CN100565610C - The drive assist system that is used for infrastructure, mobile object cooperation - Google Patents
The drive assist system that is used for infrastructure, mobile object cooperation Download PDFInfo
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- CN100565610C CN100565610C CNB2005800182738A CN200580018273A CN100565610C CN 100565610 C CN100565610 C CN 100565610C CN B2005800182738 A CNB2005800182738 A CN B2005800182738A CN 200580018273 A CN200580018273 A CN 200580018273A CN 100565610 C CN100565610 C CN 100565610C
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
The present invention relates to provide the drive assist system of information for the vehicles (20) on infrastructure (10) of travelling, it is included in the magnetic mark (30 that forms on the infrastructure and be suitable for encoding the information used for the described vehicles, 40), comprise the representative signal that being used to of carrying on the vehicles detected the total magnetic field and produce the total magnetic field a plurality of magnetic sensors (45) pick-up unit and be suitable for handling representative signal, determine the distance of first between the vehicles and the magnetic mark (d) and the coded information processing of the magnetic mark of decoding unit (50), described information is transformable, and described total magnetic field comprises the magnetic field that magnetic mark produces.
Description
Technical field
The present invention relates generally to navigation and data system, be also referred to as the mobile traffic system on drive assist system, the infrastructure, relate in particular to the system that uses magnetic field.
Background technology
At conventional secure context, for example the road way outlet is the reason of mass casualties accident.Therefore, the position of the identification vehicles is important always, and this is inseparable with the natural environment and climate condition.In addition, if the information that provides for the vehicles on the infrastructure (signalisation, radius-of-curvature, superelevation inclination ...) is a lot, so still need to increase the preventive measure of way outlet.
There had been a large amount of navigational system and the information transmission system already.Wherein, select magnetic detection system can show lot of advantages.Because the magnetic property of material changes with the weather conditions of outside hardly, for example rain, mist, brightness ... the mobile communication-infrastructure system based on magnetics is independent of external environment condition equally, for example tunnel, mountain valley ...
People have known the infosystem that attracts the magnetic mark of permanent magnet form by magnetism method.In this case, magnet usually can only be as direction reference.Application for coded message can only be restricted.Because its be fix and can only replace the magnet of a certain polarity could change its application by another magnet that uses opposed polarity.In this case, the cost that changes by the constant factor information encoded is expensive.The magnetic detection system that is installed on the vehicles should detect magnetic field, the distance between the decay in described magnetic field and permanent magnet and the magnetic sensor cube proportional.This causes the distance between transmitter and the receiver in case increase, and the numerical value in magnetic field will be very weak, and therefore causes the degradation of azimuth system.
The magnetic mark that use is placed in the magnetic strap form on the infrastructure or in the infrastructure is interesting possible alternative.Because magnetic field may be and the sensor of band and arrangement between square being inversely proportional to of distance, be not in the situation of punctual permanent magnet cube.
From U.S. Pat 6289269B1, can know the navigational system of the vehicles on infrastructure, it comprises the continuous navigation of the magnetic strap form that is applied on the infrastructure surface.Dual and vertical magnetic sensor can be measured the magnetic field and the environmental magnetic field of band in the bottom, on top, promptly away from the part of magnetic strap measurement environment magnetic field only.In this case, the difference in the magnetic field of these two measurements has been deducted in the position of the vehicles.Yet this method can not be provided at the accurate numerical value in the orientation of the vehicles on the infrastructure.Because the dual sensor that provides is not considered the variation of environmental magnetic field, do not consider the influence of metal quality yet.In addition, magnetic strap also can only be used for the navigation of the vehicles.
Summary of the invention
The purpose of this invention is to provide improved drive assist system, its especially comprise the magnetic mark that is placed on the infrastructure or in the infrastructure and by cheapness and allow with the coded data on this band expediently once more the magnetic-particle of programming form.The invention still further relates to the pick-up unit of this drive assist system, and infrastructure, on described infrastructure or in the described infrastructure, form magnetic mark.
For this purpose, the invention provides a kind of drive assist system, be used for providing information to the vehicles current on infrastructure, it comprises:
-magnetic mark is formed on this infrastructure or in this infrastructure, and is suitable for the information that is used for these vehicles is encoded, and this information is transformable,
-pick-up unit, it comprises a plurality of magnetic sensors and the processing unit that carries on these vehicles, these a plurality of magnetic sensors are used to detect the total magnetic field and produce the signal of representing this total magnetic field, this total magnetic field comprises the magnetic field that is generated by this magnetic mark, this processing unit is suitable for handling first distance and the coded information in this magnetic mark of decoding on the other hand between this representative signal and on the one hand definite these vehicles and this magnetic mark, wherein, described a plurality of magnetic sensor comprises at least three magnetic sensors, and described processing unit also is suitable for eliminating environmental magnetic field according to the representative signal that comes from described magnetic sensor from described total magnetic field.
Therefore, the magnetic field that magnetic mark sends can be calculated the position and the driver of the vehicles based on information encoded, and this information encoded changes in time and therefore encoded once more.
In another embodiment, this magnetic mark forms by settling the marking composition that uses for the highway signal, the magnetic material that adds one or more particle form in this marking composition, this particle can receive magnetic remanence in being in the pressure magnetic exciting field that is higher than this particle the time, and the magnetic remanence of this particle is suitable for the information that is used for these vehicles is encoded.
Magnetic mark is used the known road signalling technique.Simple add magnetic-particle just can coded message and in being higher than the magnetic field of forcing exciting field to the information reprogramming.
In favourable embodiment, the magnetic material of this magnetic mark is at least two kinds of different types, every type all has a kind of different pressure magnetic exciting field, so that the information that is used for the vehicles is encoded, adopt magnetic material that most important information is encoded with the highest pressure magnetic exciting field with different security level.
Equally, may have several message levels.Under the situation of not really important information programming error, even more important information is clearly.
Advantageously, this magnetic mark is settled in continuous basically mode with the form of magnetic strap, and wherein institute's information is encoded to this information with regular basically basic interval along the length direction of this magnetic strap, and each this basic interval has the multi-direction magnetic field of itself.
In another embodiment, this magnetic mark is settled with the form of discontinuous magnetic strap, this magnetic strap forms with the basic interval of rule basically, and this information is encoded with each regular basic interval, and each this basic interval all has the multi-direction magnetic field of itself.
Therefore, for these two kinds of embodiments, each is every the part of the magnetized band of corresponding variable, so that the information of some bits of encoding.
In addition, this multi-direction magnetic field comprise along with the direction of the basic vertical but coplane of this magnetic strap on first component.
This first component can also be determined the reference position of moving object on the infrastructure except coded message.
The invention still further relates to the drive assist system of the vehicles on conventional infrastructure, wherein these a plurality of magnetic sensors comprise at least three magnetic sensors, and this processing unit also is suitable for eliminating environmental magnetic field according to the representative signal that comes from this magnetic sensor from this total magnetic field.
Therefore, drive assist system can be considered neighbourhood noise so that obtain the very accurate position of the vehicles on the infrastructure.
In preferred embodiments, drive assist system comprises at least one the 4th magnetic sensor, and wherein this processing unit also is suitable for based on the representative signal that comes from this magnetic sensor, the deviation that variation caused of environmental magnetic field is taken into account, especially because the deviation that distribution caused of metallic object.
In another embodiment, this magnetic sensor aligns on the first axle of the axis that is basically perpendicular to these vehicles, and can be obtained up to few additional magnetic sensor, this additional magnetic transducer arrangements is being different from second axis of this first axle, so that make this processing unit can determine second distance between these vehicles and this magnetic strap, this processing unit is determined the orientation of these vehicles with respect to its moving direction on infrastructure based on this first and second distance.
The invention still further relates to the pick-up unit of above-mentioned drive assist system, it comprises a plurality of magnetic sensors and processing unit, hand over a plurality of magnetic sensors of institute to be intended to be arranged in to be used on the vehicles and detect the signal that this total magnetic field is represented in total magnetic field and generation, this total magnetic field comprises by the magnetic field that magnetic mark produced that is formed on the infrastructure or in the infrastructure, this processing unit is suitable for handling first distance between this representative signal and definite these vehicles and this magnetic mark, wherein these a plurality of magnetic sensors comprise at least three magnetic sensors, and this processing unit also is suitable for eliminating environmental magnetic field based on this representative signal from this total magnetic field.
In another embodiment of pick-up unit, a plurality of magnetic sensors comprise the 4th magnetic sensor, and this processing unit also is suitable for based on the representative signal that comes from this magnetic sensor, the deviation that variation caused of environmental magnetic field is taken into account, especially because the deviation that distribution caused of metallic object.
In another embodiment of pick-up unit, processing unit is suitable for decoding equally by the magnetic mark information encoded.
The invention still further relates to the infrastructure of above-mentioned drive assist system, it comprises magnetic mark, be formed on this infrastructure or in this infrastructure and be suitable for the information of the vehicles on this infrastructure that are used to travel is encoded, this magnetic mark forms by settling the marking composition that uses for the highway signal, the magnetic material that adds one or more particle form in this marking composition, these particles can receive magnetic remanence in being in the pressure magnetic exciting field that is higher than this particle the time, and the magnetic remanence of this particle is suitable for the information that is used for these vehicles is encoded
In the favourable embodiment of infrastructure, the magnetic material of magnetic mark is at least two kinds of different types, every type all has a kind of different pressure magnetic exciting field, so that the information that is used for the vehicles is encoded, adopt magnetic material that most important information is encoded with the highest pressure magnetic exciting field with different security level.
The invention still further relates to can be on this infrastructure the vehicles that travel and that above-mentioned detection device is installed, this pick-up unit is used for determining first distance between the vehicles and magnetic mark at least, and the coded information of decoding magnetic mark.
In addition, the driving assistance method of the vehicles on infrastructure the present invention relates to travel, this infrastructure comprises magnetic mark, this magnetic mark is formed on this infrastructure or in this infrastructure and be suitable for the information that is used for these vehicles is encoded, these vehicles comprise a plurality of pick-up units and the processing unit that carries on these vehicles, these a plurality of pick-up units are used to detect the total magnetic field and produce the signal of representing this total magnetic field, this total magnetic field comprises the magnetic field that is generated by this magnetic mark, this processing unit is used for representative signal, and this method comprises the following steps:
A) adopt these a plurality of Magnetic Induction devices to measure this total magnetic field,
B) utilize this processing unit to determine information coded on this magnetic strap based on this representative signal,
C) utilize this processing unit to determine first distance between these vehicles and this magnetic mark based on this representative signal,
D) with this coded message and the module of this first Distance Transmission to the driver's of the formation and the vehicles interface,
Wherein, described a plurality of magnetic sensors comprise at least three magnetic sensors, and processing unit also is suitable for eliminating environmental magnetic field according to the representative signal that comes from described magnetic sensor from described total magnetic field.
Description of drawings
Demonstrate other features and advantages of the present invention by reading following narration.This narration is illustrative fully and should be with reference to following accompanying drawing:
-Fig. 1 shows the synoptic diagram of drive assist system principle of the present invention,
-Fig. 2 shows the synoptic diagram of the drive assist system of the present invention and the embodiment of the pick-up unit that comprises magnetic sensor,
-Fig. 3 a has shown the difference between secondary (double) estimation function and the vehicle position, and described vehicle position is to compare with its physical location, and its physical location is to compare with magnetic strap.
-Fig. 3 b has shown the difference between simple (simple) estimation function and the vehicle position, and described vehicle position is to compare with its physical location, and its physical location is to compare with magnetic strap.
-Fig. 4 shows the principle schematic of corrective system of the present invention,
-Fig. 5 shows two data results that the Magnetic Induction device and the pick-up unit of drive assist system under normal mode of the present invention, the correction mode are obtained,
-Fig. 6 shows that the present invention uses the typical magnetization curve of Armco magnetic iron hydrochlorate in magnetic strap.
Fig. 1 has shown the synoptic diagram of magnetic mark of the present invention and drive assist system principle.
Embodiment
The vehicles 20 travel on the infrastructure by road 10 representatives that Fig. 1 dotted line is represented.Be appreciated that conventional infrastructure is the set of the networking traffic route that moves for moving object.The known road that relates to, and relate to more small-scale network, for example traffic route on industrial place, the traffic route between buildings ... the magnetic mark of being represented by the form of continuous magnetic strap 30 is in the centre of road 10.The interval in magnetic field of different nature (31,32) series forms this magnetic strap by representing separately.Magnetic mark can also be the form that comprises the magnetic strap of discontinuous intervening sequence, representative magnetic field of different nature separately, described interval.This series of different magnetic field can be as described below, along the important information of magnetic mark code change.The magnetic sensor series 33 of settling is placed on the place ahead of the vehicles 20, so that read the magnetic field of magnetic strap 30, can compare on the one hand and therefore compare the position of calculating the vehicles 20, read the coded information of magnetic strap 30 on the other hand with infrastructure 10 with magnetic strap 30.
In synoptic diagram Fig. 1, magnetic mark is positioned at the central authorities of the road that the vehicles 20 travel.The ideal position of the vehicles is corresponding to the main shaft of the vehicles 20 and the zero level distance between the magnetic strap 30.Yet other situation of figure also is admissible, that is: for example band can be positioned at road side colourless line place, perhaps compares with the position of Fig. 1, in all other deep position.In following narration, can suppose that magnetic strap is positioned at middle position and discusses to simplify.
Fig. 2 shows the synoptic diagram of the embodiment of employed pick-up unit in the drive assist system of the present invention.Described device comprises the test section, and described test section comprises the support component 60 that links to each other with the vehicles (not showing in the synoptic diagram).Preferred support component 60 is positioned at the direction vertical with vehicles main shaft.The main shaft of shaped traffic device is corresponding with its moving direction.Support component 60 comprises the magnetic sensor 45 of at least three installations, and for example be positioned in the bottom of the vehicles, so that the height h between this support component 60 and the magnetic mark has about tens centimetres order of magnitude, this form of sentencing magnetic strap 40 is represented described magnetic mark.Preferred 20 to the 30 centimetres order of magnitude, so that read the magnetic field of enough differences, this difference changes with the variation of the cubic function of the distance between magnetic strap and the sensor.Magnetic sensor 45 is aligning on support component 60, and links to each other with processing unit 50 in the pick-up unit.This processing unit 50 is fit to the signal of analyzing magnetic sensors 45, promptly determines the distance between the magnetic strap 40 and the vehicles, and reads or possible information that the magnetic strap of decoding is coded.Preferred sensor 45 is being aligned on the same straight line vertical with vehicles main shaft.
Magnetic sensor can be installed in and for example be positioned at and road, therefore just with the impact damper (pare-choc) of the vehicles of the about 25cm of height of magnetic strap in.Magnetic sensor can be gathered the total magnetic field.It also should (speed of the vehicles) measure faint magnetic field under high speed, wherein must selection can show faint noise and short sensor sensitive of response time.In the vehicles, described magnetic sensor also should be able to be worked when voltage available is variable power supply voltage, and has lower consumption level.Known magnetic sensor, for example hall effect sensor or magnetoresistive transducer have above-mentioned character.Can also applied current ring-like (typeboucle de courant) sensor.
1 example that has provided known dissimilar feature of tabulating down.
| Sensor type | Noise (nV/Hz) | Sensitivity (mV/ Gauss) | Response time (μ s) | Consume (V/mA) |
| Heavy duty detergent | 75 | 25 | 3 | 6.6 to 12V/30m |
| Magnetic resistance type | 29 | 2.5 | 0.2 | 5.0 to 10V/30mA |
Table 1: the common feature of dissimilar magnetic sensors
Sensor also can be directed, that is to say that sensor can detect the direction in magnetic field when when the direction upper sensor parallel or vertical with magnetic strap is non-spare part.
Distance and the decoded information of being determined by processing unit 50 by module 55 transmission finished some functions subsequently, the for example application of the merging of data, decoded information, to the driver transmit the position of the vehicles, the information of different brackets from magnetic strap to driver transmission that read by ... can predict announcement information so as to cause the driver to the axle of the vehicles significantly away from the attention of magnetic strap, or the attention of the important coded message of magnetic strap as described below (slowing down ...) near turning, preparing.That for example can consider to make the driver concentrates on the vehicles with respect to the position of band, the central authorities of travel or all other suitable method of range estimation, so that can understand the distance between the vehicles and the road and revise measurement if desired.
The quantity of sensor is to determine the determinative of range accuracy between the vehicles and the infrastructure and the decoding information that magnetic strap write down.Though known guider is accurate, consider neighbourhood noise and have the influence of metal quality, be not enough so select two sensors.In fact the signal of metal sensor is corresponding to the measurement of total magnetic field, and described total magnetic field comprises because magnetic field, the environmental magnetic field (magnetic field of the earth ...) that magnetic strap produces.Also there is the influence of different metal quality in it.
Drive assist system of the present invention and pick-up unit have at least 3 magnetic sensors, and when the processes sensor signal, described detection system can obtain the numerical value of environmental magnetic field.In fact, should select the quantity of magnetic sensor according to the desired precision of distance between the measurement vehicles and the magnetic strap.Utilize four-sensor can also obtain the numerical value that for example causes environmental magnetic field to change owing to the influence that exists the different metal quality to magnetic sensor signal numerical value.
For estimate be arranged on infrastructure on magnetic strap compare the position of the vehicles, processing unit compares the response and the normal response of each sensor, because to the given magnetization band on the location and there is environmental magnetic field, the theoretical response that these sensors were provided when described normal response and total magnetic field existed is approaching.To be considered as result with the normal response parameter of measuring the sensor that is complementary most.
For the estimation of distance is described, the magnetic mark that our hypothesis is represented on infrastructure or formed in the infrastructure with the form of continuous magnetic strap, described magnetic strap produce single direction, with band coplane and the magnetic field vertical with its direction.In addition, suppose sensor aligning on the support component vertical with vehicles main shaft.Therefore, the form in magnetic field is:
Wherein
A: consider the environmental magnetic field value, the constant of especially big terrestrial magnetic field,
B: because the deviation that for example exists metal quality to cause environmental magnetic field to change,
C: the difference in band single direction magnetic field.The information that this difference can be encoded and be used for the vehicles.Because the variation of basic interval subsequently (shown in the mark among Fig. 1 31 and 32), determined that therefore it just can know coded message in band,
Xi: along the position of support component different sensors,
H: the vertical height between magnetic strap and the sensor,
D: the horizontal survey distance between magnetic sensor set center and the magnetic strap.Known that this distance just can know the continuous orientation of the vehicles.
Consider that in following method the quantity of magnetic sensor is 5, and they are equidistant, apart from d corresponding to the sensor (the 3rd sensor) of centre and the horizontal range between the magnetic strap.
Based on f (xi, d) value and will write down fxi in narration subsequently can be introduced additional function gxi and hxi so that cancellation is by different the unknown constant a and the b that variation caused of environmental magnetic field and equation (1):
-gxi=fxi+1-fxi, based on the value of fxi, wherein i ∈ [1,4] is so that cancellation a
-hxi=gxi+1-gxi, based on the value of gxi, wherein i ∈ [1,3] is so that cancellation b
The value of fxi, gxi and hxi is the function of estimating apart from the field difference c of d and encoding strip thereof information, and constitutes following normal response value.The formula in magnetic field (1) and if the value of gxi and hxi in fact shown and can eliminate environmental magnetic field (parameter a), the advantage that has the system of at least three sensors, if and the numerical value of the metal quality that can obtain to exist (parameter b), the advantage of four-sensor.Therefore need to carry out the independently measurement of different parameters at least.
Based on the measured value Mfxi in the magnetic field of measuring by position xi place magnetic sensor, can also introduce calculated value Mgxi and Mhxi according to the relation identical with kxi with value gxi, hxi.Therefore:
Mgxi=Mfxi+1-Mfxi, based on the measured value of Mfxi,
Mhxi=Mhxi+1-Mhxi is based on the value of Mgxi.
For above-mentioned different value, use the position that least square method can be estimated band preferably.For the value of fxi, Jf is the least square function:
This Jf function especially depends on d and c.Based on the measured value of 5 magnetic sensors, its minimum value can obtain the estimated value of d and c.Also can use least square method, obtain the estimated value of d and c, that is to say a and b with cancellation parameter useless to the value of gxi and hxi.
For being called as the secondary estimation function, the value of normal response hxi is used least square method, can obtain:
Introduce hxi=c.h ' xi, i ∈ [1,3], wherein h ' xi only is the function of d, and formula (3) is become:
C formula constant in formula (3),
This estimated value of c provides in the magnetic strap institute's canned data and can make Jh only is the function of d, and for the measurement result of each Mfxi of 5 sensors, its minimum value can estimated distance d.
Fig. 3 a has shown the contrast apart from d and actual range of secondary estimation function Jh.
For being called as simple estimation function, the value of normal response gxi is used least square method and supposed b=0, that is to say that environmental magnetic field is not with spatial variations.Can obtain:
C is a constant in formula (4),
The estimated value of this c provides in the magnetic strap institute's canned data and can make Jg only is the function of d, and for the measurement result of each Mfxi of 5 sensors, its minimum value can estimated distance d.
Fig. 3 b shown simple estimation function Jg apart from the result of d and the contrast of actual range.
Experimental result shows, for the secondary estimation function, estimation apart from d is good, when 5 sensors sides at a distance of 25cm and with ground at a distance of 25cm, and the noise of each sensor measurement is at 20% o'clock of measurement power, in the measurement range of [60cm, 60cm] between the sensor of magnetic strap and centre, error is ± 0.2cm.For simple estimation function, the variation of considering environmental magnetic field is negligible, and its error range is ± 5.0cm.
If use the secondary estimation function, drive assist system and pick-up unit can only include only four sensors.Yet, in these four sensors, have under the situation about breaking down, an additional sensor is installed is proved to be useful.According to favourable embodiment of the present invention, drive assist system and pick-up unit also can comprise corrective system as shown in Figure 4, described corrective system can be checked the mode of operation of magnetic sensor simultaneously and for giving fixed-field based on the measured signal of sensor, eliminate the difference in the sensor response.
In fact, the difference of sensor response is not considered in the estimation of the position of the vehicles of the following stated.Fig. 4 has shown on 5 axles that are positioned at shaped traffic device main shaft vertical direction and has been the magnetic sensor 61 to 65 that a line is arranged.Two electromagnet 71 and 72 that comprise electromagnetic induction coil are placed between the second and the 3rd sensor respectively and between third and fourth sensor.The advantage of electromagnet is that it can produce required magnetic field, therefore produces determined numerical value.The measured value of different sensors can be eliminated the difference of sensor response by processing unit.
When sensor be separated from each other one section magnitude be the height h of sensor on magnetic strap apart from the time and when having only greatly magnetic interference to measure, can utilize the feature in the magnetic field that band produces to use the algorithm of another kind of type to come estimated distance d, especially be positioned at the zero position of any side of maximum amplitude in magnetic field and the slow variation that surpasses the field of the distance that is positioned at zero position in distance near height h.
Determine the level of radix NB in the phase one by the median of measured value, this is because there are more a plurality of sensors of comparing with its approaching sensor away from magnetic strap.
Detect the level have away from the N of median NB in subordinate phase, that is to say | the peaked sensor of N-NB|, and corresponding to near the sensor of magnetic strap.
Determine and have immediate horizontal NA in the phase III, that is to say with N | the approaching sensor CA of peaked sensor CN of NA-N|.
Finally, based on the position xCN of sensor CN and the position xCA of sensor CA, and by following formula determine band apart from d:
d＝(xCN*(NA-NB)+xCA*(N-NB))/(N+NA-2*NB)
Coded message c about in the magnetic strap is provided by following formula:
c＝(N+NA-2*NB)
Since the measured value of noise is enough little, this shortcut calculation can be reduced to the quantity of determining apart from the required calculating of d effectively under better precision so.
The road that has the magnetic strap that is about 300m is tested according under the vehicles of the sensor of ground 15cm auxiliary being equipped with 5.Use the shortcut calculation can computed range d, in distance was scope about 250mm, especially when when advancing (swing of the vehicles is on the both sides of band) as zigzag on the magnetic strap, the order of magnitude of precision be about 1mm.
In the example of the Fig. 4 that comprises 5 sensors, utilize the symmetry of pick-up unit, only 2 electromagnet are just enough, because first electromagnet 71 is on the one hand to sensor 62 and 63, on the other hand sensor 61 and 64 had identical influence, and second electromagnet 72 has identical influence to sensor 62 and 65, shown in the arrow between sensor among Fig. 4 and the electromagnet on the other hand on the one hand to sensor 63 and 64.Be reference for example with sensor 63, in the phase one of electromagnet 71, excite can correcting sensor 64 and compare with sensor 64 can identification sensor 61 response.In subordinate phase, exciting of electromagnet 72 can correcting sensor 64 and sensor 61, under the assistance of determined relation during the phase one of two sensors, can also use the sensor 62 that has been corrected to come correcting sensor 65 during the phase one.If the caused signal that excites of one or two electromagnet does not change, perhaps change inadequately, can detect defective sensor so.
Fig. 5 shows the result of the data of being represented by Fig. 4 that magnetic sensor obtained.The acquisition of these data is synchronous, that is to say that 5 sensors measure magnetic field simultaneously.
The result is total duration T0 and is divided into 5 time periods.Four initial time intervals are duration T 1, select T1 in the mode of 4T1＜T0, so that arrange the 5th time of processing and transmit data by processing unit.
For the function under the normal mode, four initial time intervals are equal to, and two electromagnet do not produce any magnetic field.In the process in these 4 stages, sensor record is from the magnetic field of environment and the magnetic field that is placed in the magnetic strap on the infrastructure or in the infrastructure.Can improve signal relation/noise in the lot of data that each stage obtained, simultaneously can be at the mean value in the interval calculation magnetic field of measuring.
For the function under the correction mode, do not produce any magnetic field at phase one two electromagnet, one in two electromagnet of subordinate phase produces magnetic field, does not produce any magnetic field at phase III two electromagnet, and another in two electromagnet of quadravalence section produces magnetic field.In the process in these 4 stages, the magnetic field that a record in two sensors is placed in the magnetic strap on the infrastructure or in the infrastructure from magnetic field and another record of environment.The variation of sensor signal can be determined each sensor to first response that excites electromagnet between first and second stages, and the variation of sensor signal can determine that each sensor is to second response that excites electromagnet between third and fourth stage.Carry out the correction of sensor by the difference of a sensor and another measurement value sensor.Can improve signal relation/noise in the lot of data that each stage obtained, simultaneously can be at the mean value in the interval calculation magnetic field of measuring.In addition, first and the measured value of phase III can be directly used in continuous information in estimated distance and the magnetic strap, this is identical with function under the normal mode.
When separately noise of the deviation of considering the metal shaft quality simultaneously and magnetic sensor, for the folk prescription vertical with above-mentioned example to magnetic field, the secondary estimation function can be at [50cm, 50cm] scope in the precision of 0.2cm, at [60cm, 60cm] scope in the precision estimated distance of 0.4cm, it is 25cm that described sensor is positioned in according to the distance between ground 25cm place and each sensor.
Corrective system can also known inspection all the sensors operate as normal whether.(for example according to the programming standard in the processing unit) under the situation of a sensor cisco unity malfunction therein, processing unit can no longer work and/or consider that no longer the field of measurement is so that no longer distort the calculating of distance and/or reading of coded message.Foregoing 5 sensing systems can be drive assist systems, and pick-up unit, even and when one in these sensors cisco unity malfunction after can not the technical ability obstacle, this system still can continue operation.
The variant of drive assist system and pick-up unit is to introduce one or more magnetic sensors, and it is aligning on second support component vertical with vehicles main shaft, is what to separate with the sensor still.Like this, with additional sensor and magnetic strap between the identification of the relevant aforementioned calculation distance of the identification of second horizontal range can realize the orientation of vehicles main shaft for road.Be proved to be very useful for these data such as anti-deviation control.
As shown in Figure 2, generate subsequently and the magnetization data of module transmission location data (apart from d) by the available information that relates to the position and coded data are provided for the vehicles and magnetic strap (magnetic field difference c can coded message).
Therefore, be placed on the infrastructure or the magnetic mark in the described infrastructure is that the vehicles on the infrastructure have defined reference by location, and the information support is provided on the other hand.
The material that is used to form magnetic mark is above-mentioned hard magnetic material.For these materials, magnetization curve is a magnetic hysteresis loop as shown in Figure 6, and uses residual magnetic field value Br and force the value Hc of magnetic exciting field to characterize.By hard magnetic material being used the external magnetic exciting field make the hard magnetic material magnetization.When not re-using the magnetic exciting field, the magnetization of material still has residual field Br.For the detection of using the vehicles to carry out, enough during the value of this Br.In addition, use different magnetic field, a value Br can change, but will be higher than the value Hc that forces the field.For using conventional at present sensor to detect the magnetic field that is produced suitably in place far away, 1 meter, residual magnetization Br should be higher than 1000 Gausses.
Hard magnetic material can be particle form, more particularly powder, bead or broken last form.
The particle of expression size can change between greater than 1 or 2 millimeter in several nanometers.Force magnetic field H c to change between preferred 5 to 5000 oersteds at about 1 to 20000 oersted.Use be lower than the particle in the pressure magnetic field of 5 oersteds may be too demagnetization easily, and Hc surpasses the particle of 5000 oersteds and needs very special and expensive equipment to magnetize.
Preferably, hard magnetic material is the stable magnetic oxide of a class, is also referred to as the Armco magnetic iron hydrochlorate.That the most frequently used is the positive ferrite BaFe of barium
12O
19And the positive ferrite SrFe of strontium
12O
19Can use lead to replace strontium and barium.Can use needle-like cube ferrite, magnetic iron ore Fe such as elongation
30O
4Or γ-ferric oxide γ-Fe
2O
3Wait other hard magnetic material.These Armco magnetic iron hydrochlorate output are very big and be very stable in outdoor storage.
Dioxide and metal alloy that other possible hard magnetic material is a chromium, Alnico alloy (aluminium-nickel-cobalt-ferroalloy) for example is based on iron, iron carbon, iron cobalt, iron cobalt chromium, iron cobalt molybdenum, copper ferronickel, manganese aluminium, cobalt platinum ... alloy.
The residual magnetic field of the hard magnetic material of the form of particle is not favourable direction.Can be easy in the marking composition that is defined in road or street like this merge.These compositions that use for the highway signal can be the materials of thermal fluidity, therefore can place with the form of melt substance.Recognize the material that can use cold flowability equally, for example use described these materials according to the form of the polymer solution of polymerisable monomer preparation.Also recognize the coating of road or street sign, usually based at the soluble resin of organic solvent or based on the polymer dispersed system of water, can be to wherein adding different adjuvants to quicken dry run slowly usually based on the coating of water.Except fluid composition, making in advance of the laying of preformed band, band and launching gradually and the measurement of its application on road have also been recognized.Therefore, be placed on the infrastructure or the magnetic mark in the described infrastructure can adopt different forms.
These dissimilar compositions generally include additive and coating.
If wish the visibility of the magnetic mark on the restriction infrastructure, when magnetic mark is different from the signal band, can select to add coating so.Can also imagine and add coating so that magnetic mark is always sightless to human eye.
The hard magnetic material that adds in such composition can be placed on the infrastructure with the form of continuous or the discontinuous band device by classics, the jetting system that described classical device is for example described among patent US6505995 or the US4401265.The magnetic mark of infrastructure of the present invention adopts the form of continuous or discontinuous magnetic strap.Under the situation of discontinuous magnetic strap, can realize the rule of marking composition or laying of irregular spacing.
If can predict the influence than the shallow cut, band can also be placed in the infrastructure so, so that using another kind of material to cover subsequently fills up otch, cover coating and guarantee and have lasting flatness between the operating period at magnetic strap.
This magnetic strap of settling can also be by continuous part or basic interval variable and that the multi-direction magnetization support information of each part is also defined simultaneously band.These parts or interval can be in contact with one another (band of settling continuously) or not contact (discontinuous band) mutually.All these bands (mark 31 and 32) as shown in Figure 1 can be in the well-regulated separation of the length direction of magnetic strap.In a particularly embodiment, the length of basic interval is 1 to 4 times of average height between the magnetic sensor of described magnetic strap and installation, and preferred length is 1 to 2 times of average height.
An interval and another changes of magnetic field at interval, it is continuous or the band of discontinuous arrangement, under the situation in magnetic field, can comprise the simple change of direction at folk prescription, simultaneously it can also represent logic state sequence " 0 " and " 1 " for the binary coding of information.If consider the several portions in magnetic field, coding can be complicated more so.It is also conceivable that difference.
Be higher than that an external field of forcing carries out recording of information or to its modification in order to keep residual magnetization or to change the magnetization existed, using.Realize this operation by special movable passageway in the band bottom.The pressure field value Bc of the hard magnetic material that uses should be enough to make parasitic magnetic field (big terrestrial magnetic field ...) not change coded message.
The coded message of this band can be different kind:
The prompting of-infrastructure signal (speed limit, the implication of forbidding ...),
The terrain data of-infrastructure (radius-of-curvature of the gradient, turning ...),
-temporary information (construct, detour ...),
-business information (interim cultural activity, the rest place of closing on, the price of hydrocarbon fuel, near tourist attractions ...)
Can imagine that these information can be used for killing time.Yet, do not need equally periodically to upgrade.More information is inessential equally, and some of them are pure commerce or cultural character, and other have fettered the safety of the vehicles.Should be with information grading.
Why Here it is is interested in to introduce at least two kinds some kinds of hard magnetic materials in same coating, so that use different safety class that different information are encoded.Equally, the information encoded of wanting important more (signal, terrain data) will use hard more magnetic material (Hc is much larger than 200 oersteds), the information encoded of wanting inessential more (price of cultural activity, hydrocarbon fuel) will use so not hard magnetic material (Hc is a bit larger tham 1 oersted).Can change not really that the mobile object of important information is the light-duty vehicles, it can travel on infrastructure with the speed identical with other mobile object.The benefit of information code level is it only is special, large-sized vehicles, considers to produce to be higher than the metal quality that utmost point hard magnetic material is forced the place needs of field, can change very important information.Equally, under the situation of not really important information programming error, very important information can not be deleted.
In addition, according to the business information that is recorded that uses for vehicles user, described system still has its benefit on aspect the economically viable vehicles.
Another advantage of magnetic mark of the present invention is that under the situation of magnetic strap local damage, pick-up unit is only lost the information of limit bit quantity.Therefore, drive assist system can turn round in this case continuously.Some that equally can preview information repeats, the especially repetition of important information, for example by each every multi-direction magnetic field carry out in the mode that repeats these important informations.
Claims (47)
1. a drive assist system is used for providing information to going up the current vehicles (20) in infrastructure (10), and it comprises:
-magnetic mark (30,40) is formed on the described infrastructure or in the described infrastructure, and is suitable for the information that is used for the described vehicles is encoded, and described information is transformable,
-pick-up unit, it comprises a plurality of magnetic sensors that carry on the described vehicles, (45) and processing unit, (50), the signal that described a plurality of magnetic sensor is used to detect the total magnetic field and produces the described total magnetic field of representative, described total magnetic field comprises the magnetic field that is generated by described magnetic mark, described processing unit is suitable for handling first distance between described representative signal and on the one hand definite described vehicles and the described magnetic mark, (d) and on the other hand the coded information in described magnetic mark of decoding
Wherein, described a plurality of magnetic sensors comprise at least three magnetic sensors, and described processing unit also is suitable for eliminating environmental magnetic field according to the representative signal that comes from described magnetic sensor from described total magnetic field.
2. drive assist system as claimed in claim 1, wherein said magnetic mark forms by settling the marking composition that uses for the highway signal, the magnetic material that adds one or more particle form in the described marking composition, described particle can receive magnetic remanence in being in the pressure magnetic exciting field (Hc) that is higher than described particle the time, and the magnetic remanence of described particle is suitable for the information that is used for the described vehicles is encoded.
3. drive assist system as claimed in claim 1, wherein the magnetic material of magnetic mark is at least two kinds of different types, every type all has a kind of different pressure magnetic exciting field, so that the information that is used for the vehicles is encoded, adopt magnetic material that most important information is encoded with the highest pressure magnetic exciting field with different security level.
4. drive assist system as claimed in claim 1, wherein said magnetic mark is settled in continuous basically mode with the form of magnetic strap, and wherein institute's information along the length direction of described magnetic strap with the basic interval (31 of rule basically, 32) described information is encoded, each described basic interval has the multi-direction magnetic field of itself.
5. drive assist system as claimed in claim 1, wherein said magnetic mark is settled with the form of discontinuous magnetic strap, described magnetic strap is with the basic interval formation of rule basically, and described information is encoded with each regular basic interval, and each described basic interval all has the multi-direction magnetic field of itself.
6. as claim 4 or 5 described drive assist systems, the length of wherein said basic interval is 1 to 2 times of average height between described magnetic strap and the vehicle-mounted magnetic sensor.
7. drive assist system as claimed in claim 4, wherein said multi-direction magnetic field comprise along with the direction of the basic vertical but coplane of described magnetic strap on first component.
8. drive assist system as claimed in claim 2, wherein said particles of magnetic material and resin-bonded.
9. drive assist system as claimed in claim 2, wherein said magnetic material are the Armco magnetic iron hydrochlorates.
10. drive assist system as claimed in claim 2, wherein said particles of magnetic material are powder, bead or the broken last form of diameter range at 10nm to 2mm.
11. drive assist system as claimed in claim 2, wherein the composition that uses for the highway signal is a coating, is preferably based on the coating of water.
12. drive assist system as claimed in claim 1, it comprises at least one the 4th magnetic sensor, and wherein said processing unit also is suitable for based on the representative signal that comes from described magnetic sensor, the deviation that variation caused of environmental magnetic field is taken into account, especially because the deviation that distribution caused of metallic object.
13. drive assist system as claimed in claim 12, wherein said magnetic sensor is gone up alignment at the first axle (60) of the axis that is basically perpendicular to the described vehicles.
14. drive assist system as claimed in claim 13, it comprises at least one additional magnetic sensor, described additional magnetic transducer arrangements is being independent of on second axis of described first axle, so that make described processing unit can determine second distance between the described vehicles and the described magnetic strap, described processing unit is determined the orientation of the described vehicles with respect to its moving direction on infrastructure based on described first and second distances.
15. drive assist system as claimed in claim 1, also comprise the device (71 that is used to proofread and correct described magnetic sensor, 72), described means for correcting can produce the complementary field of determining numerical value, described processing unit also is suitable for checking the mode of operation of magnetic sensor, and, eliminate the difference in the described magnetic sensor response based on the described representative signal of described magnetic sensor.
16. as the described drive assist system of above-mentioned claim 15, wherein said corrective system comprises electromagnet.
17. drive assist system as claimed in claim 1, wherein said magnetic sensor are the ring-like sensors of magnetoresistive transducer, hall effect sensor or electric current.
18. drive assist system as claimed in claim 1, wherein at least one in first and second distances and on described magnetic strap information encoded determine based on estimation function by described processing unit, described estimation function comprises by least square method numerical value (Mfxi that each magnetic sensor read, Mgxi, Mhxi) and the normal response numerical value (fxi of described sensor, gxi, hxi) compare, this estimation function is the function of total magnetic field, locate in each position of described magnetic sensor (xi), the estimated value of described distance and described information is best suited for the numerical value in described reading numerical values.
19. drive assist system as claimed in claim 1, at least one (d) in wherein said first and second distances and in described magnetic strap information encoded (c) be based on that the numerical value (Mfxi) that read by each magnetic sensor and following numerical evaluation draw:
The median of the described reading numerical values of-NB=,
-N=and described median numerical value farthest numerical value corresponding and that read at the sensor CN of position xCN,
The nearest numerical value of-NA=and described median numerical value corresponding and that read at the sensor CA of position xCA,
According to formula:
d＝(xCN*(NA-NB)+xCA*(N-NB))/(N+NA-2*NB)，
c＝(N+NA-2*NB)。
20. pick-up unit, be used for the described drive assist system of claim 1, it comprises a plurality of magnetic sensors (45) and processing unit (50), hand over a plurality of magnetic sensors of institute to be intended to be arranged in and be used to detect the total magnetic field on the vehicles (20) and produce the signal of representing described total magnetic field, described total magnetic field comprises by the magnetic mark (30 that is formed on the infrastructure or in the infrastructure, 40) magnetic field that is produced, described processing unit is suitable for handling described representative signal and determines that first between the described vehicles and the described magnetic mark is apart from (d), wherein said a plurality of magnetic sensor comprises at least three magnetic sensors, and described processing unit also is suitable for eliminating environmental magnetic field based on described representative signal from described total magnetic field.
21. pick-up unit as claimed in claim 20, it comprises at least one the 4th magnetic sensor, and wherein said processing unit also is suitable for based on the representative signal that comes from described magnetic sensor, the deviation that variation caused of environmental magnetic field is taken into account, especially because the deviation that distribution caused of metallic object.
22. pick-up unit as claimed in claim 21, wherein said magnetic sensor is gone up alignment at the first axle (60) of the axis that is basically perpendicular to the described vehicles.
23. pick-up unit as claimed in claim 22, it comprises at least one additional magnetic sensor, described additional magnetic transducer arrangements is being independent of on second axis of described first axle, so that make described processing unit can determine second distance between the described vehicles and the described magnetic strap, described processing unit is determined the orientation of the described vehicles with respect to its moving direction on infrastructure based on described first and second distances.
24. pick-up unit as claimed in claim 20, also comprise the device (71 that is used to proofread and correct described magnetic sensor, 72), described means for correcting can produce the complementary field of determining numerical value, described processing unit also is suitable for checking the mode of operation of magnetic sensor, and, eliminate the difference in the described magnetic sensor response based on the described representative signal of described magnetic sensor.
25. pick-up unit as claimed in claim 24, wherein said corrective system comprises electromagnet.
26. pick-up unit as claimed in claim 20, wherein said magnetic sensor are the ring-like sensors of magnetoresistive transducer, hall effect sensor or electric current.
The coded information in described magnetic mark 27. pick-up unit as claimed in claim 20, wherein said processing unit also are suitable for decoding.
28. pick-up unit as claimed in claim 20, wherein said processing unit based on estimation function determine first and second the distance and described magnetic strap on coded message, described estimation function comprises by least square method numerical value (Mfxi that each magnetic sensor read, Mgxi, Mhxi) and the normal response numerical value (fxi of described sensor, gxi, hxi) compare, this estimation function is the function of total magnetic field, locate in each position of described magnetic sensor (xi), the estimated value of described distance and described information is best suited for the numerical value in described reading numerical values.
29. pick-up unit as claimed in claim 20, at least one (d) in wherein said first and second distances and in described magnetic strap information encoded (c) be based on that the numerical value (Mfxi) that read by each magnetic sensor and following numerical evaluation draw:
The median of the described reading numerical values of-NB=,
-N=and described median numerical value farthest numerical value corresponding and that read at the sensor CN of position xCN,
The nearest numerical value of-NA=and described median numerical value corresponding and that read at the sensor CA of position xCA,
According to formula:
d＝(xCN*(NA-NB)+xCA*(N-NB))/(N+NA-2*NB)，
c＝(N+NA-2*NB)。
30. vehicles (20) that can travel on infrastructure (10), described infrastructure comprises magnetic mark (30,40), this magnetic mark is formed on the described infrastructure or in the described infrastructure and be suitable for the information that is used for the described vehicles is encoded, the described vehicles are equipped with pick-up unit as claimed in claim 20, and described device can determine that distance of first between the described at least vehicles and the described magnetic mark (d) and decoding are in the coded information of described magnetic mark.
31. infrastructure (10) that is used for the described drive assist system of claim 1, it comprises magnetic mark (30,40), be formed on the described infrastructure or in the described infrastructure and be suitable for the information of the vehicles (20) on described infrastructure that are used to travel is encoded, described magnetic mark forms by settling the marking composition that uses for the highway signal, the magnetic material that adds one or more particle form in the described marking composition, these particles can receive magnetic remanence in being in the pressure magnetic exciting field (Hc) that is higher than described particle the time, and the magnetic remanence of described particle is suitable for the information that is used for the described vehicles is encoded.
32. infrastructure as claimed in claim 31, wherein the magnetic material of magnetic mark is at least two kinds of different types, every type all has a kind of different pressure magnetic exciting field, so that the information that is used for the vehicles is encoded, adopt magnetic material that most important information is encoded with the highest pressure magnetic exciting field with different security level.
33. as claim 31 or 32 described infrastructure, wherein said magnetic mark is settled in continuous basically mode with the form of magnetic strap, and wherein institute's information along the length direction of described magnetic strap with the basic interval (31 of rule basically, 32) described information is encoded, each described basic interval has the multi-direction magnetic field of itself.
34. as claim 31 or 32 described infrastructure, wherein said magnetic mark is settled with the form of discontinuous magnetic strap, described magnetic strap is with the basic interval formation of rule basically, and described information is encoded with each regular basic interval, and each described basic interval all has the multi-direction magnetic field of itself.
35. as infrastructure as described in the claim 31, wherein said multi-direction magnetic field comprises first component on the direction of but coplane basic vertical with described magnetic strap.
36. as infrastructure as described in the claim 31, wherein said particles of magnetic material and resin-bonded.
37. as infrastructure as described in the claim 31, wherein said magnetic material is the Armco magnetic iron hydrochlorate.
38. as infrastructure as described in the claim 31, wherein said particles of magnetic material is powder, bead or the broken last form of diameter range at 10nm to 2mm.
39. as infrastructure as described in the claim 31, wherein the composition that uses for the highway signal is a coating, is preferably based on the coating of water.
40. driving assistance method that is used for the vehicles (20) that on infrastructure (10), travel, this infrastructure comprises magnetic mark (30,40), this magnetic mark is formed on the described infrastructure or in the described infrastructure and be suitable for the information that is used for the described vehicles is encoded, the described vehicles comprise a plurality of pick-up units and the processing unit (20) that carries on the described vehicles, the signal that described a plurality of pick-up unit is used to detect the total magnetic field and produces the described total magnetic field of representative, described total magnetic field comprises the magnetic field that is generated by described magnetic mark, described processing unit is used for representative signal, and described method comprises the following steps:
A) adopt described a plurality of Magnetic Induction devices to measure described total magnetic field,
B) utilize described processing unit to determine information coded on described magnetic strap based on described representative signal,
C) utilize described processing unit to determine the distance of first between the described vehicles and the described magnetic mark (d) based on described representative signal,
D) with described coded message and described first Distance Transmission to the module (55) that forms with the driver's of the vehicles interface,
Wherein said a plurality of magnetic sensor comprises at least three magnetic sensors, and described processing unit also is suitable for eliminating environmental magnetic field according to described representative signal from described total magnetic field.
41. driving assistance method as claimed in claim 40, it comprises at least one the 4th magnetic sensor, and described processing unit also is suitable for based on the representative signal that comes from described magnetic sensor, the deviation that variation caused of environmental magnetic field is taken into account, especially because the deviation that distribution caused of metallic object.
42. driving assistance method as claimed in claim 41, wherein said magnetic sensor is gone up alignment at the first axle (60) of the axis that is basically perpendicular to the described vehicles.
43. driving assistance method as claimed in claim 42, it comprises at least one additional magnetic sensor, described additional magnetic transducer arrangements is being independent of on second axis of described first axle, so that make described processing unit can determine second distance between the described vehicles and the described magnetic strap, described processing unit is determined the orientation of the described vehicles with respect to its moving direction on infrastructure based on described first and second distances.
44. driving assistance method as claimed in claim 41, wherein said magnetic mark forms by settling the marking composition that uses for the highway signal, the magnetic material that adds one or more particle form in the described marking composition, described particle can receive magnetic remanence in being in the pressure magnetic exciting field (Hc) that is higher than described particle the time, and the magnetic remanence of described particle is suitable for the information that is used for the described vehicles is encoded.
45. driving assistance method as claimed in claim 44, wherein the magnetic material of magnetic mark is at least two kinds of different types, every type all has a kind of different pressure magnetic exciting field, so that the information that is used for the vehicles is encoded, adopt magnetic material that most important information is encoded with the highest pressure magnetic exciting field with different security level.
46. driving assistance method as claimed in claim 45, wherein at least one in first and second distances and on described magnetic strap information encoded determine based on estimation function by described processing unit, described estimation function comprises by least square method numerical value (Mfxi that each magnetic sensor read, Mgxi, Mhxi) and the normal response numerical value (fxi of described sensor, gxi, hxi) compare, this estimation function is the function of total magnetic field, locate in each position of described magnetic sensor (xi), the estimated value of described distance and described information is best suited for the numerical value in described reading numerical values.
47. driving assistance method as claimed in claim 45, at least one (d) in wherein said first and second distances and in described magnetic strap information encoded (c) be based on that the numerical value (Mfxi) that read by each magnetic sensor and following numerical evaluation draw:
The median of the described reading numerical values of-NB=,
-N=and described median numerical value farthest numerical value corresponding and that read at the sensor CN of position xCN,
The nearest numerical value of-NA=and described median numerical value corresponding and that read at the sensor CA of position xCA,
According to formula:
d＝(xCN*(NA-NB)+xCA*(N-NB))/(N+NA-2*NB)，
c＝(N+NA-2*NB)。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0405957A FR2871274B1 (en) | 2004-06-02 | 2004-06-02 | DRIVING ASSISTANCE SYSTEM FOR MOBILE COOPERATION INFRASTRUCTURE |
| FR0405957 | 2004-06-02 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1965339A CN1965339A (en) | 2007-05-16 |
| CN100565610C true CN100565610C (en) | 2009-12-02 |
Family
ID=34945160
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005800182738A Expired - Fee Related CN100565610C (en) | 2004-06-02 | 2005-06-01 | The drive assist system that is used for infrastructure, mobile object cooperation |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP1756788A1 (en) |
| JP (1) | JP4709835B2 (en) |
| CN (1) | CN100565610C (en) |
| FR (1) | FR2871274B1 (en) |
| WO (1) | WO2006000690A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012110586A1 (en) * | 2012-10-15 | 2014-04-17 | Continental Safety Engineering International Gmbh | Connecting device and test arrangement |
| US9278691B1 (en) * | 2014-09-18 | 2016-03-08 | Flextronics Ap, Llc | Vehicle lane departure system based on magnetic field flux detection |
| JP6621363B2 (en) * | 2016-04-01 | 2019-12-18 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ | Vehicle and measuring method |
| JP7012421B2 (en) | 2016-06-17 | 2022-01-28 | 愛知製鋼株式会社 | Magnetic marker and marker system |
| ES2731278T3 (en) * | 2016-09-16 | 2019-11-14 | Siemens Mobility S A S | System and method of assistance to driving a vehicle |
| CN110419067B (en) * | 2017-03-28 | 2022-03-15 | 爱知制钢株式会社 | Marker system |
| JP6928307B2 (en) * | 2017-03-28 | 2021-09-01 | 愛知製鋼株式会社 | Marker detection system and marker detection method |
| JP6928306B2 (en) * | 2017-03-28 | 2021-09-01 | 愛知製鋼株式会社 | Magnetic marker construction method and work system |
| JP7005943B2 (en) * | 2017-06-06 | 2022-01-24 | 愛知製鋼株式会社 | Marker system and operation method |
| JP7255127B2 (en) * | 2018-10-04 | 2023-04-11 | 愛知製鋼株式会社 | magnetic marker system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4310862A (en) * | 1979-08-09 | 1982-01-12 | Schwarz Alfred V | Magnetic control strip recording device for roadway control system |
| DK0856088T3 (en) * | 1995-10-18 | 2001-01-02 | Minnesota Mining & Mfg | Magnetic object that can be adapted to be placed under traffic-bearing surfaces |
| DE19640929C1 (en) * | 1996-10-04 | 1998-05-14 | Peter Hering | Driver assistance device for automobile |
| US6437561B1 (en) * | 1999-11-17 | 2002-08-20 | 3M Innovative Properties Company | System for determining the position of an object with respect to a magnetic field sources |
| US6289269B1 (en) * | 2000-11-09 | 2001-09-11 | Barrier Systems, Inc. | Vehicle guidance system |
-
2004
- 2004-06-02 FR FR0405957A patent/FR2871274B1/en not_active Expired - Fee Related
-
2005
- 2005-06-01 WO PCT/FR2005/001351 patent/WO2006000690A1/en not_active Application Discontinuation
- 2005-06-01 EP EP05775416A patent/EP1756788A1/en not_active Withdrawn
- 2005-06-01 CN CNB2005800182738A patent/CN100565610C/en not_active Expired - Fee Related
- 2005-06-01 JP JP2007514027A patent/JP4709835B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2008502041A (en) | 2008-01-24 |
| CN1965339A (en) | 2007-05-16 |
| JP4709835B2 (en) | 2011-06-29 |
| FR2871274B1 (en) | 2007-03-16 |
| FR2871274A1 (en) | 2005-12-09 |
| WO2006000690A1 (en) | 2006-01-05 |
| EP1756788A1 (en) | 2007-02-28 |
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