### Design of online race track for the 16th smart car competition finals

Zhuo Qing 2021-08-09 00:26:53 阅读数:953

design online race track 16th

Jane Medium ： according to 2021 The Organizing Committee of the 16th National College Student intelligent car competition decided to complete the second half of the competition by means of online competition , The national finals . This method has the same characteristics as previous online competitions , It also has its particularity . Need to update the track design and race process of the online race , In order to meet the requirements of this year's online competition . This paper gives a description of the track design and competition mode of the finals online competition .

 key word  The smart car race , The 16th , The national finals , Online competition

# §01 Line Last game

## One 、 background

stay 2021 The national college student smart car competition entered its 16th year , COVID-19, which raged around the world, was once again arrogant in the summer , Cut off the progress of the competition . The epidemic has also caused many academic competitions in Colleges and universities to be postponed or suspended .

The Organizing Committee of smart car competition passed Hold the third online enlarged meeting of the Organizing Committee , In line with the purpose of the competition ：“ Based on training 、 The key is to participate in 、 Encourage innovation 、 The pursuit of excellence ”, According to the characteristics of the smart car race itself , Decided to adopt The mode of online competition Complete the northeast division of the 16th smart car competition and the national finals .

• Amireux ： Mm-hmm , Support Zhuo Da , Online competition is the best choice , It's better than delaying , This national competition is too important for us

Until early August , The competition has finished seven points （ province ） The competition in the division . The relevant achievements and awards are as follows ：

The competition organizing committee passed Network conference, northeast division and national finals organizing committee Discuss , Combine the northeast division with the national finals , This will reduce the competition burden of the Northeast participating teams during the epidemic . According to the results of the unified online competition, the awards of the Northeast competition area and the corresponding national competition awards shall be determined at the same time .

Compared with the The 15th National College Students' intelligent car online competition as well as The 16th National College Students Guangdong online competition , In this year 8 The online competition of the Finals held in the middle and late days of the month has the following particularity ：

• The nature of the game is the finals , The competition questions are required to be suitable for the purpose of the competition “ Encourage innovation 、 The pursuit of excellence ” The goal of , This requires higher requirements for the previous sub division online competitions ;
• The competition is aimed at the national teams that have reached the finals , The teams are more dispersed . The previous competition was either in South China , Or just Guangdong Province , And the team in the finals is more scattered ;
• The epidemic is more serious . As we are now in the initial stage of outbreak , All localities have gradually strengthened their requirements for prevention and control . This makes it impossible for more schools to merge into online match points . It is most likely that there is only one school at a match point , Play a group game .

This makes the online competition of the 16th smart car competition finals need to adapt to its changes in the principle of competition question design . Next, this paper gives the track design and mode description of the online competition of the 16th National Finals of smart car competition .

## Two 、 General principles of track design

### 1、 Easy laying principle

according to The third enlarged meeting of the Organizing Committee of the 16th National College Student smart car competition Analysis of advantages and disadvantages of online competition in , How to reduce the difficulty of track laying is a very key factor , It also reflects the fairness of the whole game 、 A factor of justice . Factors that determine the difficulty of laying include ：

• Area of laying site ： Don't ask too much , This allows teams to build the track using any available venue ;
• Track laying specifications ： Students are allowed to use the existing practice track elements to complete the laying of the track , Avoid any specific normalized track elements , This will reduce the production cost and difficulty , It also reduces the need for track inspection ;

Because there are eight problem groups in the competition , In order to realize the universal principle , Try to make different problem groups pass Shared track To reduce the workload of laying .

• ljz995780205 : greatly ！ Excuse me, can you shop the track at home for online racing ？

### 2、 Robustness principle

The robustness here is not the reliability of the track itself , But when the first principle is met , The track itself is in size 、 The difference in specifications does not affect the investigation of the performance of the car model of the students participating in the competition . Based on this , Regionalization is proposed in the control of key elements of the track , Not a fixed value requirement . For example, it is required that the shortest distance between two triangular points of three fork road shall not be less than 1.5 rice 、 The radius of the ring shall not be less than 50 centimeter 、 The straight line in and out of the intersection shall not be less than 50 centimeter 、 The height of the ramp shall not be less than 15 Centimeter etc ;

•  Rose believers  ： Zhuo dada It's hard to unify the ramp of online competition , And I'm afraid we'll be out of stock , Can you tell us what to buy first , Is it a dome or a flat roof , How high , Or similar size can be used , Didn't care too much . I'm in the Cycling Group .

### 3、 The principle of integral system

Because the national finals are actually only the first prize 、 Second prize and no prize three grades , To prevent curling in the game , From the original game Time system It can be changed to Integral system , Divide the participating teams into two levels . Integral system That is to change the original time scale from accurate to millisecond into an integral with large particle size , That is, the score of track tasks completed within the specified time . The integral system is essentially the reciprocal transformation of the time system , Then the running stability of the model itself is investigated .

The integral system is also a good scheme to meet the robustness principle . Similarly, this method has been applied in the creative group this year .

The point system principle also relaxed the timing of the competition , Just in the process of remote live broadcast , There is always a visible mobile phone timing screen in the screen , You can easily get the start of the game 、 The moment of the end .

### 4、 No lower bound principle

Judging from the results of the sub competition areas of the 16th smart car national finals , Generally, the completion rate of each competition group has decreased this year . There are many reasons for this , But the changes of track elements and the difficulty presented are also one of them . Therefore, in the course of race track design and race points, it is best to meet the requirements of more participating teams to finish the race . Basically, the teams that enter the national finals can “ Win effortlessly ”. Therefore, the race track elements are consistent with the elements used by the students to debug the car model , Especially in the track production, students can use the existing track elements to build .

Requirements for the completion of the game , As long as the participating team can complete the competition in each division , That is, the competition that can ensure the completion of the finals . And by adjusting the lower limit of the integral system （ That is, the lowest score line ） To reduce the failure rate .

This principle allows teams in the northeast division to compete with the national competition at the same time Tread .

•  Leaving a message.  ： Zhuo dada , Northeast division doesn't need to compete with the national competition , A lot of people are waiting to go home after the game , How to compete with the national competition , We have to drag everyone to 8 month 15 Later , And the difficulty of national competition is different from that of regional competition , The completion rate must be very low .

### 5、 The principle of innovation

Track design and competition requirements need to be innovative in the final process , This is in realizing the purpose of smart car competition “ Encourage innovation 、 The pursuit of excellence ” An important aspect of . otherwise , The national finals lost its meaning , It's better to complete the award recognition of the national finals directly according to the results of each sub division .

In previous games , This is reflected in the complexity of the track 、 Track length and specifications （ For example, the ramp increases ） Change to reflect . And it is to gather the strong teams in each sub division in the same field for a unified competition . But because this year is an online competition , Achieving this will not satisfy the previous principle 1, principle 2 The requirements of .

Although it is impossible for experts to compete together , However, the following aspects can be considered for competition design innovation ：

• Comprehensively investigate the robustness of vehicle model ： For ordinary track groups , The integral system can be used to compare the speed of the model car at the same time , The robustness of the model itself is also investigated , In the past, the race only examined the model car speed, which is also a change ;
• Improve the pertinence of the game ： That is to correct the inconsistency between the competition effect and the design goal of the competition question . Like electromagnetism AI Most of the off-road teams don't use AI Model ; The intelligent vision group becomes a four-wheel group of guessing luck ; Energy saving beacons become rampant groups and so on .
•  Two car relay group ： Regard the completion of relay task as an aspect of scoring points , And give a higher score , Teams are encouraged to complete more relays in the process of two car relay ;
•  Intelligent vision group ： For animal identification 、 Fruit recognition 、 Digital identification requires separate display , And give a higher score , So as to improve the requirements of Intelligent Recognition ;
•  Electromagnetic off-road group ： It is required to realize continuous direct curve elements in the track , This is a track element that is not in the sub race area ;
•  Single car tension group ： Race in dual track mode . That is to subtract the time of the fast lane from the time of the slow lane as the final result of the game . Two aspects of vehicle model stability control are investigated at the same time .
•  Energy saving beacon group ： Use the given three minutes to see who runs more lights , This can thus encourage models in the midway charging mode to stand out .
• Designed by the participating team ： In the past, the track was secretly designed by the Competition Organizing Committee , On the day of the game . This mode is obviously no longer suitable for the current online competition requirements . therefore , This year's track is designed by students themselves , The organizing committee only needs to specify the most basic requirements of the track .

▲ chart 1.3 Schematic diagram of the 16th sub division final race track

•  A peanut  ： Zhuo dada , I think three minutes is more feasible than the number of lights out . When proposing the group of energy-saving beacons, the charging during travel is taken into account , I believe many teams have also considered charging during the March , In the sub division competition, there are many teams making up electricity during the March , and , The energy-saving group needs the participating teams to consider the utilization rate of electric energy , In the production of car models , Energy saving shall be considered in motor selection and other aspects . Sum up , I think three minutes is better than the number of lights off to reflect the purpose of the group of energy-saving beacons .

## 3、 ... and 、 Design thinking

In order to realize the design principles of the track in the front finals , Different ideas are adopted for the design of different tracks used by the eight problem groups . The following table shows the track element requirements of the eight problem groups of the 16th smart car competition .

【 surface 1-1 List of race track forms 】

Serial number Question group Track environment Track form Track elements remarks
1 Basic four wheel set indoor Track 1. Six standard elements
2. The garage
2 Energy saving beacon group indoor Track 1. Wireless beacon
3 Electromagnetic off-road group Outside Electromagnetic wire 1. Outdoor electromagnetic wire
2. Pavement elements ： Bumpy road 、 Bunker
3. Track elements ： There are ramps 、 crossroads 、 Roundabout ; There is no fork in the road
4 Two car relay group indoor Track 1. Six standard elements
2. The garage
5 Omnidirectional group indoor Track 1. Six standard elements
2. The garage
6 Single car tension group Outside Electromagnetic wire 1. Outdoor electromagnetic circuit
2. Pavement leveling , No bumpy road
3. Track elements ： There are ramps 、 crossroads ; No roundabout 、 A fork in the road
7 Specialist foundation group indoor Track 1. Six standard elements
2. The garage
8 Intelligent vision group indoor Track 1. Six standard elements
2. The garage
3. Visual recognition elements : Numbers , animal , Fruits
•  Mountains, seas and rivers  ： I think it's better to roughly define the track style , Otherwise, the track is different. How can this be compared

In essence , The track design of these eight problem groups can be divided into four categories ：

• indoor PVC Track ： Suitable for basic four wheels 、 College Foundation 、 Two car relay 、 Omnidirectional travel 、 Five groups of intelligent vision ;
• Energy saving beacon track ： In fact, it is the placement position and lighting sequence of beacons ;
• Electromagnetic off-road track ： This track belongs to electromagnetic guidance and non track track track with single car pull . Only the electromagnetic off-road team has some outdoor off-road elements, which are not available in the single car rally Team .
• Bicycle rally track ： This track is in track form 、 Track elements are simpler than electromagnetic cross-country tracks . At the same time, it needs to adapt to the characteristics of single vehicle operation , Inspect the control performance of single vehicle operation .

The following describes the design ideas of these four types of tracks .

### 1、 indoor PVC Track

indoor PVC Track making is the most difficult , And it's also the one that has changed the most . In order to meet the previous design principles , So in the design process , According to the competition task and score requirements , Design your own track while meeting the minimum requirements of track design .

The requirements for the track are constrained from the following aspects ：

• Track area constraints ： It is required that the area occupied by the track laying can be covered by a rectangle , The area of the rectangle is less than the given value . In fact, there should be no constraint on the track area , But in order to avoid having large venues, teams have advantages , Or should we restrict the occupied site .
• Track element requirements ： It is required that there must be corresponding track elements in the track , Give the minimum number , Element specification limits , Minimum length of element arrow connecting line, etc . On the whole , The track includes a garage 、 A fork in the road 、 crossroads 、 Roundabout 、 The ramp and connecting line are composed of .
• Competition task points ： According to the characteristics of the competition group , The tasks formed by the elements of the race track are given certain scoring standards , And give the criteria for completing the track operation . For uncompleted track elements , No point deduction .

For the electromagnetic lines on the track , Players can choose whether to lay . Because it is a timed integral competition , So there is no longer a zebra crossing requirement . Just need the model to drive out of the garage at the time of departure .

### 2、 Energy saving beacon track

The energy-saving beacon track is the simplest . In fact, there is no need to require a blue background , As long as the number and distribution of lamps are satisfied .

Therefore, as long as the three positions between the beacon lights are given . Within three minutes , Look at the number of lights off .

•  Zi Feng  ： Zhuo Da , Energy saving beacon if 3 A light and a line are really boring , Even direction control is almost gone , It's really just charging , If you take a double shot, it's really an automatic car , No steering . I don't know what the reason for this decision is , Please ask Mr. Zhuo ？ My proposal is to make it easier , It can be three lamp triangles , It can be irregular without equilateral , In this way, there is direction control to distinguish the performance of the trolley .

The construction of electromagnetic off-road group can be completed only by laying electromagnetic wires . This group can still use the point competition mode , The main integral elements include ：

• Benzene ring island ： The side length is greater than or equal to 1 Meters of benzene ring around the island ;
• Several continuous right angles ： The length of the passing side is greater than or equal to 1 The meter's zigzag continuous four right angle elements ;
• Intersection ： The length of the four branches at the intersection is greater than or equal to 50 centimeter ;
• Ramp elements ： Defines that the ramp height is greater than 15 centimeter , Wiring of other elements ;
• Gravel intersection ： The definition length shall not be less than 1 The gravel section of meters ;
• Bumpy road section ： The number of definitions shall not be less than 10 individual , The height is 2 Cm bumpy road ;
• Simulated turf section ： The definition length shall not be less than 1 Meters of encapsulated turf section .

The distance between the above elements shall not be less than 1 rice , The total laying area is less than the given value of square meters .

### 4、 Bicycle rally track

The single car rally track is composed of fast track and slow track . There are ramps on the fast track , Two crossroads , A right angle bend standard element . Slow track only needs a round track , This question group gives the specific laying standards of the track .

The race is timed by the time the model runs on the fast track for one week minus the time running on the slow track for one week . This is the only question group in the eight question groups that uses time to rank .

### 5、 Interior vision AI Group

#### (1) Vision AI Competition process

because Interior vision AI Group The competition has the following special features ：

• Identification targets need to be deployed at special locations on the track , Therefore, the track demand will be different from other indoor competition problem groups ;
• The target needs to be changed during the game , This complicates the game process , Need more people .

In order to facilitate the students to share the track with other problem groups , Simplify the game process , Indoor vision in the 16th smart car competition AI In the group competition , Separate the operation function of the vehicle model from the task recognition function , That is, at a given time （ Like three minutes ）, The teams repeat the following two groups of tasks ：

• The model runs on the track for a week , Calculate the integral value ;
• The car model is in a fixed position , Recognize the target pictures with disordered sequence and take corresponding actions , Calculate the corresponding integral value ;

 Terentsu's pure  ： You have to run a lap within the specified time to do the task , If you only run the track or do tasks, how to score , Or if you only do one item, there will be no score ?

To prevent teams from scoring only on the track , Or just a recognition score . The final result will combine the track score with the recognition score . The specific fusion formula will come out in large numbers in the competition rules .

#### (2) Visual recognition scoring method

Count the total recognition score in a given time . There are four kinds of objects involved in target recognition ：

• Apriltag picture , Four in total , Corresponding number 1,2,3,4
• Digital pictures , Four in total , Corresponding 0,3,8,9
• Motion picture , Five in total , One for each animal category
• Fruit pictures , Five in total , One for each fruit category .

The model stops at a fixed position , For the target , Or the picture of the position of the hand , Do the following actions for each picture ：

• Apriltag picture ： If it's even , The model car moves forward about 10 centimeter , Then go back to where you were . If Apriltag Is odd , Then the models are returned about 10 centimeter , Then return to where you are .
• Digital pictures ： If it's even , Then move forward about 25 centimeter , Then go back to where you are ; If it's odd , Go back about 25 centimeter , Then return to where you are ;
• Animal pictures ： The model camera swings left and right twice , The swing angle exceeds 90°; If the camera doesn't turn , You can use the model to turn the front wheels left and right .
• Fruit pictures ： The laser tube lights up and sends the laser spot , For more than 1 Second ;

When doing the target image recognition task , It is required to clearly shoot the action of the car during the live broadcast 、 Replacement content and distance identification .

# §02 Than Race track

stay In addition to the cycling rally group , The other seven question groups are at a given time （ for example 3 minute ） Some models get task points . The specific requirements for the design of four kinds of track and the scoring value of competition tasks are given below .

## One 、 indoor PVC Track

### 1、 Laying environment and laying area

The laying site and environment of the track shall be selected by the participants according to the actual situation .

The area occupied by the track laying must be able to be covered with a rectangle . The area of the rectangle does not exceed 35 Square meters . The picture below is this year Guangdong province, 、 Shandong race track Its side length meets 35 The limit of square meters .

▲ chart 2.1 Once used in Guangdong Province , Reference track design drawings for the competition area of Shandong Province

Lay the track PVC The width of the plate shall meet the following requirements: Racing rules of the 16th National University smart car competition The requirements , The width does not exceed 45 Centimeter . For whether to lay the black boundary guide line of the track 、 shoulder 、 The central electromagnetic guide line is determined by the participating team .

A race track built overnight ：

▲ chart 2.1.1 A race track built overnight ： The floor area is 5×6=30 Square meters

Wrencher ： Compared with the track in South China Slightly longer 4m, One more at the same time S curved , There is no material in the laboratory , I don't want to dismantle it anymore ...

▲ chart 2.1.2 The track that the students usually debug

### 2、 Track elements

On a paved track , There must be three intersections 、 crossroads 、 Roundabout 、 The ramp 、 The garage .

These elements pass through the straight path , The curve is connected into a closed track . There is no limit to the distance between track elements , There is no limit to the order between track elements . The number of these elements can occur up to two times .

The design criteria for each track element are given below ：

#### (1) A fork in the road

The size requirements of three crossings are shown in the figure below ：

• The distance between two forks ： The distance between two adjacent three intersections is greater than or equal to 1.5 Japan ;
• The straight length of branch road at three fork intersection ： The length of three branches at a three fork intersection is greater than or equal to 45 centimeter ;

There are no requirements for the shape and distance of the track connecting the two three intersections .

▲ chart 2.2.1 Dimensional requirements for three fork intersections

Complete a three fork crossing task standard ：

• Go straight from a fork in the road , And drive over 45 Cm straight ; Drive straight from another three intersection and drive out of the three-way intersection ;
• If you pass the same trigeminal intersection twice, you must travel from different fork roads ; For the double car relay group, it is allowed to pass through the same intersection twice .
• For omnidirectional travel groups , It is required that the vehicle model must change the operation mode when passing through the three fork intersection ;

Whether the model turns around at the fork in the road , No penalty will be given for rushing out of the track at a fork in the road .

There are no restrictions at intersections , At the intersection center store, the center lines of two intersecting tracks are vertical . The distance between the centers of the two intersections , And the distance between the intersection and the center of the three fork intersection shall not be less than 45 centimeter .

Complete the intersection task standard ：

• Enter from the side of the intersection , Straight through the intersection ; Direct left and right turns are not allowed ;

There are two situations when the car model passes through the same intersection ：

• If the model car passes through the intersection , There is no way to other track elements （ The ramp 、 Roundabout 、 A fork in the road ） Go straight back to the intersection （ This situation is called Cross circle intersection ）;
• If you pass through the intersection , Approach other track elements （ The ramp 、 Roundabout 、 A fork in the road ） Then I went back to the same intersection and passed ;

Both of the above are considered to pass through the intersection twice .

▲ chart 2.2.1.0 A small intersection called a cross ring

The diameter of the center line of the roundabout track is required to be greater than or equal to 50 centimeter . The center line of the roundabout is tangent to the center line of the track .

Criteria for completing the roundabout mission ：

• Enter the roundabout for at least one week and drive out of the roundabout ;

No penalty will be imposed for multiple detours in the roundabout . Wheels are not allowed to enter the inner area of the roundabout , Otherwise, it will be regarded as the failure of the competition task .

#### (4) The ramp

Only the maximum fixed point of the ramp is not less than... From the ground 15 centimeter . For the width of the ramp 、 length 、 There are no requirements for shape and material .

Pass the ramp task standard ：

• When the model passes the highest point of the ramp , The wheels must be more than... Above the ground 15 centimeter .

If you have the one shown in the figure below 14 What should I do with a cm high track ？ Other materials after one centimeter is padded in the middle , It's easy to achieve 15
CM .

▲ chart 2.2.1.1 The height is 14 Schematic diagram of CM ramp

While meeting the above requirements , Whether the vehicle model falls off the ramp will not be punished .

#### (5) The garage

The garage is allowed to be placed anywhere on the track . There are no restrictions on the shape of the garage . As long as the model is guaranteed at the departure , The center line of the model is perpendicular to the center line of the track , The model wheels are just outside the edge of the track .

▲ chart 2.2.2 When the model starts, it is perpendicular to the center line of the track and outside the track

Complete the garage departure task standard ：

• The model set out from the garage and drove on the track for more than 1 Meter distance .

 Slightly drunk years  ： Zhuo dada , Can such a garage be used ？ No zebra crossing , Seal the garage door with black glue .

▲ chart 2.2.2.2 A simple garage for departure only

reply ： This way is allowed .

## Two 、 Energy saving beacon track

### 1、 Laying environment

Beacon tracks can be laid in any flat ground indoor environment , There are no restrictions on the track background color and material .

### 2、 Beacon light

Use beacon lights for three . The position between them meets the requirements of right triangle and the following ：

• The distance between the three beacon lights shall meet the minimum distance shown in the figure below ;
• The driving covers of the three beacon lamps are arranged in the right triangle with the apex of the three beacon lamps ;

▲ chart 2.2.3 Location and laying diagram of beacon lamp

 Minor part  ： Zhuo Da , We are from the energy saving beacon group , Seeing that the track draft has modified the beacon, the track is preparing to pave . But I found a problem , The longest light line in Longqiu is 3m The line from the drive board to the light board is only 40cm, In this case 4m That side can't be paved , Even if you put both drive plates on the line . Drive to the center of the light panel 45cm, And because the control output of the next lamp and the lamp board line will cross , It's even shorter .

▲ chart 2.2.3.1 The center distance from the driving plate to the lamp is 45 centimeter

### 3、 Power supply

The power supply of beacon lamp needs to use the DC power supply for students with current display and current limiting function . The power supply voltage and current limits can be set during the competition . requirement ：

• Supply voltage ： Less than 24V;
• Supply current ： Less than 3A;

The original... Is not allowed +24V,5A DC adapter .

sugar ： Zhuo Da , Can you just let go of the restrictions , Or use the student power supply, as long as the current and voltage above show that the product is 72 That's all right. ?
 reply ： This suggestion is very good . As long as the actual output DC voltage multiplied by the DC current of the power supply is less than 72W that will do .

## 3、 ... and 、 Electromagnetic off-road track

### 1、 Laying environment

There are no restrictions on the laying environment , You can choose indoor , You can also choose outdoor . The track can be covered with a rectangle , The area of the rectangle does not exceed 75 Square meters .

### 2、 Track elements

Crossroads in the track 、 The ramp 、 Off road pavement elements must contain and can only contain one , Benzene ring island 、 A few word right angle curve must contain , And up to two .

#### (1) Benzene ring island

Benzene ring Island meets the requirements of the competition rules , The side length is greater than or equal to 100 Centimeter .

▲ chart 2.3.1 Electromagnetic off-road hexagonal roundabout

The car model completes the task standard of track elements ：

• The model enters the benzene ring from the side of the track , And drive out of the benzene ring ;
• A cone barrel is arranged at the center line of the benzene ring , The car model can't take a shortcut from the inside of the cone barrel ;

No penalty will be given if the car model is in multiple circles in the benzene ring island .

#### (2) Several continuous right angle curves

Set several continuous right angle curves, as shown in the figure below . The cone barrel is about... Away from the edge of the track 80 centimeter .

▲ chart 2.3.2 Several continuous right angle curves

Complete the task standard of zigzag right angle curve ：

• Enter from the side of the zigzag curve , Take the other side out of the curve ;
• The model didn't take a shortcut around the cone barrel .

huzican ： Mr. Zhuo , Excuse me, this cross-country track is 2 One is still 3 A few words ?

▲ chart 2.3.2.1 Two straight right angle bends

 reply ： Due to the previous requirements, the elements of the electromagnetic track need to be separated from each other 1 rice

#### (3) Ramp elements

The ramp element requirements of outdoor electromagnetic group are the same as those of indoor track . The standard for completing the ramp task is the same . Only one set of ramps is allowed per track , The position of the ramp is optional .

Off road elements include the following three ：

• Simulated turf section .

Only one set per track is allowed （ Including the above three off-road elements ）. The location and sequence of off-road elements are not specified , But we need to meet the following requirements ：

Refer to... For off-road element setting standards 2021 The 16th National College Student intelligent car competition online competition in Guangdong 、 Code for track laying in Shandong competition area Medium 【3-2-7】 Description in . requirement ：

• The length of gravel section and simulated turf section must be greater than or equal to 1 rice , The position is at the corner of the track , Right angle bends can be used , It can also be a curve connected by a slash ;
• The number of black shoulders on bumpy sections is greater than or equal to 5 individual .

• The model passes through the cross-country element road section ;

#### (5) Cone barrel

Cone barrels are deployed on both sides of the track , About... From the track 80 Within a centimeter . It is mainly used to indicate that the model will not take a shortcut to deviate from the track guide line .

In principle, a cone barrel is set inside the corner of each track . Cones can use standard traffic cones , Any side length not less than can also be used 35 Cm instead of , As long as it is easy to observe .

▲ chart 2.3.3 Cone barrel in cross-country track

### 6、 Intersection

The outdoor electromagnetic group also has intersections . The straight-line length of the four intersections separated from the intersection is greater than or equal to 50 centimeter .

## Four 、 Bicycle rally track

### 1、 Laying environment

The track can be laid on any flat ground , You can choose outdoor , You can also choose indoor .

### 2、 Track elements and dimensions

The track is divided into fast lane and slow lane . There are intersection and ramp elements in the fast lane ; There is only one circular track in the slow lane .

#### (1) Express Track

The fast lane is a closed route , The design meets the following conditions ：

• There are two or more intersections in the track ;
• There is one or more right angle corners in the track , The length on both sides of a right angle is at least greater than 1 rice ;
• The total length of the track is greater than or equal to 50 rice ;

A ramp is arranged on the express track , The highest point of ramp height shall not be less than 15 centimeter . It can be arranged on any straight track of the track .

▲ chart 2.4.1 Schematic diagram of fast lane design

#### (2) Slow track

The slow train race can be any closed shape , The track length is less than or equal to 20 rice . There is no ramp element on the slow track . The running route of the vehicle model on the slow lane meets the requirements of simple closed curve ：

• The route itself has no intersection ;

### 3、 Track use

In the game , The model runs on both tracks for one week . The final result is equal to the fast track time minus the slow track time .

# §03 meter Sub standard

Press According to this year's online competition point system （ Except for the single car pull group ）, There are two more questions to explore ：

• Competition task scoring standard problem ： That is, how to set the relative size of each competition point system and reasonably evaluate the design performance of vehicle models ; Besides, there's game time , It is also a parameter that determines the integral standard .
• Same integral ranking problem ： Because the differentiation of the score system is less granular than the time trial competition , Although it meets the requirements of major competitions to a certain extent , But once there are a lot of the same points in the game , How to distinguish them ？
• Number of matches ： Because the team can make full preparations after laying the track , So during the official competition , Use three competition processes . Take the best result as the final result .

## One 、 Scoring criteria

The scoring criteria involved include setting reasonable scoring criteria for different track elements and competition tasks 、 There are two problems in setting the total length of competition .

### 1、 The total length of the game

The total duration of a game here refers to the duration of a game , The duration of integral timing , Different timing duration can be set for different problem groups . The single car rally group does not set the competition time .

For the sake of simplicity , It can be stipulated that the total competition time is 3 minute . Throughout the game , If the model rushes out of the track , match “ And then the music 、 Then dance ”, As long as the model can continue to complete the score of track elements in the order of elements on the track , It is not allowed to directly skip the elements on the track . Until you can't continue the game for various reasons ： For example, the car model cannot run due to failure 、 The model car rushed out of the track and away from the track 、 The model car is stuck somewhere on the track and waiting .

The score of the game starts from the start of the game to 3 Minutes end , Or the sum of all scores at the position where the car model breaks down and stops the competition . Therefore, there is no failure in the game itself , Unless the final score is 0.

For each question group in the competition, the score , The preliminary settings are as follows ：

【 surface 2-2 List of competition task scores 】

The mission of the competition The score of the game remarks
Departure task 1 Installation of departure standard and successful departure
Three fork task 5 It must meet the requirements of passing through different three fork intersections and branches twice before and after
Switch operation mode at three intersections 5 The score set for the omni-directional travel group model to change the travel direction in the three fork road
If the direction is not changed , It doesn't increase 5 branch . Therefore, for the omni-directional travel group, you can get up to 10 branch .
Ramp task 5 Due to the ramp, the car model is far from the ground at the highest point 15 centimeter
Including indoor ramps and outdoor off-road ramps .
A few words right angle curve task 5 Only for outdoor electromagnetic AI Group
Off road element mission 3 Only a complete set of off-road elements are allowed in the track , One point for each off-road element
Vision AI Identify numeric elements 10 Move forward and backward respectively according to the even and odd numbers of numbers .
Vision AI Group identification Apriltag 10 according to Apriltag Odd and even numbers of , Make the correct movement back and forth .
Vision AI Identify animals 10 Recognize animals , The camera of the model car swings left and right twice , Or the front wheel swings left and right twice .
Vision AI Identify fruit 10 Recognize the fruit , The model laser tube sends laser light , For more than 1 Second .
Pass relay task 10 Applied to double car relay group . Allow two vehicle relay to complete more than one task .
This score is accumulated with the score of crossing three forks , So in Sancha Lubao, the actual score of passing relay 15 branch .
No ball relay task 5 Used for double car relay group . That is, two car models complete the action of stopping and walking through the three fork road .
This score can be scored at the same time as crossing a fork in the road . So we actually get 10 branch .
Turn off the lights 1 For energy-saving beacon group

The above scoring criteria need to be further optimized . And in 8 month 15 Make a formal announcement before the th .

## Two 、 Sort by the same score

For teams with the same points , How to sort ？

In fact, the same points only appear near the boundary between the first prize and the second prize , Just need to solve the same score sorting problem . For this situation, the following modes can be used to solve ：

### 1、 No sorting ：

That is, if the number of teams with the same score is less than a certain value , such as 5 team , They can all be set as high-level Awards ;

### 2、 By sorting the preliminary results in different competition areas

This situation is sorted according to the results of the teams in the preliminaries in their respective competition areas , So as to distinguish the first and second prizes ;

### 3、 Sort according to the age of the team members

According to the age of the students of the participating team, they are arranged from small to large . Set the age of boys in the team （ Accurate to date ） by { b i } i = 1 , 2 , . . . \left\{ {b_i } \right\}_{i = 1,2,...} , The age of girls is { g i } i = 1 , 2 , . . . \left\{ {g_i } \right\}_{i = 1,2,...} . Then the total age of the team is ：

E t e a m = ∑ i = 1 n b i − ∑ i = 1 m g i E_{team} = \sum\limits_{i = 1}^n {b_i } - \sum\limits_{i = 1}^m {g_i }

Team age E t e a m E_{team} The smaller the ranking, the higher the ranking .

▲ chart 3.2.1 The players on the field are in the process of debugging

It's sort by age , Obviously, we encourage each team to invite girls to participate .“ Girl Junior , It's a gold brick ” ah .

### 4、 Sort by other indicators

It can be sorted by other physical indexes that can affect the performance of vehicle models , such as ：

• For basic four wheels 、 Specialist foundation group ： By comparing the height of the camera 、 The length of the electromagnetic sensor is sorted ;
• For omnidirectional travel groups 、 Intelligent vision group 、 Two car relay group ： Sort by comparing the height of the camera ;
• For the energy efficient beacon group ： Sort by model weight ;
• For electromagnetic off-road Group ： Sort by the length of the electromagnetic sensor of the vehicle model ;
• For single vehicle tension group ： This group uses time to compete , Therefore, the same score sorting problem will not occur .

Because this year is the first time to use the point system , Therefore, it is still unknown how the final result needs to be carried out . Therefore, the same score ranking can be finally determined according to the competition results after the competition .

## 3、 ... and 、 Number of matches

Now each division is through a given period of time （ such as 10 minute ）, The participating team completes the corresponding competition within a given time , Take the best of them . Due to the use of online competition , Each team can have sufficient debugging time in the preparation process , And the team model has high performance , High reliability . So in order to make online games more compact , It's very ornamental , It can be decided three times . That is, each team only starts three times , Take the best result as the final result .

▲ chart 3.4 A real master only needs one punch KO other party , No more punches

# §04 set up Summary

No Same as previous online games , Online competition for the national finals , On the basis of meeting the previous design principles , Adopt a more scientific and reasonable way .

A game with a scoring system , In fact, in this year's three creative groups （ Baidu intelligent transportation 、 Aerospace smart logistics 、 IFLYTEK smart restaurant ） Has been adopted in . Through their practice and experience, they also indirectly verified the rationality of using the point system . The point system greatly reduces the pursuit of national teams after knowing the track in advance ms The inner volume of level competition , The tone and direction of the investigation were adjusted .

Because it's a long-distance game , During the competition, in addition to ensuring the field environment 、 Outside the standardization of track elements and timing methods , The following requirements also need to be ensured through the competition process ：

• Because the car model is fast , At the end of the game , Determination of the position of the vehicle model in the last second , This can be identified by fixing the frame at the last time of the game process video ;
• Ensure that there is no suspicion of other wireless remote control at the scene . In this regard, we can check whether there is a wireless communication module on the model before the game . Because the model runs very fast , For the race group , The use of external wireless remote control has little impact on the operation of the model ;

In the actual game , You can first determine the number of points scored in a single lap of the track . In the course of the game , First, count the number of laps completed by the model within the specified time , Finally, consider the score on the last lap . This can simplify the game scoring process .

Of course , The healthy progress of the competition cannot leave the support of all the team members and teachers . By standardizing the competition process 、 Strengthen competition Supervision 、 Live broadcast of the game 、 Teams submit competition documents for publication 、 The participating teams submit the letter of commitment of integrity to further strengthen the integrity education of the participating students , Jointly create a good competition environment .

 The players  ： Good evening , Zhuo dada The Grand Prix can 9 Come out before the month to win the prize Purring I have worked hard for so long and gained a lot But I also want to add some points at the end of Baoyan , Electronic information major The video tournament has also been postponed It really depends on smart cars. Now the national race is expected I'm South China division University Double non Ordinary people who want to rush to Huazhong University of science and Technology .

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