car to run exactly by second according to time table |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104574940A (en) |
Cited By (1)
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|---|---|---|---|---|
| CN107563943A (en) * | 2016-07-01 | 2018-01-09 | 中国铁路信息技术中心 | A kind of batch processing estimation of wagon flow method and apparatus |
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Application publication date: 20150429 |