CN111326003A - Intelligent car tracking driving method, system and storage medium - Google Patents
Intelligent car tracking driving method, system and storage medium Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a method, a system and a storage medium for tracing and driving an intelligent trolley, wherein the method comprises the following steps: acquiring map initialization information; acquiring current position information and target position information of the intelligent trolley; acquiring path planning information by using an A-path algorithm according to the acquired map initialization information, the current position information and the target position information; according to the path planning information, the intelligent trolley is driven to run, and a distance measuring module on the intelligent trolley is used for detecting barrier information existing on a running path; and planning a path by using the A path algorithm again according to the obstacle information until the intelligent vehicle reaches the target position. The intelligent vehicle tracing driving method at least has the following technical effects that the intelligent vehicle tracing driving method is adaptive to a complex driving route intelligently and only needs simple adjustment if the environment is changed, and the technical effects of intelligent addressing, intelligent walking and intelligent obstacle avoidance are achieved.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a method, a system, a device and a storage medium for tracing and driving an intelligent trolley.
Background
At present, most factories still use a manual forklift for carrying, so that the production efficiency is greatly reduced, and the manufacturing cost is improved. Although AGV carts are available, they have strict requirements on the ground, and require a guiding device or a corresponding guiding route to be laid according to certain standards, and once the route needs to be modified or adjusted, special personnel need to modify the route, which makes the later maintenance inconvenient.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an intelligent vehicle tracking driving method, an intelligent vehicle tracking driving system and a storage medium, which can intelligently adapt to a complex driving route in a self-adaptive manner, and can achieve the technical effects of intelligent addressing, intelligent walking and intelligent obstacle avoidance only by simple adjustment if the environment is changed.
In a first aspect, an embodiment of the present invention provides an intelligent vehicle tracking driving method, including: acquiring map initialization information; acquiring current position information and target position information of the intelligent trolley; acquiring path planning information by using an A-path algorithm according to the acquired map initialization information, the current position information and the target position information; according to the path planning information, the intelligent trolley is driven to run, and a distance measuring module on the intelligent trolley is used for detecting barrier information existing on a running path; and planning a path by using the A path algorithm again according to the obstacle information until the intelligent vehicle reaches the target position.
The intelligent vehicle tracking driving method at least has the following technical effects that the intelligent vehicle tracking driving method is adaptive to a complex driving route intelligently, and only needs simple adjustment if the environment is changed, so that the technical effects of intelligent addressing, intelligent walking and intelligent obstacle avoidance are achieved.
According to the intelligent vehicle tracking driving method, the map initialization information comprises lane position information and position information of fixed obstacles, and the lane position information and the position information of the fixed obstacles comprise, but are not limited to, coordinate information described by using a space coordinate system or a plane coordinate system. The map information can be plane information or space information, and is suitable for single-layer or multi-layer plants or storehouses. The position information of the traffic lane is mainly the position information of an area where the intelligent vehicle can travel. The fixed obstacle information is mainly obstacle position information which cannot be moved randomly in the working environment of the intelligent trolley, such as a goods shelf, a wall body and the like.
According to the intelligent car tracking driving method provided by the embodiment of the invention, the current position information is obtained by using a UWB technology, and the method comprises the following steps: setting three UWB positioning base stations, and knowing the coordinates of the three UWB positioning base stations; installing a positioning tag on the intelligent trolley; measuring the time difference of radio signal propagation between the positioning tag and three UWB positioning base stations by using UWB technology to obtain the distance difference of the positioning tag relative to the three positioning base stations; and calculating to obtain the real-time coordinates of the intelligent trolley. The UWB positioning base station is arranged at a fixed point in the working environment of the intelligent trolley, the intelligent trolley usually works in places such as a factory goods handling workshop and the like where goods need to be frequently carried, handled and loaded, and the UWB positioning base station provides reference positioning information for the intelligent trolley. The current position information is generated by one or more UWB chips arranged on the intelligent trolley and the UWB positioning base station. When the UWB chip is respectively installed on the front portion and the rear portion of the intelligent trolley, two pieces of current position information can be generated, when the intelligent trolley walks or turns, the current position can be changed, a plurality of pieces of real-time coordinate information can be obtained, and the real-time position, the running speed and the running angle of the intelligent trolley are obtained through calculation.
According to the intelligent car tracking driving method provided by the embodiment of the invention, the target position information comprises, but is not limited to, target position information or a set of target position information issued through upper computer software, target position information or a set of target position information issued through mobile phone software, and target position information or a set of target position information issued through a preset mode. The target position information may be issued in a single time, for example, from the a position to the B position, or may be a preset set of target positions, for example, from the a position to the B position, and then to the C position.
An intelligent vehicle tracking driving method according to an embodiment of the present invention is the intelligent vehicle tracking driving method according to claim 1, wherein the a-path algorithm is to calculate a moving loss value F of the intelligent vehicle from the current position to a next possible position, respectively, and then take a minimum value of the F values of the respective possible positions as the next position of the intelligent vehicle, where F is G + H, G is a distance from a position adjacent to the current position, and H is a sum of numbers of neighborhoods in a horizontal direction and a vertical direction between the current position and the target position. The map initialization information divides the map position of the intelligent trolley in work into a plurality of grids which can be represented by coordinates, when the intelligent trolley needs to move from a starting position A to An end position B, the intelligent trolley can go through steps A1, A2 and A3. Assuming that the information of each point on the map is represented by two-dimensional coordinates, the coordinates of the starting point position are a (1,2), the coordinate information of the end point position are B (3,8), the smart car now needs to select the coordinates of going from the point a to the next grid, and F values of 8 adjacent grids of the point a need to be calculated, the coordinates of the 8 adjacent grids of the point a are (0, 1), (1,1), (2,1), (0,2), (2,2), (0,3), (1,3) and (2,3), respectively, taking the F calculation of the smart car from a (1,2) to (2,2) as an example, wherein G value is the difference of the abscissa 1, H value is the sum of the differences of the abscissa and the ordinate of the point (2,2) to the end point B (3,8), so that F from the point (2,2) to the point a is 1+7 to 8, and calculating the F values of other 7 points in the same way, and taking the point corresponding to the minimum F value as the next position of the intelligent trolley. In addition, when the F values of 8 points in the neighborhood of a certain point are calculated, if the neighborhood is the obstacle, the point does not participate in the calculation.
According to the intelligent car tracking driving method, the obstacle information comprises the fixed obstacle information and the temporary obstacle information, the temporary obstacle information comprises but is not limited to suddenly appearing pedestrians and temporarily placed sundries, if the distance between the intelligent car and the fixed obstacle and the temporary obstacle is smaller than the preset distance, the intelligent car stops and gives an alarm, when the path planning information is calculated, the grid where the obstacle is located is ignored, and the obstacle position information does not participate in calculation in the grid adjacent to the current position. If the intelligent vehicle is too close to the obstacle due to various reasons in the advancing process, the intelligent vehicle stops and sends alarm information, the path planning information is calculated, and the intelligent vehicle drives and turns according to the calculated path planning information until the intelligent vehicle reaches the target position to stop.
According to the intelligent car tracking driving method provided by the embodiment of the invention, the path correction is also carried out by utilizing a PID algorithm in the driving process of the intelligent car, and the path correction specifically comprises the following steps: acquiring path planning information of the intelligent vehicle; acquiring current position information of the intelligent trolley; calculating path correction information, wherein the path correction information is obtained by subtracting the path planning information and the current position information, the path correction information comprises instantaneous displacement correction information and instantaneous angle correction information, the instantaneous displacement correction information is the size of the displacement of the intelligent trolley which needs to move next, and the instantaneous angle correction information is the size of the rotation angle of the intelligent trolley which needs to rotate next; and controlling the next displacement and direction of the intelligent trolley according to the instantaneous displacement correction information and the instantaneous angle correction information, so that the position and angle information of the intelligent trolley are consistent with the path planning information. The path correction can ensure that the intelligent trolley can be corrected in time after deviating from the path planning information, and the deviation accumulation can not be caused, so that the intelligent trolley can smoothly and accurately reach the terminal point.
In a second aspect, an embodiment of the present invention further provides an intelligent vehicle tracking driving system, including: the map initialization unit is used for acquiring map initialization information; the positioning acquisition unit is used for acquiring current position information and target position information of the intelligent trolley; the path planning unit is used for acquiring path planning information by utilizing an A-path algorithm according to the acquired map initialization information, the current position information and the target position information; the driving unit is used for driving the intelligent trolley to run; and the obstacle detection unit is used for detecting the obstacle information existing on the driving path by utilizing the ranging module on the intelligent trolley.
The intelligent vehicle tracking driving system according to the embodiment of the second aspect of the invention at least has the following technical effects that the intelligent vehicle tracking driving system is self-adaptive to a complex driving route, and only simple adjustment is needed if the environment is changed, so that the technical effects of intelligent addressing, intelligent walking and intelligent obstacle avoidance are achieved.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for tracking and driving an intelligent vehicle according to the first aspect of the present invention.
The intelligent vehicle tracking driving system according to the third aspect of the invention has at least the following technical effects that the intelligent vehicle tracking driving system is self-adaptive to a complex driving route, and only simple adjustment is needed if the environment is changed, so that the technical effects of intelligent addressing, intelligent walking and intelligent obstacle avoidance are achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an intelligent vehicle tracking driving method according to an embodiment of the invention;
FIG. 2 is a flow diagram of a UWB positioning technique of an embodiment of the invention;
fig. 3 is a flow chart of the a-path algorithm according to an embodiment of the present invention;
FIG. 4 is a flow chart of path correction according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an intelligent car tracking driving system according to an embodiment of the invention.
Reference numerals:
the intelligent vehicle tracking system comprises an intelligent vehicle tracking driving system 500, a map initialization unit 501, a positioning acquisition unit 502, a path planning unit 503, a driving unit 504 and an obstacle detection unit 505.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In a first aspect, referring to fig. 1, a method for tracking a smart car according to a first embodiment of the present invention is described. The method comprises the following steps:
s101: acquiring map initialization information;
s102: acquiring current position information and target position information of the intelligent trolley;
s103: acquiring path planning information by using an A-path algorithm according to the acquired map initialization information, the current position information and the target position information;
s104: according to the path planning information, the intelligent trolley is driven to run, and a distance measuring module on the intelligent trolley is used for detecting barrier information existing on a running path;
s105: and planning a path by using the A path algorithm again according to the obstacle information until the intelligent vehicle reaches the target position.
The intelligent vehicle tracing driving method at least has the following technical effects that the intelligent vehicle tracing driving method is adaptive to a complex driving route intelligently and only needs simple adjustment if the environment is changed, and the technical effects of intelligent addressing, intelligent walking and intelligent obstacle avoidance are achieved.
Referring to fig. 1, a method for tracking a smart car according to a first embodiment of the present invention is described, further including: the map initialization information S101 includes lane position information and position information of a fixed obstacle, which include, but are not limited to, coordinate information described using a spatial coordinate system or a planar coordinate system. The map information can be plane information or space information, and is suitable for single-layer or multi-layer plants or storehouses. The position information of the traffic lane is mainly the position information of an area where the intelligent vehicle can travel. The fixed obstacle information is mainly obstacle position information which cannot be moved randomly in the working environment of the intelligent trolley, such as a goods shelf, a wall body and the like. The map initialization information plans a coordinate area range in which the intelligent vehicle can walk.
Referring to fig. 2, a method for tracking a smart car according to a first embodiment of the present invention is described, where the current position information is obtained by UWB technology, and the method includes:
s201: setting three UWB positioning base stations, and knowing the coordinates of the three UWB positioning base stations;
s202: installing a positioning tag on the intelligent trolley;
s203: measuring the time difference of radio signal propagation between the positioning tag and three UWB positioning base stations by using UWB technology to obtain the distance difference of the positioning tag relative to the three positioning base stations;
s204: and calculating to obtain the real-time coordinates of the intelligent trolley. The UWB positioning base station is arranged at a fixed point in the working environment of the intelligent trolley, the intelligent trolley usually works in places such as a factory goods handling workshop and the like where goods need to be frequently carried, handled and loaded, and the UWB positioning base station provides reference positioning information for the intelligent trolley. The current position information is generated by one or more UWB chips arranged on the intelligent trolley and the UWB positioning base station. When the UWB chip is respectively installed on the front portion and the rear portion of the intelligent trolley, two pieces of current position information can be generated, when the intelligent trolley walks or turns, the current position can be changed, a plurality of pieces of real-time coordinate information can be obtained, and the real-time position, the running speed and the running angle of the intelligent trolley are obtained through calculation.
Referring to fig. 1, a method for tracing a smart car according to a first embodiment of the present invention is described, wherein the target position information includes, but is not limited to, target position information or a set of target position information issued by upper computer software, target position information or a set of target position information issued by mobile phone software, and target position information or a set of target position information issued by a preset manner. The target position information may be issued in a single time, for example, from the a position to the B position, or may be a preset set of target positions, for example, from the a position to the B position, and then to the C position. The target position may be set to a single position or a plurality of positions. The setting of the target position may be set in various ways.
Referring to fig. 3, a tracing driving method for an intelligent vehicle according to a first embodiment of the present invention is described, wherein the a path algorithm is
S301: respectively calculating the moving loss value F of the intelligent trolley from the current position to the next possible position,
s302: and then taking the minimum value of the F values of all possible positions as the next position of the intelligent trolley, wherein F is G + H, G is the distance from the adjacent position of the current position to the current position, and H is the sum of the number of neighborhoods in the horizontal direction and the vertical direction between the current position and the target position. The map initialization information divides the map position of the intelligent trolley in work into a plurality of grids which can be represented by coordinates, when the intelligent trolley needs to move from a starting position A to An end position B, the intelligent trolley can go through steps A1, A2 and A3. Assuming that the information of each point on the map is represented by two-dimensional coordinates, the coordinates of the starting point position are a (1,2), the coordinate information of the end point position are B (3,8), the smart car now needs to select the coordinates of going from the point a to the next grid, and F values of 8 adjacent grids of the point a need to be calculated, the coordinates of the 8 adjacent grids of the point a are (0, 1), (1,1), (2,1), (0,2), (2,2), (0,3), (1,3) and (2,3), respectively, taking the F calculation of the smart car from a (1,2) to (2,2) as an example, wherein G value is the difference of the abscissa 1, H value is the sum of the differences of the abscissa and the ordinate of the point (2,2) to the end point B (3,8), so that F from the point (2,2) to the point a is 1+7 to 8, and calculating the F values of other 7 points in the same way, and taking the point corresponding to the minimum F value as the next position of the intelligent trolley. In addition, when the F values of 8 points in the neighborhood of a certain point are calculated, if the neighborhood is the obstacle, the point does not participate in the calculation.
Referring to fig. 1, a method for tracing a smart car according to a first embodiment of the present invention is described, where the obstacle information includes the fixed obstacle information and temporary obstacle information, where the temporary obstacle information includes, but is not limited to, suddenly appearing pedestrians and temporarily placed sundries, if a distance from the smart car to the fixed obstacle and the temporary obstacle is less than a preset distance, the smart car stops and gives an alarm, and when calculating the path planning information, a grid where the obstacle is located is ignored, and the obstacle position information does not participate in calculation in a grid adjacent to the current position. If the intelligent vehicle is too close to the obstacle due to various reasons in the advancing process, the intelligent vehicle stops and sends alarm information, the path planning information is calculated, and the intelligent vehicle drives and turns according to the calculated path planning information until the intelligent vehicle reaches the target position to stop.
Referring to fig. 4, a tracing driving method for an intelligent car according to a first embodiment of the present invention is described, where a PID algorithm is further used to perform a path correction during the driving process of the intelligent car, and the path correction specifically includes:
s401: acquiring path planning information of the intelligent vehicle;
s402: acquiring current position information of the intelligent trolley;
s403: calculating path correction information, wherein the path correction information is obtained by subtracting the path planning information and the current position information, the path correction information comprises instantaneous displacement correction information and instantaneous angle correction information, the instantaneous displacement correction information is the size of the displacement of the intelligent trolley which needs to move next, and the instantaneous angle correction information is the size of the rotation angle of the intelligent trolley which needs to rotate next;
s404: and controlling the next displacement and direction of the intelligent trolley according to the instantaneous displacement correction information and the instantaneous angle correction information, so that the position and angle information of the intelligent trolley are consistent with the path planning information. The path correction can ensure that the intelligent trolley can be corrected in time after deviating from the path planning information, and the deviation accumulation can not be caused, so that the intelligent trolley can smoothly and accurately reach the terminal point.
In a second aspect, referring to fig. 5, the intelligent vehicle tracking driving system according to the present invention comprises: the map initialization unit is used for acquiring map initialization information; the positioning acquisition unit is used for acquiring current position information and target position information of the intelligent trolley; the path planning unit is used for acquiring path planning information by utilizing an A-path algorithm according to the acquired map initialization information, the current position information and the target position information; the driving unit is used for driving the intelligent trolley to run; and the obstacle detection unit is used for detecting the obstacle information existing on the driving path by utilizing the ranging module on the intelligent trolley.
It should be noted that, since the tracking driving system of the intelligent vehicle in the first embodiment is based on the same inventive concept as the tracking driving method of the intelligent vehicle in the first embodiment, the corresponding contents in the first embodiment of the method are also applicable to the embodiment of the apparatus, and are not described in detail here.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for tracking and driving an intelligent vehicle according to the first aspect of the present invention.
It should be recognized that the method steps in embodiments of the present invention may be embodied or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method may use standard programming techniques. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. An intelligent vehicle tracing driving method is characterized by comprising the following steps:
acquiring map initialization information;
acquiring current position information and target position information of the intelligent trolley;
acquiring path planning information by using an A-path algorithm according to the acquired map initialization information, the current position information and the target position information;
according to the path planning information, the intelligent trolley is driven to run, and a distance measuring module on the intelligent trolley is used for detecting barrier information existing on a running path;
and planning a path by using the A path algorithm again according to the obstacle information until the intelligent vehicle reaches the target position.
2. The intelligent vehicle tracking driving method according to claim 1, wherein the map initialization information includes position information of a traffic lane and position information of a fixed obstacle.
3. The intelligent vehicle tracking driving method according to claim 1, wherein the current position information is obtained by UWB technology, and comprises:
setting three UWB positioning base stations, and knowing the coordinates of the three UWB positioning base stations;
installing a positioning tag on the intelligent trolley;
measuring the time difference of radio signal propagation between the positioning tag and three UWB positioning base stations by using UWB technology to obtain the distance difference of the positioning tag relative to the three positioning base stations;
and calculating to obtain the real-time coordinates of the intelligent trolley.
4. The intelligent vehicle tracking driving method according to claim 1, wherein the target position information includes, but is not limited to, target position information or a set of target position information issued by upper computer software, target position information or a set of target position information issued by mobile phone software, and target position information or a set of target position information issued by a preset manner.
5. The intelligent vehicle tracking driving method according to claim 1, wherein the A-path algorithm is expressed as F-G + H, where F is a moving loss value of the intelligent vehicle from the current position to the next possible position, G is a distance from a position adjacent to the current position,
h is the sum of the number of horizontal and vertical neighborhoods between the current position and the target position.
6. The intelligent vehicle tracking driving method according to claim 2, wherein the obstacle information comprises the fixed obstacle information and temporary obstacle information, the temporary obstacle information comprises but is not limited to suddenly appearing pedestrians and temporarily placed sundries, if the distance between the intelligent vehicle and the fixed obstacle and the temporary obstacle is less than a preset distance, the intelligent vehicle stops and gives an alarm, and path planning information is obtained again.
7. The intelligent vehicle tracking driving method according to claim 1, wherein the intelligent vehicle is driven to drive and perform path correction by using a PID algorithm, and the path correction specifically comprises:
acquiring path planning information of the intelligent vehicle;
acquiring current position information of the intelligent trolley;
calculating path correction information, wherein the path correction information is obtained by subtracting the path planning information and the current position information, the path correction information comprises instantaneous displacement correction information and instantaneous angle correction information, the instantaneous displacement correction information is the size of the displacement of the intelligent trolley which needs to move next, and the instantaneous angle correction information is the size of the rotation angle of the intelligent trolley which needs to rotate next;
and controlling the next displacement and direction of the intelligent trolley according to the instantaneous displacement correction information and the instantaneous angle correction information, so that the position and angle information of the intelligent trolley are consistent with the path planning information.
8. The utility model provides a trace traveling system is sought to intelligent vehicle which characterized in that includes:
the map initialization unit is used for acquiring map initialization information;
the positioning acquisition unit is used for acquiring current position information and target position information of the intelligent trolley;
the path planning unit is used for acquiring path planning information by utilizing an A-path algorithm according to the acquired map initialization information, the current position information and the target position information;
the driving unit is used for driving the intelligent trolley to run;
and the obstacle detection unit is used for detecting the obstacle information existing on the driving path by utilizing the ranging module on the intelligent trolley.
9. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the intelligent vehicle tracking driving method according to any one of claims 1 to 7.
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