Vehicle autonomous formation following guiding method applying passive guiding system

A guidance system and guidance vehicle technology, applied in the field of intelligent vehicle environment perception, can solve the problem of low millimeter wave resolution, and achieve the effects of strong anti-interference ability, low cost, and low use and maintenance costs

Pending Publication Date: 2022-07-29
中国人民解放军陆军军事交通学院军事交通运输研究所
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the deficiencies of the above-mentioned technologies, and provide a vehicle autonomous formation-following guidance method using a passive guidance system. The guidance module of the passive guidance system can overcome the interference of vision and laser light, and provide strong reflection isolation features , effectively solve the problem of low millimeter wave resolution, and provide stable and reliable guidance vehicle position information for manned / unmanned vehicles

Method used

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  • Vehicle autonomous formation following guiding method applying passive guiding system
  • Vehicle autonomous formation following guiding method applying passive guiding system
  • Vehicle autonomous formation following guiding method applying passive guiding system

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Embodiment Construction

[0025] The specific embodiments of the present invention will be described in detail below with reference to the preferred embodiments.

[0026] Referring to the accompanying drawings, this embodiment provides a method for autonomous vehicle formation-following guidance using a passive guidance system. By installing a passive guidance module on a guiding vehicle, the following vehicle can pass a vision sensor, a laser sensor or a laser sensor. The millimeter-wave sensor autonomously identifies and locates the guidance module of the passive guidance system, provides the position information of the guidance vehicle for manned or unmanned following vehicles, and realizes the following according to the external parameters of the vehicle body coordinate system of the guidance vehicle. Proceed as follows:

[0027] 1) Build a passive boot system

[0028] The passive guide system includes a passive guide module and a perception sensor. The passive guide module includes a guide head 1...

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Abstract

The invention relates to a vehicle autonomous formation following guiding method applying a passive guiding system, and the method comprises the steps: installing a passive guiding module on a guiding vehicle, and carrying out the autonomous recognition and positioning of the guiding module of the passive guiding system through a visual sensor, a laser sensor or a millimeter wave sensor carried on a following vehicle; the guiding vehicle position information is provided for a manned or unmanned following vehicle, and the following of the guiding vehicle is realized according to the external parameters of the coordinate system of the vehicle body of the guiding vehicle. The beneficial effects are that the car-following guiding device is not only suitable for millimeter wave radar detection, but also suitable for visual and laser radar detection, and provides more diversified choices for realizing autonomous car-following guiding; the method can be applied to complex and severe environments such as cities and cross-country with satellite rejection, communication interference and smoke shielding, and provides stable and reliable guide vehicle position information for manned / unmanned vehicles.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle environment perception, and in particular relates to a vehicle autonomous formation-following guidance method using a passive guidance system. Background technique [0002] The prior art mainly includes a car-following guidance method based on satellite positioning and inter-vehicle communication and a car-following guidance method based on the autonomous detection and guidance of a vehicle based on a sensor. [0003] The formation based on satellite positioning and communication has high requirements on positioning accuracy and real-time communication. Once the satellite signal is blocked and the multi-path effect is affected, or the communication signal is interfered, the effect of the formation following the vehicle will be greatly reduced or even completely invalid. [0004] The method of sensor-based autonomous detection of guided vehicles mainly uses cameras, lidars, and millimet...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0257G05D1/0295
Inventor 王任栋徐友春朱愿章永进苏致远
Owner 中国人民解放军陆军军事交通学院军事交通运输研究所
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