CN104236559A - Beidou satellite based vehicle integrated control system with four-layer architecture and control method - Google Patents
Beidou satellite based vehicle integrated control system with four-layer architecture and control method Download PDFInfo
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- CN104236559A CN104236559A CN201410459922.9A CN201410459922A CN104236559A CN 104236559 A CN104236559 A CN 104236559A CN 201410459922 A CN201410459922 A CN 201410459922A CN 104236559 A CN104236559 A CN 104236559A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention relates to a Beidou satellite based vehicle integrated control system with four-layer architecture. The vehicle integrated control system comprises an air-land road vehicle measurement and control network layer, an air-based road vehicle remote telemetering and control layer, a land-based road vehicle broadband information transmission and control layer and a wireless sensor network system layer at a road and vehicle measurement and control part. A control method provided by the invention comprises the following steps: (a) arranging devices; (b) collecting coordinates; (c) acquiring operation state information; (d) judging a wireless communication state; (e) performing wireless network transmission; (f) performing Beidou data transmission; (g) making a decision by a control center; and (h) performing ground vehicle control. According to the vehicle integrated control system and method provided by the invention, in the situation of normal wireless communication, data is transmitted through a wireless communication network, thereby achieving the effects of low cost, a large amount of transmitted data, safety and reliability; when a ground communication network is damaged or has no signals, the transmission is performed by a Beidou satellite, thereby ensuring continuity of information transmission and being conductive to performing uninterrupted monitoring and control on operation states of vehicles.
Description
Technical field
The present invention relates to a kind of vehicle complex control system based on big-dipper satellite four layer architecture and method, in particular, a kind of the vehicle complex control system based on big-dipper satellite four layer architecture and the method that can carry out uninterrupted monitor and forecast to the running status of vehicle is particularly related to.
Background technology
The ice disaster occurred in recent years and earthquake disaster, a passage is blocked up and destroy to cause large area, also cause damage and the inefficacy of the wired and wireless communication services of large area, if can not unimpededly communicate when disaster occurs, carrying out smoothly of the work of requiring assistance will be had a strong impact on.In addition, the region that the region length and breadth of land, Base communication environment are poor as western part, according to existing communication form, also cannot realize monitoring and the control of travel condition of vehicle, cannot solve the Security Control Problem just as " two danger one visitors " haulage vehicle.Current GPS/GSM vehicle location and communication pattern expose essence technological deficiency, can lose due effect in many situations, existing mechanics of communication manages in control safely and efficiently in energy-saving and emission-reduction and road vehicle can not meet new technical requirement.
Beidou satellite navigation system be China implementing independent research, independent operating GPS (Global Position System), four Beidou navigation test satellites and seven Beidou navigation satellites are succeeded in sending up now, on system group network and experimental basis, progressively will expand to GPS (Global Position System).Beidou satellite navigation system construction object builds up independent, open and compatible, advanced technology, reliable and stable satellite navigation system covering the whole world, after having incorporated " Big Dipper " system, new vehicle can be adopted to control framework.
Summary of the invention
The present invention, in order to overcome the shortcoming of above-mentioned technical matters, provides a kind of vehicle complex control system based on big-dipper satellite four layer architecture and method.
Vehicle complex control system based on big-dipper satellite four layer architecture of the present invention, comprise vacant lot road vehicle tracking and command network network layers, the long-haul telemetry of space base road vehicle and key-course, the transmission of ground road vehicle wide-band-message and key-course, the wireless sensor network system layer at road and vehicle observing and controlling position, its special feature is: described vacant lot road vehicle tracking and command network network layers is made up of big-dipper satellite and terrestrial wireless communication network, the travel condition of vehicle information that terrestrial wireless communication network gathers for transmitting surface car, travel condition of vehicle information is sent to control center by big-dipper satellite, the long-haul telemetry of described space base road vehicle and key-course are made up of control center and big-dipper satellite, and control center stores the travel condition of vehicle information that big-dipper satellite sends and judges, and produces vehicle control information, the vehicle control information that control center sends is transmitted through big-dipper satellite, described ground road vehicle bandwidth information transmission comprises terrestrial wireless communication network and road Controlling vertex with key-course, and surface car receives the data that control center sends and the measuring state information sending self by road Controlling vertex, the wireless sensor network system layer at described road and vehicle observing and controlling position is made up of the various sensors in the Big Dipper locating module, wireless network module and the vehicle that are installed on vehicle, Big Dipper locating module is for the locator data that receives big-dipper satellite and send and determine the geographical position coordinates of vehicle, surface car realizes the communication between road Controlling vertex by wireless network module, the sensor in vehicle is used for the running state information of collection vehicle.
Vehicle complex control system based on big-dipper satellite four layer architecture of the present invention, also comprise and be arranged at information center station and ″Beidou″ beacon node, big-dipper satellite determines the volume coordinate of self by the communication of standing with information center, and ″Beidou″ beacon node determines the geographical location information of self by the data receiving big-dipper satellite and send.
The control method of the vehicle complex control system based on big-dipper satellite four layer architecture of the present invention, its special feature is, comprise the following steps: a). equipment layout, surface car to be controlled lays communication module, and communication module comprises Big Dipper locating module and wireless network module; Wait to be with laying road Controlling vertex in the region that controls, receive and forward by road Controlling vertex the information that surface car uploads; B). coordinate collection, surface car receives the locator data of big-dipper satellite transmission by Big Dipper locating module, is determined the position coordinates of self by computing; C). operating state information acquisition, surface car determines the travel condition of vehicle information comprising speed, travel direction, oil consumption and tire pressure by the sensor that self arranges; D). judge wireless communication state, the communication module be arranged on vehicle judges whether terrestrial wireless communication network can be used, if available, then performs step e); If terrestrial wireless communication network is unavailable, then perform step f); E). wireless network transmissions, when terrestrial wireless communication network can be used, the running state information of self and position coordinates are transferred to control center by terrestrial wireless communication network by surface car; F). Big Dipper data are transmitted, and in the disabled situation of terrestrial wireless communication network, the running state information of self and position coordinates are forwarded to control center by big-dipper satellite by surface car; G). control center's decision-making, control center, by the computation and analysis to the travel condition of vehicle information received and position coordinates, makes the decision information controlling vehicle operating; H). surface car controls, and decision information is sent to surface car by big-dipper satellite or terrestrial wireless communication network by control center, and surface car controls the operation of self according to the decision information received.
The invention has the beneficial effects as follows: vehicle complex control system of the present invention and method, by arrange to be transmitted by vacant lot road vehicle tracking and command network network layers, the long-haul telemetry of space base road vehicle and key-course, ground road vehicle wide-band-message and key-course, road and vehicle observing and controlling position four layer architecture that forms of wireless sensor network system layer, at wireless communication networks under normal circumstances, the running state information of vehicle and position coordinates transmit by the radio communication network on ground, and cost is low, volume of transmitted data is large, safety can be high; When ground communication network wreck or no signal time, then by utilizing the communication function of big-dipper satellite to carry out data transmission, ensure that the continuity of information transmission, being conducive to realizing uninterrupted monitor and forecast to travel condition of vehicle.
The vehicle complex control system of invention and the beneficial effect of method are embodied in:
(1), by carrying out the distinguishing hierarchy of science to the inscape of road vehicle location and parametric controller, effectively played each maximum efficiency that will go, can better build vehicle location and parametric controller.
(2), adopting Beidou navigation satellite technology in orbit for relying on, setting up the round-the-clock disaster-resistant type road vehicle location of space base and parametric controller.
(3) wireless sensor network technology (WSN) and wireless communication technique, is adopted to be the main comprehensive road vehicle location of ground and TT&C system, realize low cost, traffic observing and controlling on a large scale, be conducive to hazardous materials transportation and the automobile energy-saving environmental protection solution in interior different kinds of roads vehicle problem.
(4), adopt Beidou satellite/WSN technology collection, extraction, transmission vehicle status data information, form the distributed intelligence network system of car status information, make car status information accurately, transmitting.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the vehicle complex control system based on big-dipper satellite four layer architecture of the present invention;
Fig. 2 is the schematic diagram that in the present invention, surface car utilizes big-dipper satellite to position;
Fig. 3 is the schematic diagram that in the present invention, surface car carries out networking.
In figure: 1 big-dipper satellite, 2 ″Beidou″ beacon nodes, 3 sensor nodes, 4 information center stations, 5 terrestrial wireless communication networks, 6 Internet network, 7 users, 8 surface cars, 9 road Controlling vertex.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As depicted in figs. 1 and 2, the schematic diagram giving the vehicle complex control system based on big-dipper satellite four layer architecture of the present invention and the schematic diagram utilizing big-dipper satellite to position, it comprises vacant lot road vehicle tracking and command network network layers, the long-haul telemetry of space base road vehicle and key-course, ground road vehicle wide-band-message and transmits the wireless sensor network system layer with key-course, road and vehicle observing and controlling position.Vacant lot road vehicle tracking and command network network layers is made up of big-dipper satellite 1 and terrestrial wireless communication network 5, the long-haul telemetry of space base road vehicle and key-course are made up of control center and big-dipper satellite, the transmission of ground road vehicle bandwidth information comprises terrestrial wireless communication network 5 and road Controlling vertex 9 with key-course, and the wireless sensor network system layer at road and vehicle observing and controlling position is made up of the various sensors in the Big Dipper locating module, wireless network module and the vehicle that are installed on vehicle.
Surface car 8 is laid with communication module, and communication module is made up of Big Dipper locating module and wireless network module, and surface car receives the locator data of big-dipper satellite transmission by Big Dipper locating module, realizes self poisoning; Surface car passes through the running state information of the sensor collection vehicle of self, as speed, travel direction, oil consumption and tire pressure etc.Surface car can be transmitted and receive data by wireless network module.
Shown ground communications net 5 can be 3G network, sensor node 3 is for being laid with the surface car of communication module, road Controlling vertex 9 realizes the routing node of vehicle networking for being laid in certain area coverage, for forwarding and receive the data between vehicle and wireless network.Big-dipper satellite 1 determines the locus coordinate of self, to ensure the degree of accuracy that big-dipper satellite is located by information center station 4; ″Beidou″ beacon node 2 is arranged on ground, calibrates, improve positioning precision further to the location of big-dipper satellite 1.
Surface car 8(is equivalent to sensor node 3) upper data waiting for transmission, control center can be uploaded to by road Controlling vertex 9, terrestrial wireless communication network 5, Internet network 6 successively, also be uploaded to control center by big-dipper satellite 1, Internet network.Control center processes the travel condition of vehicle information received and positional information, makes the decision-making controlling vehicle operating, then is issued to surface car 8 by corresponding communication path, to control the running status of vehicle.
The control method of the vehicle complex control system based on big-dipper satellite four layer architecture of the present invention, is realized by following steps:
A). equipment layout, surface car (8) to be controlled lays communication module, and communication module comprises Big Dipper locating module and wireless network module; Wait to be with laying road Controlling vertex in the region that controls, receive and forward by road Controlling vertex the information that surface car uploads;
B). coordinate collection, the locator data that surface car is sent by Big Dipper locating module reception big-dipper satellite (1), determines the position coordinates of self by computing;
C). operating state information acquisition, surface car determines the travel condition of vehicle information comprising speed, travel direction, oil consumption and tire pressure by the sensor that self arranges;
D). judge wireless communication state, the communication module be arranged on vehicle judges whether terrestrial wireless communication network can be used, if available, then performs step e); If terrestrial wireless communication network is unavailable, then perform step f);
E). wireless network transmissions, when terrestrial wireless communication network can be used, the running state information of self and position coordinates are transferred to control center by terrestrial wireless communication network by surface car;
F). Big Dipper data are transmitted, and in the disabled situation of terrestrial wireless communication network, the running state information of self and position coordinates are forwarded to control center by big-dipper satellite by surface car;
G). control center's decision-making, control center, by the computation and analysis to the travel condition of vehicle information received and position coordinates, makes the decision information controlling vehicle operating;
H). surface car controls, and decision information is sent to surface car by big-dipper satellite or terrestrial wireless communication network by control center, and surface car controls the operation of self according to the decision information received.
Vehicle complex control system based on big-dipper satellite four layer architecture of the present invention and method, at wireless communication networks under normal circumstances, the running state information of vehicle and position coordinates transmit by the radio communication network on ground, and cost is low, volume of transmitted data is large, safety can be high; When ground communication network wreck or no signal time, then by utilizing the communication function of big-dipper satellite to carry out data transmission, ensure that the continuity of information transmission, being conducive to realizing uninterrupted monitor and forecast to travel condition of vehicle.
Claims (3)
1. the vehicle complex control system based on big-dipper satellite four layer architecture, comprise vacant lot road vehicle tracking and command network network layers, the long-haul telemetry of space base road vehicle and key-course, the transmission of ground road vehicle wide-band-message and key-course, the wireless sensor network system layer at road and vehicle observing and controlling position, it is characterized in that: described vacant lot road vehicle tracking and command network network layers is made up of big-dipper satellite (1) and terrestrial wireless communication network (5), the travel condition of vehicle information that terrestrial wireless communication network gathers for transmitting surface car (8), travel condition of vehicle information is sent to control center by big-dipper satellite,
The long-haul telemetry of described space base road vehicle and key-course are made up of control center and big-dipper satellite, and control center stores the travel condition of vehicle information that big-dipper satellite sends and judges, and produces vehicle control information; The vehicle control information that control center sends is transmitted through big-dipper satellite;
Described ground road vehicle bandwidth information transmission comprises terrestrial wireless communication network (5) and road Controlling vertex (9) with key-course, and surface car receives the data that control center sends and the measuring state information sending self by road Controlling vertex;
The wireless sensor network system layer at described road and vehicle observing and controlling position is made up of the various sensors in the Big Dipper locating module, wireless network module and the vehicle that are installed on vehicle, Big Dipper locating module is for the locator data that receives big-dipper satellite and send and determine the geographical position coordinates of vehicle, surface car realizes the communication between road Controlling vertex by wireless network module, the sensor in vehicle is used for the running state information of collection vehicle.
2. the vehicle complex control system based on big-dipper satellite four layer architecture according to claim 1, it is characterized in that: also comprise and be arranged at information center station (4) and ″Beidou″ beacon node (2), big-dipper satellite determines the volume coordinate of self by the communication of standing with information center, and ″Beidou″ beacon node determines the geographical location information of self by the data receiving big-dipper satellite and send.
3., based on a control method for the vehicle complex control system based on big-dipper satellite four layer architecture according to claim 1, it is characterized in that, comprise the following steps:
A). equipment layout, surface car (8) to be controlled lays communication module, and communication module comprises Big Dipper locating module and wireless network module; Wait to be with laying road Controlling vertex in the region that controls, receive and forward by road Controlling vertex the information that surface car uploads;
B). coordinate collection, the locator data that surface car is sent by Big Dipper locating module reception big-dipper satellite (1), determines the position coordinates of self by computing;
C). operating state information acquisition, surface car determines the travel condition of vehicle information comprising speed, travel direction, oil consumption and tire pressure by the sensor that self arranges;
D). judge wireless communication state, the communication module be arranged on vehicle judges whether terrestrial wireless communication network can be used, if available, then performs step e); If terrestrial wireless communication network is unavailable, then perform step f);
E). wireless network transmissions, when terrestrial wireless communication network can be used, the running state information of self and position coordinates are transferred to control center by terrestrial wireless communication network by surface car;
F). Big Dipper data are transmitted, and in the disabled situation of terrestrial wireless communication network, the running state information of self and position coordinates are forwarded to control center by big-dipper satellite by surface car;
G). control center's decision-making, control center, by the computation and analysis to the travel condition of vehicle information received and position coordinates, makes the decision information controlling vehicle operating;
H). surface car controls, and decision information is sent to surface car by big-dipper satellite or terrestrial wireless communication network by control center, and surface car controls the operation of self according to the decision information received.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410459922.9A CN104236559B (en) | 2014-09-11 | 2014-09-11 | A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four |
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| CN201410459922.9A CN104236559B (en) | 2014-09-11 | 2014-09-11 | A kind of vehicle complex control system and method based on the layer architecture of big-dipper satellite four |
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| CN104236559A true CN104236559A (en) | 2014-12-24 |
| CN104236559B CN104236559B (en) | 2017-06-09 |
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