CN102768795B - 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 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 social fast development, each big city, in the time undertaking large-scale international conference, large-scale activity, often runs into multiple guard fleet and never sets out with guard station, arrives same meeting-place simultaneously.How to ensure the time that each guard fleet can be according to the rules, official hour interval, is accurate to second and arrives destination, reduces to greatest extent the impact on normal traffic, is the target that public security traffic commanding pursues.
Existing Chinese patent literature CN 1581242 A disclose a kind of automatic command dispatching system of fleet and operation method of large-scale guard duty, manually on electronic chart, draw guard's route track route in broken line mode, system is recorded to 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 guard duty process in reality, set up corresponding virtual fleet for each fleet on computers according to prediction scheme, and extrapolate the virtual location in each each moment of virtual fleet; Utilize vehicle locating device to monitor the advanced positions of actual fleet simultaneously, physical location and virtual location are compared, in the time finding that the physical location deviate of fleet exceeds setting deviation threshold, can conclude that this fleet has occurred excessive velocities or crossed slow phenomenon, can adjust instruction from trend tasks carrying people transmission speed immediately, realize the automatic command scheduling that fleet advances.Adopt technique scheme, dispatch in time, exactly large-scale guard duty although can realize, also have following problem:
1, in technique scheme, need manually on electronic chart, to draw guard duty route in broken line mode, to estimate average velocity as the storage of prediction scheme information, obtain vehicle by way of each point according to estimating average velocity, therefore prediction scheme information is all to estimate to obtain, and the prediction scheme information of coming according to estimation is carried out command scheduling can not ensure accuracy;
2,, in technique scheme, in the time carrying out guard duty, the virtual location of storing in 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 completely;
3, need arrival destination that fleet is accurate to second when large-scale guard duty and time interval between fleet and fleet also will be accurate to second carrying out, according to technique scheme, fleet's current location and when estimating distance between virtual location and exceeding threshold value, command it to adjust the speed of a motor vehicle, in actual driving process, according to the different rows vehicle speed difference of road conditions, the same distance travel time is not necessarily identical, and therefore above-mentioned command scheduling scheme can not ensure 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 timely in guard fleet traveling process the positional information that time has according to the rules arrived regulation in the process of executing the task, especially while not arriving assigned position in official hour, need to rely on the continuous notice that receives commanding just can learn how oneself need to adjust the speed of a motor vehicle, the active accommodation speed of a motor vehicle in time, reaches the object that is accurate to second.
Summary of the invention
Technical matters to be solved by this invention is in guard duty command dispatching system of the prior art, can not ensure that command scheduling can not be accurate to second and the Security Services that executes the task can not obtain intuitively in time fleet and whether advances according to plan, so provide a kind of be accurate to second can point out in time the guard duty command dispatching system based on JTDDS algorithm of carrying out guard duty personal scheduling instruction.
For solving the problems of the technologies described above, the invention provides following technical scheme: the leading car command dispatching system of a kind of guard fleet based on JTDDS algorithm, comprising:
Car-mounted device: be arranged on the leading car of guard fleet, comprise the vehicle location detection module that can carry out with command and control center communication, described vehicle location detection module is determined front guide-car's latitude and longitude information and running time in real time, and front guide-car's latitude and longitude information and running time are transferred to command and control center;
Command scheduling processing unit: be arranged at inside, command and control center, comprise
Prediction scheme data memory module: for storing the prediction scheme information of guard duty route, the leading car of described prediction scheme information recording guard fleet carry out in guard duty process by way of reference position information and running time, described running time information is accurate to second and in seconds;
Relatively judge module: judge whether the leading car of guard fleet normally travels according to plan;
Instruction output module: according to the described relatively judged result of judge module, the instruction of output command scheduling;
Described command scheduling processing unit also comprises:
Process data generation module: to guide-car before the fleet of execution guard duty, in conjunction with guard's route prediction scheme information and plan due in, generate guard duty process data table, in described process data table, record the leading car of guard fleet and execute the task in process and arrive the accurate benchmark moment by way of each reference position;
Process data memory module: for storing described guard duty process data table;
Data correction module: comprise the electronic chart with latitude and longitude information, receive front guide-car's latitude and longitude information that described vehicle location detection module detects, on electronic chart, determine leading truck position, be associated with the point on the nearest road of the leading spacing of distance, leading truck position be associated with to road and get on;
Described car-mounted device also comprises image projection module, and described image projection module receives to be projected in after the command scheduling instruction of described instruction output module output and on windshield, is prompted to driver.
Described vehicle location detection module is GPS locating module.
Described car-mounted device comprises sounding module.
A guard fleet leading car command scheduling method based on JTDDS algorithm, comprises the following steps:
(1) generate prediction scheme information:
A, adopt arabic numeral " 1-N " (1-N is natural number) to be numbered for guard duty route, before utilizing in advance guide-car respectively along guard duty route the speed during with actual executing the task travel, in the process of moving, described vehicle location detection module detects front guide-car's latitude and longitude information and running time t in real time
s, and by described front guide-car's latitude and longitude information and running time t
s, transfer to command scheduling center, described t
staking s as unit;
Before b, described data correction module receive, after guide-car's latitude and longitude information, leading truck position is associated with on nearest with it road, adopts the road waypoint latitude and longitude coordinates information (x nearest with leading spacing
i, y
i) represent front guide-car's latitude and longitude coordinates information, and as front guide-car's reference position information (x
i, y
i) be stored in prediction scheme information;
C, described prediction scheme data memory module, with the prediction scheme information of the form storage guard duty route of tables of data, comprising: reference position information (x
i, y
i), front guide-car arrives the running time t of each reference position
s;
(2) generate process data table:
Adopt arabic numeral " 1-M " (1-M is natural number) for carrying out the front guide-car's numbering of fleet of guard duty, before execution guard duty, route when commanding carries out guard duty according to fleet calls corresponding prediction scheme information, automatically on electronic chart, generate guard duty route map, in the time that many routes cross, note joint positional information is (H
x, H
y);
Described process data generation module according to the plan due in of fleet in conjunction with prediction scheme information, the process data table when generating the leading car of guard fleet and carrying out guard duty, guide-car's traffic route, reference position information (x before described process data table record fleet
i, y
i), joint positional information (H
x, H
y), front guide-car arrives t reference time of each reference position
i, described reference time t
iwith reference position information (x
i, y
i) there is well-determined corresponding relation t
i=f(x
i, y
i);
(3) storage process tables of data
The process data table of generation is sent to the storage of described process data memory module by described process data generation module;
(4) assign out and send instructions:
Before fleet, guide-car is ready, request is set out, described process data memory module activates guide-car's guard duty process data table before fleet, after described instruction output module is assigned " setting out " instruction, fleet sets out, and before described vehicle location detection module detects in real time, guide-car's latitude and longitude information is sent to described data correction module and revises and obtain leading truck position information (x
j, y
j);
(5) real-time judge fleet process;
A, system are per second by the benchmark moment t in current time T and plan
icontrast one by one, if current time is consistent with arbitrary benchmark moment in plan, read immediately the leading truck position information (x of current time
d, y
d);
B, described relatively judge module are by leading current time truck position information (x
d, y
d) with process data table in reference position information compare one by one, find the reference position nearest with the leading truck position of current time, with (x
d, y
d) represent the latitude and longitude coordinates of the reference position nearest with leading truck position, t reference time that before determining, guide-car's current location should be corresponding
d=f(x
d, y
d);
C, calculate t reference time that current time T and front guide-car's current location should be corresponding
d=f(x
d, y
d) error amount C
w=| T-t
d|, acquired results and deviation alarm threshold value C compare:
Work as C
wwhen≤C, before illustrating, guide-car " normally advances ";
Work as C
w>=C and " T-t
d" be on the occasion of time, guide-car's " lag behind, need give it the gun " before illustrating;
Work as C
w>=C and " T-t
d" while being negative value, guide-car before illustrating " leading, to need Reduced Speed Now ";
(7) generate command scheduling instruction:
According to the described relatively judged result of judge module, described instruction output module is exported corresponding command scheduling instruction, and described image projection module receives described command scheduling instruction and is projected in prompting driver makes next step action.
Vehicle location detection module described in step (1) and described step (6) adopt can with the GPS locating module of command and control center communication, guide-car's latitude and longitude coordinates information before described GPS locating module is determined once p.s..
In described step (7), described image projection module is projected in command scheduling instruction on windshield, to be prompted to driver,
When front guide-car's normal row is entered, described image projection module projection " is normally advanced, is kept the speed of a motor vehicle ";
Front guide-car lags behind while travelling, described image projection module projection " fleet lags behind, and please give it the gun ";
When front guide-car travels in advance, described image projection module projection " fleet is leading, asks Reduced Speed Now ".
Described in described step (7), car-mounted device also comprises a sounding module, and described sounding module is play described command scheduling instruction.
There is following beneficial effect in the present invention:
1, in the present invention, the gait of march of guard fleet is not adopted the mode of estimation, but utilize the front guide-car who is provided with vehicle location detecting unit, carrying out before 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 real-time definite positional information of vehicle location detecting unit is as reference position, carry out in guard duty process in reality, in the time that the difference of reference time corresponding to the current physical location of vehicle and current time is excessive, just adjust in time the speed of a motor vehicle, thereby ensure can be accurate to second in fleet's driving process.
2, in the present invention, vehicle is all to carry out corrected through electronic chart by way of information, therefore as long as starting point and the destination of input travel route, on electronic chart, just can automatically demonstrate many guard's routes for command scheduling personnel selection, without manually drawing traffic route.
3, in the present invention, according to the moment of prediction scheme information and fleet's arrival destination, the process data table obtaining, the moment value that fleet is arrived to 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, once fleet exceedes alarm threshold value at the time leading or that lag behind, system just can be sent command scheduling instruction, ensures that fleet can be accurate to the arrival destination of second.
4, in the present invention, adopt image projection module, in the process of executing the task, command scheduling instruction is projected on windshield, whether real-time prompting tasks carrying people works as vehicle in front and normally advances; Can also adopt sounding module to be aided with auditory tone cues, make driver can independently obtain at any time command scheduling instruction, according to command scheduling, next step action is made in instruction.
Brief description of the drawings
Fig. 1 is system construction drawing of the present invention;
Fig. 2 is process flow diagram of the present invention.
Embodiment
The expression formula of given first JTDDS algorithm before the specific embodiment of the present invention is set forth:
Wherein, T represents current time, and system p.s. is by t reference time in current time T and described process data table
icontrast one by one, when current time T is identical with reference time in described process data table, read immediately leading truck position information;
Longitude coordinate and the latitude coordinate of reference position in the longitude coordinate of leading truck position information and latitude coordinate and described process data table are compared one by one, found longitude and the latitude of the nearest reference position coordinate in the leading truck position of distance, by x
dand y
drepresent, and (x
d, y
d) represented front guide-car at current time the position in process data table;
Because the reference time in described process data table and reference position have well-determined corresponding relation t
i=f(x
i, y
i), therefore t
d=f(x
d, y
d) represent before guide-car's current location should be corresponding reference time;
Hence one can see that, C
wrepresent time error value, C
w=| T-t
d| represent t reference time that current time T and front guide-car's current location should be corresponding
ddifference;
C is deviation alarm threshold value;
Work as C
wwhen>=C, before illustrating, guide-car does not travel according to schedule, and system just can be sent command scheduling instruction;
Below in conjunction with drawings and Examples, the present invention will be described in detail.
Embodiment 1
The leading car command dispatching system of guard fleet based on JTDDS algorithm described in the present embodiment, comprising:
Car-mounted device: be arranged on the leading car of guard fleet, comprise the vehicle location detection module that can carry out with command and control center communication, described vehicle location detection module is determined front guide-car's latitude and longitude information and running time in real time, and front guide-car's latitude and longitude information and running time are transferred to command and control center;
In the present embodiment, described vehicle location detection module is GPS locating module, described GPS locating module definite once front 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: for storing the prediction scheme information of guard duty route, the leading car of described prediction scheme information recording guard fleet carry out in guard duty process by way of reference position information and running time, described running time information is accurate to second and in seconds;
Relatively judge module: judge whether the leading car of guard fleet normally travels according to plan;
Instruction output module: according to the described relatively judged result of judge module, the instruction of output command scheduling;
Described command scheduling processing unit also comprises:
Process data generation module: to guide-car before the fleet of execution guard duty, in conjunction with guard's route prediction scheme information and plan due in, generate guard duty process data table, in described process data table, record the leading car of guard fleet and execute the task in process and arrive the accurate benchmark moment by way of each reference position;
Process data memory module: for storing described guard duty process data table;
Data correction module: comprise the electronic chart with latitude and longitude information, receive front guide-car's latitude and longitude information that described vehicle location detection module detects, on electronic chart, determine leading truck position, be associated with the point on the nearest road of the leading spacing of distance, leading truck position be associated with to road and get on;
Described car-mounted device also comprises image projection module, and described image projection module receives to be projected in after the command scheduling instruction of described instruction output module output and on windshield, is prompted to driver.
A guard fleet leading car command scheduling method based on JTDDS algorithm, comprises the following steps:
(1) generate prediction scheme information:
A, adopt arabic numeral " 1-N " (1-N is natural number) to be numbered for guard duty route, before utilizing in advance guide-car respectively along guard duty route the speed during with actual executing the task travel, in the process of moving, described vehicle location detection module detects front guide-car's latitude and longitude information and running time t in real time
s, and by described front guide-car's latitude and longitude information and running time t
s, transfer to command scheduling center, described t
staking s as unit;
In the present embodiment, described 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 described GPS locating module is determined once p.s.;
Before b, described data correction module receive, after guide-car's latitude and longitude information, leading truck position is associated with on nearest with it road, adopts the road waypoint latitude and longitude coordinates information (x nearest with leading spacing
i, y
i) represent front guide-car's latitude and longitude coordinates information, and as front guide-car's reference position information (x
i, y
i) be stored in prediction scheme information;
C, described prediction scheme data memory module, with the prediction scheme information of the form storage guard duty route of tables of data, comprising: reference position information (x
i, y
i), front guide-car arrives the running time t of each reference position
s;
As shown in Table 1 and Table 2 for arrive the prediction scheme information of the Great Hall of the People and the prediction scheme information from the Jingxi Hotel arrival Great Hall of the People from Friendship Hotel.
Table 1 Friendship Hotel is to Great Hall of the People guard route prediction scheme information
Starting point: Friendship Hotel terminal: the Great Hall of the People
Table 2 Jingxi Hotel is to Great Hall of the People guard route prediction scheme information
Departure place: Jingxi Hotel object: the Great Hall of the People
Prediction scheme information as shown in Table 1 and Table 2, the latitude and longitude coordinates information of described reference position is all through the corrected information of electronic chart, makeover process is as follows: front guide-car's latitude and longitude coordinates is sent to described data correction module by the GPS locating module on front guide-car, guide-car's latitude and longitude coordinates position before described data correction mould shows on electronic chart, find vehicle current location and which bar road is the most approaching, do vertical line to approaching most road with vehicle current location point, the intersection point of vertical line and road is revised reference position.
(2) generate process data table:
Adopt arabic numeral " 1-M " (1-M is natural number) for carrying out the front guide-car's numbering of fleet of guard duty, before execution guard duty, route when commanding carries out guard duty according to fleet calls corresponding prediction scheme information, automatically on electronic chart, generate guard duty route map, in the time that many routes cross, note joint positional information is (H
x, H
y);
After reference position information in table 1 and table 2 is automatically generated on electronic chart, can observe intuitively two guard's routes and locate to cross at " Fuxingmennei Dajie recovery bridge ", traffic route is afterwards overlapping.
Described process data generation module according to the plan due in of fleet in conjunction with prediction scheme information, the process data table when generating the leading car of guard fleet and carrying out guard duty, guide-car's traffic route, reference position information (x before described process data table record fleet
i, y
i), joint positional information (H
x, H
y), front guide-car arrives t reference time of each reference position
i, described reference time t
iwith reference position information (x
i, y
i) there is well-determined corresponding relation t
i=f(x
i, y
i);
For example m
1route when number guard fleet executes the task is for from Friendship Hotel to the Great Hall of the People, and plan due in is 14:30:00, m
2the route that number guard fleet carries out guard duty is from Jingxi Hotel to the Great Hall of the People, and plan due in is 14:30:30;
M
1(m
1for natural number and 1≤m
1≤ M) prediction scheme information in number guard fleet option table 1, can be obtained m by table 1
1before number, to need the time be 3053s to the whole process of guide-car from Friendship Hotel to the Great Hall of the People, and plan time of arrival is 14:30:00, can infer m
1before number guide-car to arrive the moment of joint " Fuxingmennei Dajie recovery bridge " be 14:10:00, the moment of setting out is 13:39:07, can obtain m
1number guard fleet process data table is as shown in table 3.
M
2(m
2for natural number and 1≤m
2≤ M) prediction scheme information in number guard fleet option table 2, can obtain m by table 2
2front guide-car needs 2730s from Jingxi Hotel to Great Hall of the People whole process, and plan due in is 14:30:30, can obtain m
2before number guide-car to arrive the moment of joint " Fuxingmennei Dajie recovery bridge " be 14:10:30, the moment of setting out is 13:45:00, can obtain m
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: the Great Hall of the People
Table 4 m
2number fleet process table
Departure place: Jingxi Hotel object: the Great Hall of the People
The like, can obtain the process data table of all guards fleet.
(3) storage process tables of data
The process data table of generation is sent to the storage of described process data memory module by described process data generation module;
(4) assign out and send instructions:
Before fleet, guide-car is ready, request is set out, described process data memory module activates guide-car's guard duty process data table before fleet, after described instruction output module is assigned " setting out " instruction, fleet sets out, and before described GPS locating module detects once p.s., guide-car's latitude and longitude information is sent to described data correction module and revises and obtain leading truck position information (x
j, y
j);
(5) real-time judge fleet process;
A, system are per second by the benchmark moment t in current time T and plan
icontrast one by one, if current time is consistent with arbitrary benchmark moment in plan, read immediately the leading truck position information (x of current time
d, y
d);
B, described relatively judge module are by leading current time truck position information (x
d, y
d) with process data table in reference position information compare one by one, find the reference position nearest with the leading truck position of current time, with (x
d, y
d) represent the latitude and longitude coordinates of the reference position nearest with leading truck position, t reference time that before determining, guide-car's current location should be corresponding
d=f(x
d, y
d);
C, calculate t reference time that current time T and front guide-car's current location should be corresponding
d=f(x
d, y
d) error amount C
w=| T-t
d|, acquired results and deviation alarm threshold value C compare:
Work as C
wwhen≤C, before illustrating, guide-car " normally advances ";
Work as C
w>=C and " T-t
d" be on the occasion of time, guide-car's " lag behind, need give it the gun " before illustrating;
Work as C
w>=C and " T-t
d" while being negative value, guide-car before illustrating " leading, to need Reduced Speed Now ";
Can select described deviation alarm threshold value C is 1s, and taking table 3 as example, for example current time T is 13:39:12, and front guide-car's current location information is (X
2, Y
2), said front guide-car's current location information is through after the correction of data correction module here;
The benchmark moment in current time and plan is contrasted one by one, detect unanimously with the benchmark moment 13:39:12 in plan, read immediately front guide-car's current location information (X
2, Y
2),
By front guide-car's current location information (X
2, Y
2) with described process data table in reference position information compare one by one, finding the reference position information nearest with current vehicle location is that longitude is X
2, latitude value is Y
2, corresponding t reference time
2=f(x
2, y
2) be 13:39:08;
Described relatively judge module calculates time error C
w=| T-t
2| be 4 seconds, be greater than C, and T-t
2for just, therefore fleet lags behind 4 seconds;
(7) generate command scheduling instruction:
According to the described relatively judged result of judge module, described instruction output module is exported corresponding command scheduling instruction, and described image projection module receives described command scheduling instruction and is projected in prompting driver makes next step action.
Described image projection module is projected in command scheduling instruction on windshield, to be prompted to driver,
When front guide-car's normal row is entered, " normally advance, keep the speed of a motor vehicle " shown in described image projection module projection;
Front guide-car lags behind while travelling, described image projection module projection " fleet lags behind, and please give it the gun ";
When front guide-car travels in advance, described image projection module projection " fleet is leading, asks Reduced Speed Now ".
As disposable embodiment, shown in image projection module can point out fleet and the deviate of plan between the moment, for example fleet lags behind 4 seconds, image projection module can Projection Display: " the hysteresis 4s of fleet, please give it the gun.
Embodiment 2
The present embodiment is on the basis of embodiment 1, and described car-mounted device also comprises a sounding module, and described sounding module is play the command scheduling instruction of described image projection module projection.
Although the present invention elaborates it by embodiment; but; those skilled in the art should be understood that any form that does not exceed claim protection domain made on this basis and the variation of details, all belong to invention which is intended to be protected.
Claims (7)
1. the leading car command dispatching system of the guard fleet based on JTDDS algorithm, comprising:
Car-mounted device: be arranged on the leading car of guard fleet, comprise the vehicle location detection module that can carry out with command and control center communication, described vehicle location detection module is determined front guide-car's latitude and longitude information and running time in real time, and front guide-car's latitude and longitude information and running time are transferred to command and control center;
Command scheduling processing unit: be arranged at inside, command and control center, comprise
Prediction scheme data memory module: for storing the prediction scheme information of guard duty route, the leading car of described prediction scheme information recording guard fleet carry out in guard duty process by way of reference position information and running time, described running time information is accurate to second and in seconds;
Relatively judge module: judge whether the leading car of guard fleet normally travels according to plan;
Instruction output module: according to the described relatively judged result of judge module, the instruction of output command scheduling;
It is characterized in that:
Described command scheduling processing unit also comprises:
Process data generation module: to guide-car before the fleet of execution guard duty, in conjunction with guard's route prediction scheme information and plan due in, generate guard duty process data table, in described process data table, record the leading car of guard fleet and execute the task in process and arrive the accurate benchmark moment by way of each reference position;
Process data memory module: for storing described guard duty process data table;
Data correction module: comprise the electronic chart with latitude and longitude information, receive front guide-car's latitude and longitude information that described vehicle location detection module detects, on electronic chart, determine leading truck position, be associated with the point on the nearest road of the leading spacing of distance, leading truck position be associated with to road and get on;
Described car-mounted device also comprises image projection module, and described image projection module receives to be projected in after the command scheduling instruction of described instruction output module output and on windshield, is prompted to driver.
2. the leading car command dispatching system of the guard fleet based on JTDDS algorithm according to claim 1, is characterized in that:
Described vehicle location detection module is GPS locating module.
3. the leading car command dispatching system of the guard fleet based on JTDDS algorithm according to claim 1 and 2, is characterized in that:
Described car-mounted device comprises sounding module.
4. the guard fleet leading car command scheduling method based on JTDDS algorithm, comprises the following steps:
(1) generate prediction scheme information:
A, employing arabic numeral " 1-N ", 1-N is natural number, for guard duty route is numbered, before utilizing in advance guide-car respectively along guard duty route the speed during with actual executing the task travel, in the process of moving, vehicle location detection module detects front guide-car's latitude and longitude information and running time t in real time
s, and by described front guide-car's latitude and longitude information and running time t
s, transfer to command scheduling center, described t
staking s as unit;
Before b, data correction module receive, after guide-car's latitude and longitude information, leading truck position is associated with on nearest with it road, adopts the road waypoint latitude and longitude coordinates information (x nearest with leading spacing
i, y
i) represent front guide-car's latitude and longitude coordinates information, and as front guide-car's reference position information (x
i, y
i) be stored in prediction scheme information;
C, prediction scheme data memory module, with the prediction scheme information of the form storage guard duty route of tables of data, comprising: reference position information (x
i, y
i), front guide-car arrives the running time t of each reference position
s;
(2) generate process data table:
Adopt arabic numeral " 1-M ", 1-M is natural number, for guide-car's numbering before the fleet of execution guard duty, before execution guard duty, route when commanding carries out guard duty according to fleet calls corresponding prediction scheme information, automatically on electronic chart, generate guard duty route map, in the time that many routes cross, note joint positional information is (H
x, H
y);
Process data generation module according to the plan due in of fleet in conjunction with prediction scheme information, the process data table when generating the leading car of guard fleet and carrying out guard duty, guide-car's traffic route, reference position information (x before described process data table record fleet
i, y
i), joint positional information (H
x, H
y), front guide-car arrives t reference time of each reference position
i, described reference time t
iwith reference position information (x
i, y
i) there is well-determined corresponding relation t
i=f(x
i, y
i);
(3) storage process tables of data
The process data table of generation is sent to the storage of described process data memory module by described process data generation module;
(4) assign out and send instructions:
Before fleet, guide-car is ready, request is set out, described process data memory module activates guide-car's guard duty process data table before fleet, after described instruction output module is assigned " setting out " instruction, fleet sets out, and before described vehicle location detection module detects in real time, guide-car's latitude and longitude information is sent to described data correction module and revises and obtain leading truck position information (x
j,
yj);
(5) real-time judge fleet process;
A, system are per second by the benchmark moment t in current time T and plan
icontrast one by one, if current time is consistent with arbitrary benchmark moment in plan, read immediately the leading truck position information (x of current time
d, y
d);
B, comparison judge module are by leading current time truck position information (x
d, y
d) with process data table in reference position information compare one by one, find the reference position nearest with the leading truck position of current time, with (x
d, y
d) represent the latitude and longitude coordinates of the reference position nearest with leading truck position, t reference time that before determining, guide-car's current location should be corresponding
d=f(x
d, y
d);
C, calculate t reference time that current time T and front guide-car's current location should be corresponding
d=f(x
d, y
d) error amount C
w=| T-t
d|, acquired results and deviation alarm threshold value C compare:
Work as C
wwhen <C, before illustrating, guide-car " normally advances ";
Work as C
w>=C and " T-t
d" be on the occasion of time, guide-car's " lag behind, need give it the gun " before illustrating;
Work as C
w>=C and " T-t
d" while being negative value, guide-car before illustrating " leading, to need Reduced Speed Now ";
(6) generate command scheduling instruction:
According to the described relatively judged result of judge module, described instruction output module is exported corresponding command scheduling instruction, and image projection module receives described command scheduling instruction and is projected in prompting driver makes next step action.
5. the guard fleet leading car command scheduling method based on JTDDS algorithm according to claim 4, is characterized in that:
Vehicle location detection module described in step (1) and described step (4) adopt can with the GPS locating module of command and control center communication, guide-car's latitude and longitude coordinates information before described GPS locating module is determined once p.s..
6. according to the guard fleet leading car command scheduling method based on JTDDS algorithm described in claim 4 or 5, it is characterized in that:
In described step (6), described image projection module is projected in command scheduling instruction on windshield, to be prompted to driver,
When front guide-car's normal row is entered, described image projection module projection " is normally advanced, is kept the speed of a motor vehicle ";
Front guide-car lags behind while travelling, described image projection module projection " fleet lags behind, and please give it the gun ";
When front guide-car travels in advance, described image projection module projection " fleet is leading, asks Reduced Speed Now ".
7. the guard fleet leading car command scheduling method based on JTDDS algorithm according to claim 6, is characterized in that:
In described step (6), also comprise a sounding module, described sounding module is play described command scheduling instruction.
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| CN103186981B (en) * | 2011-12-31 | 2015-09-02 | 姜廷顺 | A kind of accurate command dispatching system of large-scale guard duty and method |
| CN104599488B (en) * | 2014-08-19 | 2016-08-17 | 北京易华录信息技术股份有限公司 | Can precisely complete the command scheduling method and system of many fleets guard duty |
| CN104574943B (en) * | 2014-08-22 | 2017-03-22 | 北京易华录信息技术股份有限公司 | Method and system capable of accurately commanding and dispatching multiple motorcades in case of emergency |
| CN105788347A (en) * | 2014-12-24 | 2016-07-20 | 南京中兴力维软件有限公司 | GIS-based guard route monitoring method, device and system |
| CN105741539B (en) * | 2016-04-01 | 2018-03-02 | 中国电子科技集团公司第二十八研究所 | According to the method and system of guide car position automatic decision guard duty time of day |
| CN106569499A (en) * | 2016-11-11 | 2017-04-19 | 华南智能机器人创新研究院 | Robot adaptive control servo driving method and system |
| CN106685476B (en) * | 2016-12-30 | 2019-02-12 | 北京天驰星科技有限公司 | A terminal for forming time slot data frame compatible with data link and its working method |
| US10825344B2 (en) * | 2018-02-01 | 2020-11-03 | GM Global Technology Operations LLC | System and method for forming a fleet and positioning vehicles in the fleet |
| CN110888961A (en) * | 2019-12-02 | 2020-03-17 | 天津大海云科技有限公司 | Large-scale activity guarantee method based on GIS and converged communication |
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