CN109737979B - Storage method and system for unmanned vehicle air route - Google Patents
Storage method and system for unmanned vehicle air route Download PDFInfo
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- CN109737979B CN109737979B CN201811639223.7A CN201811639223A CN109737979B CN 109737979 B CN109737979 B CN 109737979B CN 201811639223 A CN201811639223 A CN 201811639223A CN 109737979 B CN109737979 B CN 109737979B
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Abstract
The invention relates to a storage method and a system for an unmanned vehicle route, which specifically comprise the following steps: detecting whether the routes to be stored recorded by the unmanned vehicle are continuous and uninterrupted, and if the routes are continuous and uninterrupted, executing step s 2; if there is a discontinuity, terminating the storage process; matching and optimizing the to-be-stored air route and the air route planned by the vehicle-mounted guiding system; and segmenting and numbering the routes to be stored according to road sections. Compared with the prior art, the invention obviously improves the accuracy of uploading the air route and reduces the storage space of the air route warehouse required by management by storing the air route in sections and updating and replacing the stored section air route when the stored section air route is repeated.
Description
Technical Field
The invention relates to the field of unmanned vehicles, in particular to a storage method and a storage system for an unmanned vehicle route.
Background
With the development of new energy vehicles, especially the rise of unmanned intelligent vehicles, more and more attention is paid to how to store and manage routes of unmanned vehicles. Existing airline stores often employ immediate generation of airlines and then store them. For example, chinese patent CN 107845255a discloses a car taking system of an unmanned vehicle with a fixed route, wherein a route storage unit can store the fixed route, and generate a plurality of routes for a user to select according to a starting station, a destination and the fixed route, but this method stores the whole route, and a situation of repeated storage may exist on the same road segment, which wastes limited storage space; there is also no verification process before storage, and the accuracy of the uploading route cannot be ensured.
Disclosure of Invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and to provide a storage method and system for a driverless vehicle.
The purpose of the invention can be realized by the following technical scheme:
a storage method for an unmanned vehicle route comprises the following specific steps:
s1., detecting whether the route to be stored recorded by the unmanned vehicle is continuous and uninterrupted, if so, executing step s 2; if there is a discontinuity, terminating the storage process;
s2, matching and optimizing the routes to be stored and the routes planned by the vehicle-mounted guiding system, designating the vehicle-mounted guiding system to plan the routes on the road sections of the recorded routes, detecting whether waypoints obviously deviating from the planned routes exist in the routes to be uploaded or not, judging whether the waypoints are wrong or unreasonable data or not by using a matching algorithm, and modifying by taking the planned routes as a reference;
s3. the route to be stored is segmented and numbered according to the road sections, the original waypoint data in the route is called, the waypoint coordinates are corresponded to the electronic map, the waypoints at the connection positions of the road sections are removed, the remaining waypoints are classified and sorted by using a waypoint fitting algorithm, and the segmented route is fitted and stored.
Further, in step s2, performing smoothing processing on the cusp in the route, specifically: setting a curvature threshold, removing a part of the route with the curvature smaller than the threshold, selecting a point with the minimum curvature as a control point, removing two end points of the part as a starting point and an end point, and fitting the vacant part by using a Bezier curve.
Further, matching and fitting the segmented route to be stored with the stored segmented route, and if the similarity exceeds a set threshold, performing replacement storage; and if the similarity is lower than a set threshold value, storing the new sectional route.
And further, when the unmanned vehicle calls the air route, the stored sectional air routes are arranged and combined to form the required air route.
Further, after the airline is called, the calling information of the airline is stored, and the calling information comprises the serial number and the combination of the sectional airlines, the vehicle identity information and the date.
Further, the call information whose date exceeds the set value is periodically deleted.
A storage system for unmanned vehicle airlines, comprising:
the detection module is used for detecting whether the route to be stored recorded by the unmanned vehicle is continuous and uninterrupted, and if the route to be stored is continuous and uninterrupted, the step s2 is executed; if the interruption exists, reporting that the uploading process fails, and performing order re-recording and uploading;
the optimization module is used for matching and optimizing the air route to be stored and the air route planned by the vehicle-mounted guiding system, designating the air route planned by the vehicle-mounted guiding system on the road section of the recorded air route, detecting whether the air route to be uploaded has an air point obviously deviating from the planned air route, judging whether the air point is wrong or unreasonable data by using a matching algorithm, and modifying by taking the planned air route as a reference;
and the segmented storage module is used for segmenting and numbering the routes to be stored according to the sections, storing the routes according to the segments, calling original waypoint data in the routes, corresponding waypoint coordinates to the electronic map, removing waypoints at the connection part of the sections, classifying and sequencing the rest waypoints by using a waypoint fitting algorithm, fitting the segmented routes, and storing the segmented routes.
And the calling module is used for arranging and combining the stored segmented air routes to form the required air route when the unmanned vehicle calls the air route.
And the system further comprises an information storage module which is used for storing the calling information of the calling airline after the airline calling is finished, wherein the calling information comprises the serial number and the combination of the sectional airlines, the vehicle identity information and the date.
Further, the vehicle identification system further comprises an identification module used for identifying the identification information of the vehicle.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, by carrying out sectional storage on the air route, when the stored sectional air route is repeated, the stored sectional air route is updated and replaced, so that the uploading accuracy of the air route is obviously improved, and the storage space of an air route library required by management is reduced.
2. When the flight path is generated, the stored flight path segments are directly called to carry out permutation and combination, the flight path is quickly generated, the calculation amount of the required flight path is small, and the generation efficiency is high.
3. The invention improves the correctness and the completeness of the uploading route by checking the continuity of the uploading route through the checking module.
4. The invention can record the calling information of the air route by using the minimum data volume by recording the serial number arrangement of the sectional air routes, is convenient for inspection and maintenance, and regularly cleans the calling information of the air route, thereby further reducing the storage space.
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FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the working process of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The embodiment provides a storage system for an unmanned vehicle route, which comprises a detection module, an optimization module, a segmented storage module, a calling module and an information storage module. The routes to be stored in the embodiment are all collected in advance by the collecting and recording device and then transmitted to the storage system.
The detection module is used for detecting the integrity and the correctness of the air line to be stored, and the problems that the air line has breakpoints and the like due to poor signals and the like in the transmission process are solved. In the detection module, judging whether the route to be stored is continuous and uninterrupted, and if the route to be stored is continuous and uninterrupted, transmitting the route to the optimization module; if there is a discontinuity, the storage process is terminated.
The optimization module is used for matching and optimizing the routes to be stored and the routes planned by the vehicle-mounted guiding system. And the vehicle-mounted guidance system is appointed to plan the air route at the road section of the recorded air route, whether an air point obviously deviating from the planned air route exists in the air route to be uploaded or not is detected, whether the air point is wrong or unreasonable data or not is judged by utilizing the existing matching algorithm, and the unreasonable data is modified by taking the planned air route as a reference. And then smoothing sharp points in the flight path, specifically: setting a curvature threshold, removing a part of the route with the curvature smaller than the threshold, selecting a point with the minimum curvature in the removed part as a control point, removing two end points of the part as a starting point and an end point, and fitting the vacant part by using a Bezier curve.
The sectional storage module is used for segmenting and numbering the routes to be stored according to road sections and storing the routes according to the sections. The method specifically comprises the following steps: calling original waypoint data of the route, corresponding waypoint coordinates to an electronic map, removing waypoints at the connection part of the road section, classifying and sequencing the rest waypoints by using a waypoint fitting algorithm, fitting the grouped route, and storing. After the to-be-stored route is segmented, matching and fitting the stored segmented route, and if the similarity exceeds a set threshold value, performing replacement storage; and if the similarity is lower than a set threshold value, storing the new sectional route. For example, the parallelism relation between two routes is compared, if the two routes are wholly parallel and the slope has larger difference only locally, the two routes are considered to be the same in type, and the new route is stored in a route library by replacing the original route; and otherwise, establishing a new classification and storing the new classification, wherein the to-be-stored route is not the same as the stored route of the road section.
The calling module is used for combining the segmented air route stored by the air route storage module with the requirements of the user, arranging and combining the stored segmented air route, forming the required air route and sending the required air route to the vehicle control system. In the calling module, optimization is needed after the combined route is generated, for example, a path which may generate a sharp point or a turning radius smaller than the minimum turning radius of the target vehicle in the combining process is eliminated through spline fitting.
The information storage module is used for storing calling information of the calling airline after the airline calling is finished, wherein the calling information comprises the serial number and the combination of the sectional airlines, the vehicle identity information, the date and the like. And cleaning the route calling information stored in the database regularly, and deleting the route calling information which is too far away.
The storage system further comprises an identification module for identifying the identity information of the vehicle. When the vehicle sends a calling application, the system acquires the identification number (VIN) of the vehicle and other characteristic information of the vehicle; and comparing the information with the vehicle characteristics and the identification codes stored in advance in the air route database, and allowing the data transmission operation after the data is confirmed to be correct.
As shown in fig. 2, the specific work flow of this embodiment is as follows:
firstly, detecting the integrity and correctness of the to-be-stored route, judging whether the to-be-stored route is continuous and uninterrupted, and if the to-be-stored route is continuous and uninterrupted, transmitting the route to an optimization module; if the interruption exists, the failure of the uploading process is reported, and the command is responsible for re-recording and uploading.
And then matching and optimizing the to-be-stored air route and the air route planned by the vehicle-mounted guiding system, repairing unreasonable data, and smoothing sharp points in the air route.
Before storage, the route is split according to road sections, and when the route is stored in the corresponding road section, if the route of the same kind as the route to be stored is stored, the original route is deleted and updated to new route data; and if the road section has no similar routes, newly establishing a classification on the road section, and storing the route data into the classification.
And when the system is called, selecting a proper route on a corresponding road section for splicing, and optimizing the spliced position by utilizing curve fitting.
After the vehicle sends the calling request, the identity recognition module acquires the identity recognition code and other characteristic information of the vehicle, and the identity recognition code and other characteristic information are compared with data in the air route database to confirm the legality of the vehicle identity and then carry out data transmission.
And after the calling is finished, storing the calling information to the information storage module, and periodically cleaning the memory.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (4)
1. A storage method for an unmanned vehicle route is characterized by comprising the following specific steps:
s1., detecting whether the route to be stored recorded by the unmanned vehicle is continuous and uninterrupted, if so, executing step s 2; if there is a discontinuity, terminating the storage process;
s2, matching and optimizing the routes to be stored and the routes planned by the vehicle-mounted guiding system, designating the vehicle-mounted guiding system to plan the routes on the road sections of the recorded routes, detecting whether waypoints obviously deviating from the planned routes exist in the routes to be uploaded or not, judging whether the waypoints are wrong or unreasonable data or not by using a matching algorithm, and modifying by taking the planned routes as a reference; performing smoothing treatment on sharp points in the flight path, specifically: setting a curvature threshold, removing a part of the route with the curvature smaller than the threshold, selecting a point with the minimum curvature as a control point, removing two end points of the part as a starting point and an end point, and fitting a vacant part by using a Bezier curve;
s3. segmenting and numbering the routes to be stored according to road sections, calling original waypoint data in the routes, corresponding waypoint coordinates to an electronic map, removing waypoints at the connection of the road sections, sorting the remaining waypoints by using a waypoint fitting algorithm, fitting the divided routes, and storing; after the to-be-stored route is segmented, matching and fitting the stored segmented route, and if the similarity exceeds a set threshold value, performing replacement storage; if the similarity is lower than a set threshold value, storing the new sectional route;
when the unmanned vehicle calls the air route, arranging and combining the stored sectional air routes to form a required air route;
and after the airline calling is finished, storing calling information of the airline calling, wherein the calling information comprises the serial number and the combination of the sectional airlines, the vehicle identity information and the date.
2. A storage method for unmanned aerial vehicle routes according to claim 1 wherein call messages with dates exceeding a set value are periodically deleted.
3. A storage system for an unmanned vehicle route, comprising:
the detection module is used for detecting whether the routes to be stored recorded by the unmanned vehicle are continuous and uninterrupted, and optimizing the response of the module if the routes are continuous and uninterrupted; if the interruption exists, reporting that the uploading process fails, and performing order re-recording and uploading;
the optimization module is used for matching and optimizing the air route to be stored and the air route planned by the vehicle-mounted guiding system, designating the air route planned by the vehicle-mounted guiding system on the road section of the recorded air route, detecting whether the air route to be uploaded has an air point obviously deviating from the planned air route, judging whether the air point is wrong or unreasonable data by using a matching algorithm, and modifying by taking the planned air route as a reference; performing smoothing treatment on sharp points in the flight path, specifically: setting a curvature threshold, removing a part of the route with the curvature smaller than the threshold, selecting a point with the minimum curvature as a control point, removing two end points of the part as a starting point and an end point, and fitting a vacant part by using a Bezier curve;
the segmented storage module is used for segmenting and numbering the routes to be stored according to sections, storing the routes according to the segments, calling original waypoint data in the routes, corresponding waypoint coordinates to an electronic map, removing waypoints at the connection part of the sections, classifying and sequencing the rest waypoints by using a waypoint fitting algorithm, fitting the segmented routes and storing the segmented routes; after the to-be-stored route is segmented, matching and fitting the stored segmented route, and if the similarity exceeds a set threshold value, performing replacement storage; if the similarity is lower than a set threshold value, storing the new sectional route;
the calling module is used for arranging and combining the stored segmented air routes to form the required air route when the unmanned vehicle calls the air route;
and the information storage module is used for storing the calling information of the calling airline after the airline calling is finished, wherein the calling information comprises the serial number and the combination of the sectional airlines, the vehicle identity information and the date.
4. The storage system for unmanned aerial vehicle routes according to claim 3 further comprising an identification module for identifying identification information of the vehicle.
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| CN104567908B (en) * | 2015-01-22 | 2017-06-23 | 北京微车一族信息技术发展有限公司 | It is a kind of can offline field driving digital map navigation method |
| US10585409B2 (en) * | 2016-09-08 | 2020-03-10 | Mentor Graphics Corporation | Vehicle localization with map-matched sensor measurements |
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