CN105374203A - Vehicle fleet control method based on Internet-of-vehicles and on-vehicle device - Google Patents

Abstract

Embodiments of the present invention provide a vehicle-network-based fleet control method and vehicle-mounted device, wherein the method includes: the vehicle-mounted device of each vehicle in the fleet interconnected through the vehicle network, negotiates with the vehicle-mounted devices of other vehicles in the fleet, and the fleet The functions corresponding to the control are assigned to the vehicle-mounted device of at least one vehicle in the fleet; the vehicle-mounted device of any vehicle in the fleet obtains the vehicle control information sent by the vehicle of other vehicles, and according to the vehicle control information, the vehicle-mounted device The vehicle to which it belongs performs control operations. The scheme of the present invention divides the fleet control into several functional modules, deploys different expert systems to different vehicles in the formation for each functional module, and regards the fleet as a whole when performing fleet control. The overall driving control of the fleet is carried out based on the processing results.

Description

Fleet control method and vehicle-mounted device based on Internet of Vehicles

technical field

The invention relates to the Internet of Vehicles technology, in particular to a method for controlling a vehicle fleet based on the Internet of Vehicles and a vehicle-mounted device.

Background technique

In the prior art solution, the formation vehicles include a lead vehicle and one or more follower vehicles that automatically follow the lead vehicle, and the control mode of the fleet is that the lead vehicle controls the movement of the follower vehicles. The following vehicle collects real-time driving information, sends it to the leading vehicle through the communication device, and the guiding vehicle processes the driving information collected by the following vehicle, and sends control instructions to the following vehicle according to the processing results.

The prior art scheme has the following disadvantages:

1. The formation vehicles are divided into guiding vehicles and non-guiding vehicles, and the guiding vehicles send control commands to the non-guiding vehicles. The real-time performance of formation control is poor.

2. The guiding vehicle controls the movement of the convoy, and at the same time processes the driving data collected by the non-guiding vehicle, requiring the on-board device of the guiding vehicle to have strong processing capabilities and path planning capabilities, which increases the difficulty of designing the guiding vehicle.

3. The centralized control method of guiding vehicles to control the movement of the convoy is adopted, and the robustness of the system is poor. If the guiding vehicles fail, the entire system will collapse.

4. The centralized control method that guides vehicles to control the movement of the fleet limits the capacity of the fleet. With the increase in the number of vehicles in the fleet, the communication load of the system and the processing load of the on-board devices of the guided vehicles increase, making it difficult to expand the system.

Contents of the invention

The technical problem to be solved by the present invention is to provide a vehicle-network-based fleet control method and a vehicle-mounted device. The fleet control is divided into several functional modules, and different expert systems are deployed to different vehicles in the formation for each functional module. When the fleet is controlled, the fleet is regarded as a whole, and according to the processing results of different functional modules, the The fleet carries out overall driving control.

In order to solve the above-mentioned technical problems, embodiments of the present invention provide a vehicle-network-based fleet control method, including:

The vehicle-mounted devices of each vehicle in the fleet interconnected through the Internet of Vehicles negotiate with the vehicle-mounted devices of other vehicles in the fleet, and assign the corresponding functions of the fleet control to the vehicle-mounted devices of at least one vehicle in the fleet;

The vehicle-mounted device of any vehicle in the fleet acquires the vehicle control information sent by the vehicles of other vehicles, and performs control operations on the vehicle to which the vehicle-mounted device belongs according to the vehicle control information.

Wherein, the on-board device of each vehicle in the fleet interconnected through the Internet of Vehicles negotiates with the on-board devices of other vehicles in the fleet, and the steps of assigning the functions corresponding to the fleet control to the on-board device of at least one vehicle in the fleet include:

Through the communication module of the on-board device of each vehicle in the fleet interconnected by the Internet of Vehicles, negotiate with the on-board device of other vehicles in the fleet, and assign the functions corresponding to the fleet control to the expert system of at least one vehicle in the fleet. module.

Wherein, the functions corresponding to the expert system modules of the vehicle-mounted devices of each vehicle are different.

Wherein, the above-mentioned method further includes: when the network topology of the fleet changes, re-negotiating with the on-board devices of other vehicles in the fleet through the vehicle-mounted devices of the interconnected vehicles in the fleet, and separate the functions corresponding to the fleet control An on-board unit assigned to at least one vehicle in the fleet.

Among them, the functions corresponding to the fleet control include: control planning function, fleet peripheral information processing function and formation control function; the control planning function, fleet peripheral information processing function and formation control sub-functions correspond to the expert system modules of the on-board devices of different vehicles respectively .

Wherein, when the expert system module completes the formation control function, it obtains the exact position of the vehicle acquired by the positioning module of the vehicle's on-board device, and combines the preset vehicle size and the installation position of the positioning module to obtain four positions of the vehicle. The size position represented by the position data of the corner, and the size position of all other vehicles in the fleet are obtained, and the envelope of the fleet is obtained according to the size position of each vehicle; and the longest and widest of the fleet are obtained according to the envelope of the fleet Based on the position, extend a preset distance based on this position to obtain the formation size of the fleet; and according to the formation size of the fleet, generate the peripheral boundary line of the fleet represented by a strip-shaped area whose length is the driving direction of the fleet.

Wherein, the length and width of the strip-shaped area are respectively the length and width of the formation size of the fleet;

When the curve has a radian, the boundary in the front and rear direction remains unchanged, and the boundary in the left and right direction is two arcs extended to the width of the formation size based on the center line of the driving direction, as the outer boundary of the team.

Embodiments of the present invention also provide a vehicle-mounted device, including:

The communication module is used for negotiating with the communication modules of the vehicle-mounted devices of other vehicles in the fleet based on the interconnection of the Internet of Vehicles, and obtaining the functions corresponding to the control of the fleet;

The expert system module is used to configure a function corresponding to the fleet control, obtain the vehicle control information sent by other vehicles through the communication module, and control the vehicle to which the vehicle-mounted device belongs according to the vehicle control information.

Among them, the functions corresponding to the fleet control include: control planning function, fleet peripheral information processing function and formation control function; the control planning function, fleet peripheral information processing function and formation control sub-functions correspond to the expert system modules of the on-board devices of different vehicles respectively .

Wherein, the above-mentioned vehicle-mounted device also includes:

A positioning module is used to obtain the position information of the vehicle;

When the expert system module completes the formation control function, it obtains the accurate position of the vehicle obtained by the positioning module, and combines the preset vehicle size and the installation position of the positioning module to obtain the position data of the four corners of the vehicle The size position indicated, and obtain the size position of all other vehicles in the fleet, according to the size position of each vehicle, obtain the envelope of the fleet; and according to the envelope of the fleet, obtain the longest and widest position of the fleet, so that The position is used as the base to extend a preset distance to obtain the size of the formation of the fleet; and according to the size of the formation of the fleet, an outer boundary line of the fleet represented by a strip-shaped area whose length is the driving direction of the fleet is generated.

The foregoing embodiments of the present invention have the following beneficial effects:

The above scheme of the present invention divides the fleet control into several functional modules, deploys different expert systems to different vehicles in the formation for each functional module, and regards the fleet as a whole when performing fleet control. The processing results of the functional modules control the overall driving of the fleet.

Description of drawings

Fig. 1 is the schematic flow chart of the fleet control method based on Internet of Vehicles of the present invention;

Fig. 2 is the schematic diagram of fleet networking based on Internet of Vehicles of the present invention;

Fig. 3 is a schematic diagram of the outer boundary line when the fleet is going straight based on the Internet of Vehicles of the present invention;

Fig. 4 is a schematic diagram of the outer boundary line of the team turning based on the Internet of Vehicles of the present invention;

Fig. 5 is a flow chart of a specific embodiment of the flow of the vehicle network-based fleet control method of the present invention.

detailed description

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

The scheme of the present invention aims at the problem of poor robustness of the system in the prior art that adopts the centralized control method of guiding vehicles to control the progress of the fleet, and provides a fleet control method based on the Internet of Vehicles, which divides the fleet control into several functions Module, for each functional module, different expert systems are deployed to different vehicles in the formation. When controlling the fleet, the fleet is regarded as a whole, and the overall driving control of the fleet is carried out according to the processing results of different functional modules.

As shown in Figure 1, the embodiment of the present invention provides a kind of fleet control method based on Internet of Vehicles, including:

Step 11, negotiate with the on-board devices of other vehicles in the fleet through the on-board devices of each vehicle in the fleet interconnected by the Internet of Vehicles, and assign the corresponding functions of the fleet control to the on-board devices of at least one vehicle in the fleet;

Step 12, the on-board device of any vehicle in the fleet acquires the vehicle control information sent by other vehicles, and performs control operations on the vehicle to which the on-board device belongs according to the vehicle control information.

The system architecture of this embodiment of the present invention is shown in Figure 2. The system includes: a fleet of vehicles communicating with each other based on the Internet of Vehicles, including: vehicles with control planning functions, vehicles for peripheral information processing, and vehicles for formation control. The scheme uses a distributed control method to control the fleet. The fleet control function is divided into several sub-functions. The vehicles in the fleet coordinate to determine the division of labor. Each sub-function is handled by at least one vehicle in the fleet. If the sub-functions are more complicated, it can be considered Handled by more than one vehicle.

The vehicle-mounted devices of each vehicle in the fleet interconnected through the Internet of Vehicles negotiate with the vehicle-mounted devices of other vehicles in the fleet, and assign the corresponding functions of the fleet control to at least one of the vehicle-mounted devices in the fleet; The on-board device of the vehicle obtains the vehicle control information sent by other vehicles on-board, and performs control operations on the vehicle to which the on-board device belongs according to the vehicle control information; thus realizing the division of the fleet control into several functional modules, for each functional module Different expert systems are deployed on different vehicles in the formation, and when the fleet is controlled, the fleet is regarded as a whole, and the overall driving control of the fleet is carried out according to the processing results of different functional modules; thus, the robustness of the system is relatively high. Well, it will not cause the collapse of the whole system due to the failure of the guided vehicle, and it can increase the number of vehicles in the fleet, and it will not cause the communication load of the system and the increase in the processing load of the guided vehicle's on-board device. System scalability better.

In a specific embodiment of the present invention, the above step 11 includes:

Through the communication module of the on-board device of each vehicle in the fleet interconnected by the Internet of Vehicles, negotiate with the on-board device of other vehicles in the fleet, and assign the functions corresponding to the fleet control to the expert system of at least one vehicle in the fleet. module.

Wherein, the functions corresponding to the expert system modules of the vehicle-mounted devices of each vehicle are different.

Further, in a specific embodiment of the present invention, the above method also includes:

Step 13: When the network topology of the fleet changes, re-negotiate with the on-board devices of other vehicles in the fleet through the vehicle-mounted devices of the interconnected vehicles in the fleet, and assign the functions corresponding to the fleet control to the fleet. on-board unit of at least one vehicle.

Among them, the functions corresponding to the fleet control include: control planning function (such as the vehicle with the control planning function in Figure 2), the fleet surrounding information processing function (such as the vehicle with the surrounding information processing function in the middle of Figure 2) and formation control function ( Vehicles controlled by formation on the far right in Figure 2); the control planning function, the peripheral information processing function of the fleet and the formation control sub-functions correspond to the expert system modules of the vehicle-mounted devices of different vehicles respectively. Of course, the functions corresponding to the fleet control are not limited to the functions described above, and the corresponding functions corresponding to the control can also be added according to specific situations.

Wherein, as shown in FIG. 3 , when the expert system module completes the formation control function, it obtains the exact position of the vehicle obtained by the positioning module of the vehicle-mounted device, and combines the preset vehicle size and the installation position of the positioning module, Obtain the size and position represented by the position data of the four corners of the vehicle, and obtain the size and position of all other vehicles in the fleet. According to the size and position of each vehicle, obtain the envelope of the fleet; and according to the envelope of the fleet, obtain the Based on the longest and widest position, extend a preset distance based on this position to obtain the formation size of the fleet; and according to the formation size of the fleet, generate the peripheral boundary line of the fleet represented by a strip-shaped area whose length is the driving direction of the fleet . Wherein, the length and width of the strip-shaped area are respectively the length and width of the formation size of the convoy.

When the curve has a radian, as shown in Figure 4, the boundaries in the front and rear directions remain unchanged, and the boundaries in the left and right directions are two arcs that extend to the width of the formation based on the center line of the driving direction, as the outer boundaries of the team .

The specific process control diagram of the above-mentioned embodiment of the present invention is as follows:

Step 51, the vehicle formation is networked through V2V communication; V2V communication requires a wireless network, on which vehicles transmit information to each other to tell each other what they are doing, such information includes speed, position, driving direction, braking, etc. V2V technology uses Dedicated Short Range Communications (DSRC), a standard set by bodies like the FCC and ISO. It is sometimes described as a WiFi network because one frequency that may be used is 5.9GHz, which is also the frequency used by WiFi. More precisely, though, DSRC is a WiFi-like network with a range of up to 300 meters. V2V is a mesh network in which nodes (cars, smart traffic lights, etc.) can transmit, capture and forward signals. A hop of 5-10 nodes on the network can collect traffic conditions a distance away.

Step 52, the networking is completed, the sub-functions are divided, and the vehicles in the fleet are negotiated and determined, and the expert system is deployed according to the division of the sub-function modules; each vehicle in the fleet has a vehicle-mounted device, and the vehicle-mounted device includes: a communication module, Positioning module and expert system module. Among them, the expert system module is used to process the information obtained by the fleet, complete the requirements of the distribution sub-function, and give the control instructions of the fleet according to the rules; the communication module is used for the communication between vehicles in the fleet to complete information interaction and Sharing, and the broadcasting and issuing of control commands; the positioning module adopts a high-precision positioning module, and the positioning accuracy can reach the decimeter level, which is used to determine the relative position of the vehicles in the fleet, and based on this to generate the formation of the vehicle formation Peripheral boundaries. Among them, the expert system module includes: a plurality of expert systems with different functional rules, and the expert system performs information processing and system control in the process of vehicle formation driving. When the topological structure of the formation network changes, the division of the expert system needs to be carried out again, and the functional rules of the expert system of each terminal in the vehicle formation are different. Among them, the fleet control function can be divided into: control planning sub-function, surrounding information processing sub-function, formation control sub-function, etc. The division of sub-functions can be topped by actual control requirements, and each sub-function corresponds to an expert system, which is realized by the expert system corresponding function. Embodiments of the present invention are not limited to the sub-function classification manner shown in FIG. 1 . The control sub-function is processed and realized by the on-board device in the vehicle; the fleet is controlled as a whole. In the process of fleet networking, the accurate position of the vehicles in the fleet is required to determine the outer boundary of the formation of the fleet. The outer boundary line of the team formation is regarded as the boundary of the team. Taking the formation shown in Figure 1 as an example, the outer boundary line of the formation is shown in Figure 3.

Step 53: Carry out formation and fleet boundary control by the vehicle of the sub-function of controlling the formation, determine the driving direction of the vehicle by the vehicle of the control planning sub-function, and process the peripheral information of the fleet by the vehicle of the peripheral information processing sub-function; wherein, processing The steps for determining the outer boundaries of the convoy formation include:

1: The vehicle in the fleet obtains the exact position of the vehicle through the positioning module of the on-board device, and combines the preset vehicle size and the installation position of the positioning module to obtain the position data of the four corners of the vehicle, which is called the vehicle size position;

2: The formation control sub-function module collects the size and position of all vehicles in the fleet, and obtains the envelope of the fleet;

3: The formation control sub-function module obtains the longest and widest positions of the fleet according to the envelope of the fleet, and takes this position as a reference to extend 1m (different extension sizes can be determined according to actual conditions), which is called the formation size of the fleet;

4: According to the formation size of the fleet, the formation control sub-function module generates a strip-shaped area with the driving direction of the fleet as the length. Below, the boundaries in the front and rear directions remain unchanged, and the boundaries in the left and right directions are two arcs that extend to the width of the formation based on the center line of the driving direction), this area is called the outer boundary line of the team;

According to the above steps, the generation principles of the outer boundary of the convoy include: the outer boundary should include all vehicles in the convoy; the outer boundary should be rectangular when the convoy is going straight, and should be arc-shaped when the convoy is turning, as shown in Figure 4; The left and right widths are determined by the leftmost and rightmost vehicles in the convoy, and the front and rear lengths are determined by the first and last vehicles; the outer boundary line needs to keep a certain distance from the vehicles that determine the length and width of the outer boundary line, and this distance can be determined according to the situation specific settings;

54. During the driving process of the fleet, each module processes the driving information in real time, and shares the processing results with the vehicles corresponding to each sub-function module, and at the same time issues corresponding control commands to the vehicles in the fleet.

In the above-mentioned embodiments of the present invention, the information processed by each expert system is collected by all vehicles in the team, and all vehicles in the team are equipped with corresponding sensors according to the control requirements; when the network topology of the team changes, it is necessary to re-divide sub-functions and expert systems. deployment.

The foregoing embodiments of the present invention: 1) can solve the problem that the system robustness of the centralized control mode of the fleet is carried out by the guided vehicles, and improve the robustness of the fleet control system; Problem; 3) Since the coordinated control of the fleet needs to process a large amount of information, if the centralized control of the fleet is carried out by the leading vehicle, the on-board device of the leading vehicle is required to have strong processing performance and relatively complex logic rules, and the design is difficult. . The distributed processing method of this scheme is used to control the fleet, and the whole is divided into parts, which simplifies the complexity of system design.

The embodiment of the present invention proposes a method for controlling the overall movement of the fleet based on the distributed deployment of the multi-expert system. The fleet control is divided into several functional modules, and different expert systems are deployed to different vehicles in the formation for each functional module. When the fleet is controlled, the fleet is regarded as a whole, and according to the processing results of different functional modules, the The fleet carries out overall driving control.

Embodiments of the present invention also provide a vehicle-mounted device, including:

The communication module is used for negotiating with the communication modules of the vehicle-mounted devices of other vehicles in the fleet based on the interconnection of the Internet of Vehicles, and obtaining the functions corresponding to the control of the fleet;

The expert system module is used to configure a function corresponding to the fleet control, obtain the vehicle control information sent by other vehicles through the communication module, and control the vehicle to which the vehicle-mounted device belongs according to the vehicle control information.

The expert system module negotiates with the on-board devices of other vehicles in the fleet through the communication module of the on-board devices of each vehicle in the fleet interconnected by the Internet of Vehicles, and assigns the functions corresponding to the fleet control to the on-board devices of at least one vehicle in the fleet expert system module.

Wherein, the functions corresponding to the expert system modules of the vehicle-mounted devices of each vehicle are different.

Among the above vehicle-mounted devices, when the network topology of the fleet changes, the vehicle-mounted devices of each vehicle in the fleet interconnected through the Internet of Vehicles will negotiate with the vehicle-mounted devices of other vehicles in the fleet, and the functions corresponding to the fleet control will be assigned to The on-board unit of at least one vehicle in the fleet.

Among them, the functions corresponding to the fleet control include: control planning function, fleet peripheral information processing function and formation control function; the control planning function, fleet peripheral information processing function and formation control sub-functions correspond to the expert system modules of the on-board devices of different vehicles respectively .

When the expert system module completes the formation control function, it obtains the exact position of the vehicle obtained by the positioning module of the vehicle-mounted device, and combines the preset vehicle size and the installation position of the positioning module to obtain the four corners of the vehicle The size position represented by the position data of the fleet, and obtain the size position of all other vehicles in the fleet, according to the size position of each vehicle, obtain the envelope of the fleet; and according to the envelope of the fleet, obtain the longest and widest position of the fleet , using this position as a reference to extend a preset distance to obtain the formation size of the fleet; and according to the formation size of the fleet, generate the peripheral boundary line of the fleet represented by a strip-shaped area whose length is the driving direction of the fleet.

The length and width of the strip-shaped area are respectively the length and width of the formation size of the fleet;

When the curve has a radian, the boundary in the front and rear direction remains unchanged, and the boundary in the left and right direction is two arcs extended to the width of the formation size based on the center line of the driving direction, as the outer boundary of the team.

The vehicle-mounted device proposed by the embodiment of the present invention is also based on the distributed deployment of the multi-expert system to control the overall driving of the fleet. The fleet control is divided into several functional modules, and different expert systems are deployed to different vehicles in the formation for each functional module. When the fleet is controlled, the fleet is regarded as a whole, and according to the processing results of different functional modules, the The fleet carries out overall driving control.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1., based on fleet's control method of car networking, it is characterized in that, comprising:

To be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively;

The car-mounted device of any vehicle in fleet, obtains the vehicle control information of the vehicle-mounted transmission of other vehicle, and according to this vehicle control information, carries out control operation to the vehicle belonging to this car-mounted device.

2. the fleet's control method based on car networking according to claim 1, it is characterized in that, to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, the step that function corresponding for fleet's control distributes to the car-mounted device of at least one car in fleet respectively comprised:

To be networked by car the communication module of the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the expert system module that corresponding function distributes to the car-mounted device of at least one car in fleet respectively.

3. the fleet's control method based on car networking according to claim 1, it is characterized in that, the function that the expert system module of the car-mounted device of each vehicle is corresponding is all different.

4. the fleet's control method based on car networking according to claim 1,2 or 3, it is characterized in that, also comprise: when the network topology structure of fleet changes, again to be networked by car the car-mounted device of each vehicle in interconnected fleet, hold consultation with the car-mounted device of other vehicle in fleet, fleet is controlled the car-mounted device that corresponding function distributes at least one car in fleet respectively.

5. the fleet's control method based on car networking according to claim 1, is characterized in that, fleet controls corresponding function and comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.

6. the fleet's control method based on car networking according to claim 5, it is characterized in that, described expert system module is when completing formation controlling functions, the accurate location of this car that the locating module obtaining the car-mounted device of vehicle obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.

7. the fleet's control method based on car networking according to claim 6, is characterized in that, described belt-like zone length and width are respectively the length of fleet's formation size and wide;

When bend has the situation of radian, the border of fore-and-aft direction is constant, and the border of left and right directions is with travel direction center line for extending to two camber lines of formation dimension width about benchmark, as fleet's outer boundary line.

8. a car-mounted device, is characterized in that, comprising:

Communication module, the communication module for the car-mounted device with other each vehicle in interconnected fleet of networking based on car is held consultation, and obtains and fleet is controlled corresponding function;

Expert system module, is controlled a corresponding function for configuring wherein fleet, and is obtained the vehicle control information of the vehicle-mounted transmission of other vehicle by communication module, and according to this vehicle control information, carry out control operation to the vehicle belonging to this car-mounted device.

9. car-mounted device according to claim 8, is characterized in that, fleet controls corresponding function and comprises: controlling planning function, fleet's peripheral information processing capacity and formation controlling functions; Controlling planning function, fleet's peripheral information processing capacity and formation control the expert system module of the car-mounted device of the corresponding different vehicle of subfunction difference.

10. car-mounted device according to claim 9, is characterized in that, also comprises:

Locating module, for obtaining the positional information of vehicle;

Described expert system module is when completing formation controlling functions, obtain the accurate location of this car that described locating module obtains, in conjunction with the installation site of preset vehicle dimension and locating module, obtain the size positions represented by position data of four corners of this vehicle, and obtain the size positions of other all vehicle in fleet, according to the size positions of each vehicle, obtain the envelope of fleet; And according to the envelope of fleet, obtain the longest and the widest position of fleet, with this position for benchmark extension one predeterminable range, obtain fleet's formation size; And according to fleet's formation size, generate with the fleet outer boundary line of fleet's travel direction represented by the belt-like zone of length.