CN105353379B - A kind of anticollision ranging right distribution method of many moving bodys - Google Patents

A kind of anticollision ranging right distribution method of many moving bodys Download PDF

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CN105353379B
CN105353379B CN201510855926.3A CN201510855926A CN105353379B CN 105353379 B CN105353379 B CN 105353379B CN 201510855926 A CN201510855926 A CN 201510855926A CN 105353379 B CN105353379 B CN 105353379B
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ranging
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distance
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CN105353379A (en
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刘志新
张润
袁亚洲
李雨纯
杨达
朱雨
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Yanshan University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes

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Abstract

本发明提供一种多移动体的防碰撞测距权利分配方法，包括以下步骤：第一步，多移动体组成一个对等网络，获取射频覆盖内网络移动体数量；第二步，根据第一步得到的网络移动体数量，依次给予每个移动体一次测距权力，得到每个移动体与之最近移动体距离，以此建立移动体最小距离表；第三步，网络对于第二步得到的移动体最小距离表，对此后的移动体请求获取测距权力进行优先分配；第四步，网络对移动体测距权力进行优先分配后，根据请求获取测距权利失败移动体的失败次数，网络又建立一个拒绝次数表；第五步，网络根据以上两个表对移动体获取测距权力进行分配。本发明具有安全性高、碰撞事件率低、减少误操作等优点。

The present invention provides a method for allocating anti-collision ranging rights of multiple mobile bodies, comprising the following steps: first, multiple mobile bodies form a peer-to-peer network, and obtain the number of network mobile bodies within radio frequency coverage; second step, according to the first The number of network mobile objects obtained in the first step, and each mobile object is given a ranging power in turn, and the distance between each mobile object and the nearest mobile object is obtained, so as to establish the minimum distance table of mobile objects; the third step, the network obtains for the second step The minimum distance table of the mobile body, and prioritize the distribution of subsequent mobile body requests for ranging rights; the fourth step, after the network prioritizes the distribution of mobile body ranging rights, the number of failures of the mobile body that fails to obtain ranging rights according to the request, The network also establishes a rejection times table; in the fifth step, the network allocates the ranging rights to the mobile body according to the above two tables. The invention has the advantages of high safety, low collision event rate, less misoperation and the like.

Description

一种多移动体的防碰撞测距权利分配方法A Method of Allocation of Anti-collision Ranging Rights for Multiple Moving Objects

技术领域technical field

本发明涉及物体碰撞保护领域，尤其涉及一种多移动体的防碰撞测距权利分配方法。The invention relates to the field of object collision protection, in particular to a method for allocating anti-collision and ranging rights of multiple moving bodies.

背景技术Background technique

目前，现有技术中的防碰撞方法一般是用超声波测出两个物体之间的距离，当两个物体之间的距离小于一定阈值时，启动防碰撞措施，这是一种静态防碰撞方法。而对于多个运动的物体来说，由于移动体之间超声波存在相互干扰，超声测距不准确甚至失效。对于多个移动体的防碰撞保护时，由于每个移动体都要发出超声波去测试周边移动体与自己的距离，所以需要一种调度方法以保证多个移动体发出的超声波不冲突。例如：公开号为200510062546.0的专利文献提供了一种混合测距方法，此种方法虽能测量距离，但却存在着方法繁琐、测距时间长、系统运转效率低、不能实现快速测距等问题。At present, the anti-collision method in the prior art generally uses ultrasonic waves to measure the distance between two objects. When the distance between the two objects is less than a certain threshold, anti-collision measures are activated. This is a static anti-collision method. . For multiple moving objects, due to the mutual interference of ultrasonic waves between moving objects, ultrasonic ranging is inaccurate or even invalid. For the anti-collision protection of multiple moving bodies, since each moving body has to emit ultrasonic waves to test the distance between surrounding moving bodies and itself, a scheduling method is needed to ensure that the ultrasonic waves emitted by multiple moving bodies do not conflict. For example: the patent document with the publication number of 200510062546.0 provides a hybrid ranging method. Although this method can measure the distance, it has problems such as cumbersome method, long ranging time, low system operation efficiency, and inability to realize fast ranging. .

此外，在保证所有移动体获取周围环境信息实时性的同时，还需要着重考虑测距的公平性，以避免某些节点一直处于接收状态，无法进行主动测距。In addition, while ensuring that all mobile objects obtain real-time information about the surrounding environment, it is also necessary to consider the fairness of ranging, so as to avoid some nodes being in the receiving state all the time and unable to perform active ranging.

发明内容Contents of the invention

本发明目的在于提供一种安全性高、降低碰撞事件的发生率、减少误操作的多移动体的防碰撞测距权利分配方法。The purpose of the present invention is to provide a method for allocating anti-collision and ranging rights of multiple mobile bodies with high safety, reduced incidence of collision events, and reduced misoperation.

为实现上述目的，采用了以下技术方案：本发明方法包括多个移动体，在每个移动体上均配备有电磁波收发装置和超声波测距传感器模块，所述测距权利分配方法由移动体超声波测距部分和移动体测距权利分配部分组成；In order to achieve the above object, the following technical solutions are adopted: the method of the present invention includes a plurality of mobile bodies, and each mobile body is equipped with an electromagnetic wave transceiver device and an ultrasonic distance measuring sensor module, and the distance measurement right allocation method is controlled by the mobile body ultrasonic wave. The distance measurement part and the mobile body distance measurement right allocation part are composed;

(一)移动体超声波测距部分，分为如下两种情况(1) The ultrasonic ranging part of the mobile body is divided into the following two situations

(1)在测量区域内，包括多个移动体和静止障碍物，测距方法如下；(1) In the measurement area, including multiple moving objects and stationary obstacles, the distance measurement method is as follows;

(1-1)选择一个移动体发出电磁波信号，广播给其它移动体，该移动体获取优先测距的权力；发射电磁波信号的移动体命名为发射体，接收电磁波信号的移动体命名为接收体；(1-1) Select a mobile body to send out electromagnetic wave signals and broadcast them to other mobile bodies. The mobile body obtains the priority of ranging; the mobile body that emits electromagnetic wave signals is named as the emitter, and the mobile body that receives electromagnetic wave signals is named as the receiver. ;

(1-2)所有接收体在接收到电磁波信号后，不再向外发出超声波；(1-2) After receiving the electromagnetic wave signal, all receivers no longer send out ultrasonic waves;

(1-3)发射体利用自身的超声波测距传感器模块向各接收体和静止障碍物发射超声波；(1-3) The emitter uses its own ultrasonic ranging sensor module to emit ultrasonic waves to each receiver and stationary obstacles;

(1-4)发射体利用自身的超声波测距传感器模块接收各接收体和静止障碍物反射的超声波，根据发射超声波与接收超声波的时间差、超声波的传播速度，计算出发射体与各接收体、静止障碍物之间的距离；(1-4) The emitter uses its own ultrasonic ranging sensor module to receive the ultrasonic waves reflected by each receiver and stationary obstacles, and calculates the distance between the emitter and each receiver, the distance between stationary obstacles;

(2)在测量区域内，只有多个移动体，没有其他障碍物；(2) In the measurement area, there are only multiple moving objects and no other obstacles;

(2-1)选择一个移动体发出电磁波信号，广播给其它移动体，该移动体获取优先测距的权力；其他移动体接收到电磁波信号后，不再向外发出超声波，都处于接收超声波模式；发射信号移动体命名为发射体，接收信号移动体命名为接收体；(2-1) Select a mobile body to send out an electromagnetic wave signal and broadcast it to other mobile bodies, and the mobile body obtains the power of priority distance measurement; after receiving the electromagnetic wave signal, other mobile bodies no longer send out ultrasonic waves, and are all in the mode of receiving ultrasonic waves ;The moving body that transmits the signal is named as the emitter, and the moving body that receives the signal is named as the receiver;

(2-2)发射体再次发射电磁波信号，使射频范围内所有移动体时间同步；(2-2) The emitter emits electromagnetic wave signals again to synchronize the time of all moving objects within the radio frequency range;

(2-3)发射体同时发出电磁波和超声波信号；电磁波信号记录超声波发射时间以便后续距离计算；(2-3) The emitter emits electromagnetic waves and ultrasonic signals at the same time; the electromagnetic wave signals record the ultrasonic emission time for subsequent distance calculation;

(2-4)各接收体接收到发射体发出的电磁波和超声波信号后，根据发射超声波时间与接收超声波的时间差、超声波传播速度，计算出发射体与各接收体之间的距离；(2-4) After receiving the electromagnetic wave and ultrasonic signal sent by the emitter, each receiver calculates the distance between the emitter and each receiver according to the time difference between the time of transmitting the ultrasonic wave and the time difference between receiving the ultrasonic wave and the propagation speed of the ultrasonic wave;

(二)移动体测距权利分配部分，包括以下步骤：(2) The mobile object ranging right allocation part, including the following steps:

第一步，多个移动体组成一个对等网络，每个移动体称为网络节点且拥有唯一编号，获取射频覆盖内网络中的移动体数量和编号；In the first step, multiple mobile bodies form a peer-to-peer network. Each mobile body is called a network node and has a unique number, and the number and number of mobile bodies in the network within the radio frequency coverage are obtained;

第二步，根据获取的移动体数量和编号，依次给予每一个移动体一次测距权利，每个移动体得到与其距离最近移动体之间的距离，每个移动体实时建立一个该移动体与其他移动体的最小距离表；In the second step, according to the number and serial number of the acquired moving objects, each moving object is given a ranging right in turn, and each moving object obtains the distance between the moving object and the nearest moving object, and each moving object establishes a real-time Minimum distance table for other moving objects;

第三步，对等网络根据移动体最小距离表，对此后的移动体请求获取测距权利进行优先分配；In the third step, the peer-to-peer network assigns priority to subsequent mobile body requests for ranging rights according to the mobile body minimum distance table;

第四步，根据请求获取测距权利失败的移动体的失败次数，对等网络建立一个拒绝次数表，并设定预定值；In the fourth step, according to the number of failures of the mobile body that fails to obtain the ranging right, the peer-to-peer network establishes a rejection times table and sets a predetermined value;

第五步，对等网络根据移动体最小距离表和拒绝次数表对移动体获取测距权利进行分配，优先以移动体最小距离表作为参考，只有在某个移动体被拒绝的次数大于预定值时才以拒绝次数表作为参考去分配移动体获取测距权利。以增强移动体的防碰撞保护的安全性。The fifth step, the peer-to-peer network allocates the distance measurement rights to the mobile object according to the minimum distance table of the mobile object and the table of rejection times. The minimum distance table of the mobile object is given priority as a reference. Only when the rejection times table is used as a reference to allocate the mobile body to obtain the ranging right. To enhance the safety of the anti-collision protection of the moving body.

优选地，所述移动体最小距离表是每一个移动体测量出距离自己最近物体的距离从而建立移动体与之对应的最小距离表格，以此预测移动体碰撞的概率，最小距离小的移动体优先获取测距权利。Preferably, the minimum distance table of the mobile body is that each mobile body measures the distance to the closest object to itself to establish a minimum distance table corresponding to the mobile body, so as to predict the probability of collision of the mobile body, and the mobile body with a small minimum distance Priority to obtain ranging rights.

优选地，所述拒绝次数表是根据移动体与它被拒绝获取测距权利次数的关系建立的一种表格，由于长时间没有获取到测距权利，移动体位置信息可能发生巨大变化，当被拒绝次数达到预定值次数时，需要给予该移动体测距权利。Preferably, the rejection times table is a table established according to the relationship between the mobile body and the number of times it has been refused to obtain the distance measuring right. Since the distance measuring right has not been obtained for a long time, the position information of the mobile body may change greatly. When the number of denials reaches a predetermined number of times, the mobile body needs to be given the right to measure distance.

与现有技术相比，本发明具有如下优点：Compared with the prior art, the present invention has the following advantages:

1、每个移动体采用逐个测距的方法来防止不同移动体发出的超声波相互干扰的问题。1. Each mobile body adopts the method of measuring distance one by one to prevent the mutual interference of ultrasonic waves emitted by different mobile bodies.

2、综合考虑移动体自身与其它移动体的距离数据以及移动体请求获取测距权力失败次数进行防碰撞保护，可以保证所有移动体测距的公平性，有效避免某些移动体一直无法测距的问题。2. Comprehensively consider the distance data between the mobile body itself and other mobile bodies and the number of times the mobile body fails to obtain the ranging authority for anti-collision protection, which can ensure the fairness of distance measurement for all mobile bodies and effectively prevent certain mobile bodies from being unable to measure distances. The problem.

3、大大增强运动状态物体的防碰撞保护的安全性，降低碰撞事件的发生，并减少移动体在运动过程中保护措施的误操作。3. Greatly enhance the safety of the anti-collision protection of moving objects, reduce the occurrence of collision events, and reduce the misoperation of protective measures during the movement of moving objects.

附图说明Description of drawings

图1是本发明方法的流程图。Figure 1 is a flow chart of the method of the present invention.

图2是本发明方法中移动体超声波测距部分的第二种情况的测距排序图。Fig. 2 is a ranging diagram of the second case of the mobile body ultrasonic ranging part in the method of the present invention.

具体实施方式detailed description

下面结合附图对本发明做进一步说明：The present invention will be further described below in conjunction with accompanying drawing:

本发明所述分配方法，包括多个移动体，在每个移动体上均配备有电磁波收发装置和超声波测距传感器模块，所述测距权利分配方法由移动体超声波测距部分和移动体测距权利分配部分组成；The allocation method of the present invention includes a plurality of moving bodies, each of which is equipped with an electromagnetic wave transceiver and an ultrasonic distance measuring sensor module, and the distance measuring rights allocation method is composed of the mobile body ultrasonic distance measuring part and the mobile body measuring Part of the distribution of rights;

(一)移动体超声波测距部分，分为如下两种情况(1) The ultrasonic ranging part of the mobile body is divided into the following two situations

(1)在测量区域内，包括多个移动体和静止障碍物，测距方法如下；(1) In the measurement area, including multiple moving objects and stationary obstacles, the distance measurement method is as follows;

(1-1)选择一个移动体发出电磁波信号，广播给其它移动体，该移动体获取优先测距的权力；发射电磁波信号的移动体命名为发射体，接收电磁波信号的移动体命名为接收体；(1-1) Select a mobile body to send out electromagnetic wave signals and broadcast them to other mobile bodies. The mobile body obtains the priority of ranging; the mobile body that emits electromagnetic wave signals is named as the emitter, and the mobile body that receives electromagnetic wave signals is named as the receiver. ;

(1-2)所有接收体在接收到电磁波信号后，不再向外发出超声波；(1-2) After receiving the electromagnetic wave signal, all receivers no longer send out ultrasonic waves;

(1-3)发射体利用自身的超声波测距传感器模块向各接收体和静止障碍物发射超声波；(1-3) The emitter uses its own ultrasonic ranging sensor module to emit ultrasonic waves to each receiver and stationary obstacles;

(1-4)发射体利用自身的超声波测距传感器模块接收各接收体和静止障碍物反射的超声波，根据发射超声波与接收超声波的时间差、超声波的传播速度，计算出发射体与各接收体、静止障碍物之间的距离；(1-4) The emitter uses its own ultrasonic ranging sensor module to receive the ultrasonic waves reflected by each receiver and stationary obstacles, and calculates the distance between the emitter and each receiver, the distance between stationary obstacles;

该种测距方法可以检测到系统区域有除移动体之外的障碍物。This ranging method can detect obstacles other than moving objects in the system area.

(2)在测量区域内，只有多个移动体，没有其他障碍物；测距排序图如图2所示；(2) In the measurement area, there are only multiple moving objects, and there are no other obstacles; the ranging diagram is shown in Figure 2;

(2-1)选择一个移动体发出电磁波信号，广播给其它移动体，该移动体获取优先测距的权力；其他移动体接收到电磁波信号后，不再向外发出超声波，都处于接收超声波模式；发射信号移动体命名为发射体，接收信号移动体命名为接收体；(2-1) Select a mobile body to send out an electromagnetic wave signal and broadcast it to other mobile bodies, and the mobile body obtains the power of priority distance measurement; after receiving the electromagnetic wave signal, other mobile bodies no longer send out ultrasonic waves, and are all in the mode of receiving ultrasonic waves ;The moving body that transmits the signal is named as the emitter, and the moving body that receives the signal is named as the receiver;

(2-2)发射体再次发射电磁波信号，使射频范围内所有移动体时间同步；(2-2) The emitter emits electromagnetic wave signals again to synchronize the time of all moving objects within the radio frequency range;

(2-3)发射体同时发出电磁波和超声波信号；电磁波信号记录超声波发射时间以便后续距离计算；(2-3) The emitter emits electromagnetic waves and ultrasonic signals at the same time; the electromagnetic wave signals record the ultrasonic emission time for subsequent distance calculation;

(2-4)各接收体接收到发射体发出的电磁波和超声波信号后，根据发射超声波时间与接收超声波的时间差、超声波传播速度，计算出发射体与各接收体之间的距离；(2-4) After receiving the electromagnetic wave and ultrasonic signal sent by the emitter, each receiver calculates the distance between the emitter and each receiver according to the time difference between the time of transmitting the ultrasonic wave and the time difference between receiving the ultrasonic wave and the propagation speed of the ultrasonic wave;

该种测距方法可以更快、更精确的测量移动体之间的距离。This distance measuring method can measure the distance between moving objects faster and more accurately.

(二)移动体测距权利分配部分，如图1所示，包括以下步骤：(2) The mobile object distance measurement rights allocation part, as shown in Figure 1, includes the following steps:

第一步，多个移动体组成一个对等网络，每个移动体称为网络节点且拥有唯一编号，获取射频覆盖内网络中的移动体数量和编号；In the first step, multiple mobile bodies form a peer-to-peer network. Each mobile body is called a network node and has a unique number, and the number and number of mobile bodies in the network within the radio frequency coverage are obtained;

第二步，根据获取的移动体数量和编号，依次给予每一个移动体一次测距权利，每个移动体得到与其距离最近移动体之间的距离，每个移动体实时建立一个该移动体与其他移动体的最小距离表；In the second step, according to the number and serial number of the acquired moving objects, each moving object is given a ranging right in turn, and each moving object obtains the distance between the moving object and the nearest moving object, and each moving object establishes a real-time Minimum distance table for other moving objects;

移动体最小距离表是每一个移动体测量出距离自己最近物体的距离从而建立移动体与之对应的最小距离表格，以此预测移动体碰撞的概率，最小距离小的移动体优先获取测距权利。The minimum distance table of the moving body is that each moving body measures the distance from the nearest object to establish the minimum distance table corresponding to the moving body, so as to predict the probability of the collision of the moving body, and the moving body with a small minimum distance has priority to obtain the ranging right .

第三步，对等网络根据移动体最小距离表，对此后的移动体请求获取测距权利进行优先分配；In the third step, the peer-to-peer network assigns priority to subsequent mobile body requests for ranging rights according to the mobile body minimum distance table;

第四步，根据请求获取测距权利失败的移动体的失败次数，对等网络建立一个拒绝次数表，并设定预定值；In the fourth step, according to the number of failures of the mobile body that fails to obtain the ranging right, the peer-to-peer network establishes a rejection times table and sets a predetermined value;

所述拒绝次数表是根据移动体与它被拒绝获取测距权利次数的关系建立的一种表格，由于长时间没有获取到测距权利，移动体位置信息可能发生巨大变化，当被拒绝次数达到预定值次数时，需要给予该移动体测距权利。The table of rejection times is a table established according to the relationship between the mobile body and the number of times it has been refused to obtain the ranging right. Since the distance measuring right has not been obtained for a long time, the position information of the mobile body may change greatly. When the number of rejected times reaches When the predetermined number of times is reached, the mobile body needs to be given the right to measure distance.

第五步，对等网络根据移动体最小距离表和拒绝次数表对移动体获取测距权利进行分配，优先以移动体最小距离表作为参考，只有在某个移动体被拒绝的次数大于预定值时才以拒绝次数表作为参考去分配移动体获取测距权利，以增强移动体的防碰撞保护的安全性。The fifth step, the peer-to-peer network allocates the distance measurement rights to the mobile object according to the minimum distance table of the mobile object and the table of rejection times. The minimum distance table of the mobile object is given priority as a reference. Only when the rejection times table is used as a reference to assign the mobile body to obtain the ranging right, so as to enhance the safety of the anti-collision protection of the mobile body.

本发明提供的处于移动状态物体的防碰撞保护方法可以应用于游车、汽车、航空、轮船和机器人等领域，具有很大的应用空间和广泛的市场前景。The anti-collision protection method for objects in a moving state provided by the invention can be applied to the fields of recreational vehicles, automobiles, aviation, ships, robots, etc., and has great application space and broad market prospects.

以上所述的实施例仅仅是对本发明的优选实施方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通技术人员对本发明的技术方案做出的各种变形和改进，均应落入本发明权利要求书确定的保护范围内。The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. All such modifications and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (3)

1. a kind of anticollision ranging right distribution method of many moving bodys, including multiple moving bodys, match somebody with somebody on each moving body Equiped with electromagnetic wave R-T unit and ultrasonic distance-measuring sensor module, it is characterised in that：The ranging right distribution method is by moving Kinetoplast ultrasonic ranging part and moving body ranging right distribution part composition；
(1) moving body ultrasonic ranging part, is divided into the following two kinds situation
(1) in measured zone, including multiple moving bodys and stationary obstruction, distance-finding method is as follows；
(1-1) selects a moving body to send electromagnetic wave signal, is broadcast to other moving bodys, and the moving body obtains preferential ranging Right；The moving body of electromagnetic signals is named as emitter, and the moving body for receiving electromagnetic wave signal is named as receiving body；
(1-2) all receiving body after electromagnetic wave signal is received, no longer send out ultrasonic wave；
(1-3) emitter launches ultrasound using the ultrasonic distance-measuring sensor module of itself to each receiving body and stationary obstruction Ripple；
(1-4) emitter utilizes each receiving body of ultrasonic distance-measuring sensor module reception of itself and surpassing for stationary obstruction reflection Sound wave, according to transmitting ultrasonic wave and the time difference of reception ultrasonic wave, the spread speed of ultrasonic wave, calculates emitter and is received with each The distance between body, stationary obstruction；
(2) in measured zone, only multiple moving bodys, without other barriers；
(2-1) selects a moving body to send electromagnetic wave signal, is broadcast to other moving bodys, and the moving body obtains preferential ranging Right；Other moving bodys are received after electromagnetic wave signal, no longer send out ultrasonic wave, all in reception ultrasound mode；Hair Penetrate signal moving body and be named as emitter, receive signal moving body and be named as receiving body；
(2-2) emitter electromagnetic signals again, make all moving body time synchronizeds in radio-frequency region；
(2-3) emitter is simultaneously emitted by electromagnetic wave and ultrasonic signal；Electromagnetic wave signal records ultrasonic wave launch time with after an action of the bowels Continuous distance is calculated；
(2-4) each receiving body is received after the electromagnetic wave and ultrasonic signal that emitter sends, according to transmitting sonication times with Time difference, the ultrasonic propagation velocity of ultrasonic wave are received, the distance between emitter and each receiving body is calculated；
(2) moving body ranging right distribution part, comprises the following steps：
The first step, multiple moving bodys constitute a peer-to-peer network, and each moving body is referred to as network node and possesses unique number, obtains Take moving body quantity and numbering in network in radio frequency covering；
Second step, according to the moving body quantity and numbering of acquisition, gives each moving body ranging right, Mei Geyi successively Kinetoplast the distance between is obtained with its closest moving body, and each moving body is set up the moving body and moved with other in real time The minimum range table of body；
3rd step, peer-to-peer network is carried out excellent according to moving body minimum range table to moving body acquisition request ranging right hereafter First distribute；
4th step, according to the frequency of failure of the moving body of acquisition request ranging right failure, peer-to-peer network sets up a refusal Number table, and set predetermined value；
5th step, peer-to-peer network obtains ranging right to moving body according to moving body minimum range table and refusal frequency table and divided Match somebody with somebody, preferentially using moving body minimum range table as reference, only when the number of times that a certain moving body is rejected is more than predetermined value Distribution moving body is gone to obtain ranging right to refuse frequency table as reference.
2. a kind of anticollision ranging right distribution method of many moving bodys according to claim 1, it is characterised in that：Institute In the second step of moving body ranging right distribution part for stating method, moving body minimum range table is that each moving body is measured Distance apart from oneself nearest object predicts that moving body is collided so as to set up the corresponding minimum range form of moving body with this Probability, the small moving body of minimum range preferentially obtains ranging right.
3. a kind of anticollision ranging right distribution method of many moving bodys according to claim 1, it is characterised in that：Institute In the 4th step of moving body ranging right distribution part for stating method, the refusal frequency table is to be rejected according to moving body with it A kind of form that the relation of ranging right number of times is set up is obtained, because long-time does not get ranging right, movable body position Great variety may occur for information, when being rejected number of times and reaching predetermined value number of times, it is necessary to give the moving body ranging right.
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