CN114079156A - An adaptive vehicle-mounted antenna lodging control method and system - Google Patents
An adaptive vehicle-mounted antenna lodging control method and system Download PDFInfo
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
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- H—ELECTRICITY
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- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
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Abstract
The invention discloses a self-adaptive vehicle-mounted antenna lodging control method and a system, wherein sensing equipment models a front channel environment to form a front channel appearance parameter; the analysis and calculation unit analyzes and calculates whether the vehicle can normally pass through the front channel according to the front channel shape parameter, the vehicle height, the antenna height and the posture information, and controls the lodging device to execute the lodging instruction when the channel height is smaller than the sum of the vehicle height and the antenna erection height. By utilizing the method and the system, the erection and lodging control of the antenna of the communication equipment can be completely and automatically controlled without manual participation, so that the attitude control efficiency of the antenna is improved, the vehicle is in a communication working state for the longest time, and an operator can turn to perform other operation operations to boost the communication maneuverability and the operation efficiency of the vehicle.
Description
Technical Field
The invention belongs to the technical field of intelligent control of automobile electronics, and particularly relates to a self-adaptive vehicle-mounted antenna lodging control method and system.
Background
The modern war provides higher requirements for the informatization of military vehicles, and who can take the informatization high land can master the initiative of the war, thereby winning the war. The positioning of military vehicles also shifts from transportation to joint combat units, which is especially true on front line combat vehicles. The vehicle located at the joint combat unit, which carries the corresponding communication device, is typically arranged on the roof of the vehicle. The antenna is stored (erected and laid down) by a user according to the requirements of the environmental conditions of the equipment, wherein the environmental conditions refer to the condition that the antenna is blocked when a vehicle runs in front of a culvert or a jungle and the like. The purpose of the informatization war is to improve the efficiency of the battle, and the mode of observing and judging the re-control antenna to be folded and unfolded by a user has low efficiency, and if the mode is operated by a driver in a driving process, potential safety hazards exist. In the prior art, a plurality of lodging devices are sequentially lodged, lodged according to angles and the like by controlling a lodging device after an operator sends an operation instruction of erecting and lodging. But this technique does not give a solution for adaptive lodging.
Based on this, there is a need for an adaptive lodging control system that can recognize environmental characteristics and autonomously determine and control. Along with the development of science and technology, the intelligent effect in the aspect of improving efficiency receives more and more attention of people. The intelligent means is added, so that the process of identifying, judging and carrying out the next operation by personnel originally needed is completely replaced by a machine. The replacement can free personnel and improve the timeliness of operation.
Disclosure of Invention
The invention provides a self-adaptive vehicle-mounted antenna lodging control method and a system, and the self-adaptive vehicle-mounted antenna lodging control method for realizing one purpose of the invention comprises the steps that sensing equipment models a front channel environment to form a front channel appearance parameter, an analysis and calculation unit analyzes and calculates whether a vehicle can normally pass through a front channel according to the front channel appearance parameter, the vehicle height, the antenna height and the antenna posture, and when the channel height is smaller than the sum of the vehicle height and the antenna vertical height, a lodging device is controlled to execute a lodging instruction.
The vertical height of the antenna refers to the vertical distance between the top end of the antenna and the top of the vehicle.
The antenna postures comprise extreme postures of erection and lodging and postures of erection and lodging in different angles; the vertical limit posture is that the antenna is vertical to the ground, and the lodging limit posture is that the antenna is parallel to the ground.
The method further comprises the steps that after the vehicle is powered on, the air defense switch and the lodging control AUTO switch are judged, and when the air defense switch is closed, the sensing equipment and the self-adaptive vehicle-mounted antenna lodging control system are started; when the lodging control AUTO switch is turned on, the sensing device and the self-adaptive vehicle-mounted antenna lodging control system are turned on.
The method further comprises the steps that after the analysis and calculation unit obtains the shape parameters of the front channel from the sensing equipment, whether the posture of the antenna is horizontal lodging and/or whether the antenna has no fault is judged, and when the posture of the antenna is not horizontal lodging and the antenna has no fault, the analysis and calculation unit analyzes and calculates whether the vehicle can normally pass through the front channel according to the shape parameters of the front channel, the height of the vehicle, the height of the antenna and the posture of the antenna.
The lodging of antenna steerable antenna is controlled to antenna lodging controller to acquire antenna lodging angle information through the sensor on the antenna lodging motor, if the lodging angle information that antenna lodging motor sensor sent back is inconsistent with the lodging angle information in the lodging control command that the controller assigned to the antenna, then think that the antenna has the trouble, and then the current fault condition of renewal antenna is the fault condition.
The antenna fault is obtained by reading the fault state. The current fault state of the antenna comprises a fault state and a normal state, and the fault state is updated in the self-checking or control process. If the antenna is found to have a fault during self-checking, setting the fault state of the antenna as the fault state, wherein the self-checking can be self-checking when a vehicle is started or can be self-checking on the antenna periodically during the vehicle running process; the antenna fault can also be judged in the process that the vehicle controls the antenna to fall down or erect, and if the antenna is found to have a fault, the current fault state of the antenna is updated to be the fault state.
If the antenna fault is repaired, the fault state of the antenna can be controlled by controlling the antenna controller so as to restore the fault state to a normal state; the fault state can also be restored to the normal state by periodic self-checking.
Further, after the vehicle passes through the channel, if the distance from the next channel to the current vehicle is within the set distance and the height of the next channel is not higher than the height of the channel which has passed through the channel currently, the current posture of the antenna is kept until the next channel is passed, so that frequent operation on the antenna is avoided, and otherwise, the antenna is restored to the upright state.
The erection state can be an erection limit posture or a posture before the antenna passes through the channel.
When the vehicle passes through the current channel, the analysis and calculation unit continuously receives the channel appearance parameters transmitted by the sensing equipment, the analysis and calculation unit calculates the distance from the vehicle to the next channel in front and the height of the next channel by using the conventional feature extraction algorithm, and if the distance is less than the set distance and the height of the next channel is not higher than the height of the channel which has passed through the current channel, the current posture of the antenna is kept until the antenna passes through the next channel, so that the situation that the antenna is frequently erected and falls down when the vehicle encounters a continuous channel is avoided.
Preferably, timing is started after the vehicle passes through the channel, if information of the next channel is received within a set time length, further judgment is carried out, if the distance between the next channel and the current vehicle is within a set range and the height of the next channel is not higher than the height of the channel which has passed through the current channel, the current posture of the antenna is kept until the antenna passes through the next channel, and if the distance is not within the set range, the antenna is restored to the vertical state; and if the information of the next channel is not received for more than the set time, the antenna is restored to the upright state. The reason why the information of the next lane is received for the set time is that when the vehicle senses that there is a lane ahead for a short time after passing through the lane, the short time needs to be set for one time period in order to avoid frequent operation of the antenna.
Further, the calculation that the distance from the next forward channel to the vehicle is less than the set distance may be combined with the current vehicle speed to replace the time for reaching the next forward channel being less than the set time S2And (4) judging, namely if the time for reaching the next channel ahead is less than the set time and the height of the next channel is not higher than the height of the channel which passes through the current channel, keeping the current attitude of the antenna until the antenna passes through the next channel.
Further, when the height of the channel is smaller than the sum of the height of the vehicle and the vertical height of the antenna, the lodging device is controlled to execute a lodging instruction, the analysis and calculation unit calculates the minimum lodging angle of the antenna, which enables the vehicle to just pass through the channel, according to the preset antenna lodging angle and the whole vehicle height corresponding table, and then the antenna is controlled to lodge according to the minimum lodging angle.
The minimum lodging angle of the antenna is the lodging angle of the antenna when the whole vehicle just passes through the channel, so that the vehicle can pass through without completely lodging the antenna by 90 degrees, and the passing efficiency is improved.
Further, the method comprises the steps of:
s1, judging the air defense switch and the lodging control AUTO switch, and turning on the sensing equipment and the self-adaptive vehicle-mounted antenna lodging control system when the air defense switch is turned off and the lodging control AUTO switch is turned on;
s2, modeling the front channel environment by the sensing equipment to form a front channel appearance parameter;
s3, judging whether the posture of the antenna is vertical and/or whether the antenna has no fault, if the antenna is in a horizontal lodging state or the antenna has fault, not carrying out the next operation; and when the antenna fails, the occupant is informed that the antenna is currently failed.
And S4, analyzing and calculating whether the vehicle can normally pass through the front channel or not according to the shape parameter of the front channel, the vehicle height, the antenna height and the antenna posture by the analyzing and calculating unit, and when the channel height is smaller than the sum of the vehicle height and the antenna vertical height, calculating the minimum lodging angle of the antenna which can enable the vehicle to just pass through the channel according to a preset antenna lodging angle and whole vehicle height corresponding table by the analyzing and calculating unit, and further controlling the antenna to lodge according to the minimum lodging angle.
S5, timing is started after the vehicle passes through the channel, if the information of the next channel is received within a set time length, the distance from the next channel to the current vehicle is judged to be within a set distance, and the height of the next channel is not higher than that of the channel which has passed through the current channel, the current posture of the antenna is kept until the antenna passes through the next channel, otherwise, the antenna is recovered to be in a vertical upright state; and if the information of the next channel is not received for more than the set time, the antenna is restored to the vertical upright state.
Preferably, in step S4, if the vehicle finds that the antenna has a fault in the process of controlling the antenna to lie down, the antenna can not be effectively controlled to execute a correct lying command, the fault state of the antenna is updated, and the driver and the passenger are reminded that the current antenna has a fault, and relevant measures, such as avoidance or parking check, are suggested.
The adaptive vehicle-mounted antenna lodging control system for realizing the second purpose of the invention comprises a sensing equipment module, an analysis and calculation unit and an execution unit, wherein the sensing equipment module is used for acquiring appearance parameters of a channel in front of a vehicle and converting the appearance parameters into digital signals; the analysis and calculation unit is used for analyzing and calculating whether the vehicle can normally pass through a front channel or not and issuing a control command to the antenna to the execution unit; the execution unit is used for executing the control command of the analysis and calculation unit so as to control the lodging of the antenna and acquire the lodging angle information and the fault information of the antenna.
Further, the system further comprises a precondition judgment module for judging whether the precondition for starting the system is met, wherein the precondition comprises whether the air defense switch is turned off or not and whether the lodging control AUTO switch is turned on or not.
Further, the system further comprises a state acquisition module for acquiring the current fault state of the antenna and the attitude of the antenna.
The state acquisition module is integrated in an antenna lodging controller, the controller can control the lodging of the antenna, and the information of the lodging angle of the antenna can be acquired through a sensor on an antenna lodging motor; the fault information is sent to the analysis and calculation unit by the state acquisition module through a CAN bus.
Furthermore, the system also comprises a reminding module which is used for displaying the antenna state information, reminding the antenna fault and reminding the driver of driving.
After the analysis and calculation unit controls the antenna to fall down, a driver is reminded to control the vehicle speed through the reminding module. In the whole control process, the analysis and calculation unit sends reminding information of matched operation to a driver, the reminding information also comprises the height of a front channel, the time of reaching the channel at the current speed, system fault information (if any), and cautious driving for reducing the speed, and the reminding information also can send current antenna state information, such as that the antenna is lodging or finishes lodging, or lodging control failure suggests parking or avoidance.
By utilizing the system and the method, when the vehicle fights in complex environments such as mountainous areas or jungles, the antenna erection and lodging control of the communication equipment can be completely and automatically controlled without manual participation, so that the antenna attitude control efficiency is improved, the vehicle is in a communication working state for the longest time, and an operator can perform other fighting operations to boost the communication maneuvering performance and the fighting efficiency of the vehicle.
Drawings
FIG. 1 is a block diagram of an adaptive vehicle antenna lodging control system;
FIG. 2 is a flow chart of the adaptive vehicle antenna lodging control system;
FIG. 3 is a schematic diagram of a lidar environment modeling;
fig. 4 is a diagram of an analysis and calculation process of the adaptive vehicle-mounted antenna lodging control system.
Detailed Description
The following detailed description is provided for the purpose of explaining the claimed embodiments of the present invention so that those skilled in the art can understand the claims. The scope of the invention is not limited to the following specific implementation configurations. It is intended that the scope of the invention be determined by those skilled in the art from the following detailed description, which includes claims that are directed to this invention.
As shown in fig. 1, the system includes a sensing device module, an analysis and calculation unit, and an execution unit, where the sensing device module is used to obtain the shape parameters of a channel in front of a vehicle and convert the shape parameters into digital signals; the analysis and calculation unit is used for analyzing and calculating whether the vehicle can normally pass through a front channel or not and issuing a control command to the antenna to the execution unit; the execution unit is used for executing the control command of the analysis and calculation unit so as to control the lodging of the antenna and acquire the lodging angle information and the fault information of the antenna.
The sensing equipment is preferably a laser radar, is arranged at the front position outside the vehicle and is used for carrying out digital modeling on the front environment, for example, the external dimension information of the environment such as a front culvert or a forest is converted into a digital signal for further analysis and calculation.
The analysis and calculation unit can be integrated into a certain controller of the vehicle as a functional module, such as a VCU, or can be integrated into the vehicle as an independent controller, so that the external environment outline dimension information obtained by the perception of the laser radar can be analyzed and calculated, and whether the vehicle antenna can pass through a front channel under the current posture or not and when the vehicle antenna is predicted to reach the front channel at the current vehicle speed are judged by combining the current vertical height of the antenna on the vehicle and the vehicle traveling speed.
The execution unit is integrated in the antenna electric lodging controller, is communicated with the analysis calculation unit through a bus, receives and executes the control instruction from the analysis calculation unit, and controls the state of the execution equipment in a feedback mode, wherein the state information comprises starting, proceeding and ending state information, the current angle of the antenna and antenna fault information.
The module also comprises a state acquisition module for acquiring the current fault state and the antenna posture of the antenna, if the antenna is in fault, a driver and passengers need to be reminded, and when the antenna posture is horizontal lodging, the analysis and calculation unit does not need further calculation.
The system also comprises a display reminding module which is used for displaying the current state of the antenna, reminding the antenna of faults and reminding a driver of driving, and the safety of the system under various complex conditions is ensured.
One embodiment of the method of the present invention is described below in conjunction with fig. 2 and 4:
after the vehicle key is powered ON, the system detects the starting states of the vehicle air defense switch and the lodging control AUTO switch, if the air defense switch is started, the laser radar does not work, and the vehicle position is prevented from being exposed due to the fact that laser irradiation is discovered by an enemy; if the AUTO switch is controlled to be closed, the self-adaptive vehicle-mounted antenna lodging control system does not enter a working state. If the air defense switch is closed and the AUTO switch is opened, the next operation is carried out.
The antenna state is obtained through a sensor on the antenna lodging motor, and whether the antenna has a fault currently is obtained through reading the current fault state of the antenna.
And if the antenna state is not detected or the current antenna is found to have a fault, prompting the driver and passengers to stop and check the antenna.
As shown in fig. 3, the laser radar emits a laser beam to irradiate the front environment, and positions the irradiated object according to the light speed and the time difference after collecting the reflected signal, so as to form a space coordinate of the irradiation point based on the emission origin of the laser radar, and the data including the space point cloud coordinate information is transmitted to the analysis and calculation unit.
The analysis and calculation unit can obtain the height of the front channel by using a feature extraction algorithm according to data containing space point cloud coordinate information. And whether the vehicle can normally pass through a front channel is analyzed and calculated by combining the overall dimension parameters of the vehicle when the antenna is erected, the current vehicle speed signal, the current antenna attitude and the antenna fault information. The specific calculation and judgment process is as follows:
the first condition is as follows: the antenna is erected and the height of the channel is greater than the sum of the height of the vehicle and the vertical height of the antenna, or the antenna is in a falling state, the analysis and calculation unit does not control the antenna and sends prompt information of how long the vehicle can normally pass through the channel and is predicted to reach the channel by combining the current vehicle speed and the distance between the vehicle and the front channel;
and a second condition: the antenna is erected, the height of the channel is smaller than the sum of the height of the vehicle and the vertical height of the antenna, the analysis and calculation unit calculates the minimum lodging angle of the antenna, which enables the vehicle to just pass through the channel, according to the preset antenna lodging angle and the whole vehicle height corresponding table, and then the antenna is controlled to lodge according to the minimum lodging angle. And the antenna execution unit starts falling after receiving the control command and feeds back the state in real time. The minimum lodging angle of the antenna is the lodging angle of the antenna when the vehicle just passes through the passage. The lodging angle is defined as the angle of the antenna perpendicular to the ground, when the antenna is set to be the minimum lodging angle, the height of the whole vehicle (the sum of the height of the vehicle and the vertical height of the antenna) is smaller than the height of the channel, the difference between the height of the channel and the height of the whole vehicle is minimum, and the vehicle can just and safely pass through the channel.
Meanwhile, the analysis and calculation unit sends the analysis and calculation conditions to other devices through a bus, for example, the analysis and calculation conditions are sent to a display device and display the influence of the front environment on the vehicle passing, the action to be taken by a lodging system, how long the environment will be reached, and the driver is advised of taking measures, such as reducing the vehicle speed and carefully driving.
If the antenna is found to have a fault in the process of controlling the antenna to lodging, the analysis and calculation unit reminds a driver of suggesting parking or avoiding the current lodging control failure through the reminding module.
When the vehicle passes through the current channel, the analysis and calculation unit sets the time S1When the shape parameters of the channel of the sensing equipment are received in the system, the distance from the next channel in front to the vehicle is calculated to be less than the set distance, and the height of the channel of the next channel is not higher than that of the current channel, the system maintains the state that the antenna is laid down when passing through the previous channel, so that the situation that the antenna is frequently erected and laid down when meeting continuous channels is avoided. The set distance may be 500 meters, but is not limited to this value, and the set time S1It may be 1 minute, but is not limited to this value.
The calculated distance from the next front channel to the vehicle is less than the set distance, and the time for reaching the next front channel can be less than the set time S in combination with the current vehicle speed2To make a judgment, the set time S2May be 5 minutes, but is not limited to this value.
If the complex situation is met and needs to be manually handled by a driver, the AUTO switch of the control system is turned off, the control system does not work, and the antenna is manually erected or laid down.
Claims (10)
1. A self-adaptive vehicle-mounted antenna lodging control method is characterized in that sensing equipment models a front channel environment to form a front channel appearance parameter, an analysis and calculation unit analyzes and calculates whether a vehicle can normally pass through a front channel or not according to the front channel appearance parameter, the vehicle height, the antenna height and the antenna posture, and when the channel height is smaller than the sum of the vehicle height and the antenna vertical height, a lodging device is controlled to execute a lodging instruction.
2. The adaptive vehicle-mounted antenna lodging control method of claim 1, further comprising judging the air defense switch and the lodging control AUTO switch after the vehicle is powered on, and turning on the sensing device and the adaptive vehicle-mounted antenna lodging control system when the air defense switch is in a closed state; when the lodging control AUTO switch is turned on, the sensing device and the self-adaptive vehicle-mounted antenna lodging control system are turned on.
3. The adaptive vehicle-mounted antenna lodging control method according to claim 1, further comprising the step of judging whether the antenna attitude is horizontal lodging and/or whether the antenna is faultless after the analysis and calculation unit obtains the profile parameters of the front channel from the sensing equipment, and the step of analyzing and calculating whether the vehicle can normally pass through the front channel according to the profile parameters of the front channel, the vehicle height, the antenna height and the antenna attitude when the antenna attitude is not horizontal lodging and the antenna is faultless.
4. The adaptive vehicle-mounted antenna lodging control method according to claim 1, wherein after the vehicle passes through the passage, if the distance from the current vehicle to the next passage is within a set distance and the next passage height is not higher than the passage height of the current passage, the current attitude of the antenna is maintained until the next passage is passed, otherwise, the antenna is restored to the upright state.
5. The adaptive vehicle-mounted antenna lodging control method according to claim 4, wherein when the vehicle starts timing after passing through the channel, if the information of the next channel is received within a set time length, the distance from the next channel to the current vehicle is judged to be within a set distance, and the height of the next channel is not higher than the height of the channel which has passed currently, the current posture of the antenna is kept until the antenna passes through the next channel, otherwise, the antenna is recovered to be in a vertical upright state; and if the information of the next channel is not received for more than the set time, the antenna is restored to the vertical upright state.
6. The adaptive vehicle-mounted antenna lodging control method of claim 1, wherein when the channel height is less than the sum of the vehicle height and the antenna vertical height, the control lodging device executes a lodging instruction, and further comprising the step of calculating the minimum lodging angle of the antenna, which enables the vehicle to just pass through the channel, according to a preset antenna lodging angle and vehicle height correspondence table by the analysis calculation unit, and further controlling the antenna to lodging according to the minimum lodging angle.
7. The adaptive vehicle antenna lodging control method of claim 1, comprising the steps of:
s1, judging the air defense switch and the lodging control AUTO switch, and turning on the sensing equipment and the self-adaptive vehicle-mounted antenna lodging control system when the air defense switch is turned off and the lodging control AUTO switch is turned on;
s2, modeling the front channel environment by the sensing equipment to form a front channel appearance parameter;
s3, judging whether the posture of the antenna is vertical or not and whether the antenna has no fault or not, and if the antenna is in a horizontal lodging state and/or the antenna has a fault, not carrying out the next operation; and when the antenna fails, the occupant is informed that the antenna is currently failed.
And S4, analyzing and calculating whether the vehicle can normally pass through the front channel or not according to the shape parameter of the front channel, the vehicle height, the antenna height and the antenna posture by the analyzing and calculating unit, and when the channel height is smaller than the sum of the vehicle height and the antenna vertical height, calculating the minimum lodging angle of the antenna which can enable the vehicle to just pass through the channel according to a preset antenna lodging angle and whole vehicle height corresponding table by the analyzing and calculating unit, and further controlling the antenna to lodge according to the minimum lodging angle.
S5, timing is started after the vehicle passes through the channel, if the information of the next channel is received within a set time length, the distance from the next channel to the current vehicle is judged to be within a set distance, and the height of the next channel is not higher than that of the channel which has passed through the current channel, the current posture of the antenna is kept until the antenna passes through the next channel, otherwise, the antenna is recovered to be in a vertical state; and if the information of the next channel is not received for more than the set time, the antenna is restored to the upright state.
8. A self-adaptive vehicle-mounted antenna lodging control system is characterized by comprising a sensing equipment module, an analysis and calculation unit and an execution unit, wherein the sensing equipment module is used for acquiring appearance parameters of a channel in front of a vehicle and converting the appearance parameters into digital signals; the analysis and calculation unit is used for analyzing and calculating whether the vehicle can normally pass through a front channel or not and issuing a control command to the antenna to the execution unit; the execution unit is used for executing the control command of the analysis and calculation unit so as to control the lodging of the antenna and acquire the lodging angle information and the fault information of the antenna.
9. The adaptive vehicle-mounted antenna lodging control system of claim 8, further comprising a precondition determining module for determining whether preconditions for the system to be turned on are met, wherein the preconditions include whether the air defense switch is turned off and whether the lodging control AUTO switch is turned on.
10. The adaptive vehicle antenna lodging control system of claim 8, further comprising a status acquisition module for acquiring a current fault status of the antenna and a current attitude of the antenna.
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| CN114993243A (en) * | 2022-08-04 | 2022-09-02 | 深圳粤讯通信科技有限公司 | Antenna attitude monitoring and early warning system based on Internet of things |
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