CN115240449A - Speed guiding system for realizing safe operation by utilizing magnetic nail track and guiding method thereof - Google Patents
Speed guiding system for realizing safe operation by utilizing magnetic nail track and guiding method thereof Download PDFInfo
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Abstract
The invention discloses a speed guiding system and a guiding method thereof for realizing safe operation by utilizing a magnetic nail track, comprising a vehicle-mounted end and a road-side end, wherein the vehicle-mounted end comprises a vehicle, a front magnetic sensor, a rear magnetic sensor, a navigation planning processor, a vehicle-mounted communication unit and a speed sensor; the roadside end comprises a signal lamp, a signal machine, roadside communication equipment and a magnetic nail track, and the vehicle runs along the magnetic nail track; the signal machine carries out control information's transmission to the signal of signal lamp, and the signal machine passes through wireless form with the real-time lamp state of signal lamp, signal lamp discernment, lamp state phase information and transmits for on-vehicle communication unit. The speed guidance system and the guidance method thereof for realizing safe operation by utilizing the magnetic nail track monitor the longitudinal position of the vehicle in the magnetic nail track in real time to carry out speed planning, improve the speed guidance precision and reliability of the train, obtain reliable traffic light phase information according to the efficient response mechanism of the vehicle and traffic light equipment, and further carry out speed guidance and efficiently pass through a traffic light intersection.
Description
Technical Field
The invention relates to a speed guiding system for realizing safe operation by utilizing a magnetic nail track and a guiding method thereof.
Background
The magnetic nail digital track utilizes the buried passive magnetic nails to form a track line, eliminates a steel rail used by a traditional track train, still has the functions of positioning and guiding in a track system and a signal system, has the characteristics of difficult failure, strong environmental adaptability and the like, and can realize precise positioning, automatic guiding and planning control while ensuring safety.
Each magnetic nail is endowed with position information such as transverse deviation, longitudinal distance, curvature, GPS coordinates and the like, a high-precision magnetic nail map is formed by combining all magnetic nail database information, and after the magnetic nail is identified by the train, the information such as the current position and the like can be obtained by inquiring the high-precision magnetic nail map, so that the safe and efficient running of the train is controlled. The current magnetic nail map needs to be generated in advance and stored in a configuration file mode, and the magnetic nail map is read once when a system is started and cannot be changed during operation. Data in the magnetic nail map is organized according to the running route, a route through which a train passes from a starting point to an end point is a route, and all magnetic nail information on the route needs to be pre-stored in the magnetic nail map.
In recent years, the automatic driving industry develops rapidly, sensors which can be used for accurate positioning develop rapidly, and sensor technologies such as a wheel speed sensor, an inertial navigator, a vision sensor, a millimeter wave radar and a laser radar can be used for train positioning and train speed guiding. Due to the extremely complex driving environment and the requirement of the existing automatic driving algorithm on boundary, the method is far from reaching the ground step of large-scale use and still in the stage of experimental test and limited scene operation. The public transportation field has extremely high requirements on safety and higher reliability, and the demand of an automatic driving scheme is urgent. The wheel speed sensor is affected by wheel deformation, low speed resolution and the like, and has large longitudinal error and long-term accumulated error, so that reliable longitudinal positioning cannot be realized. The visual sensor can identify a large amount of information, not only can effectively identify position information, but also can sense various information such as icons, pedestrians, barriers, traffic lights and the like, so that the controller can make decisions conveniently, but the positioning accuracy is reduced or even fails under the conditions of heavy environmental influence, rainy and snowy weather, night or fuzzy lane lines and the like. The laser radar can identify the position relation between the vehicle and the obstacle, has the characteristics of high precision and relatively small data volume, but has high hardware cost, is also influenced by weather such as rain, snow and the like, and cannot achieve high reliability. The millimeter wave radar has the characteristics of high environmental adaptability, large detection distance and the like, but the accuracy of position identification is lower than that of the laser radar. The magnetic nail navigation scheme is not influenced by environmental factors, not only can transverse and longitudinal high-precision positioning be achieved, but also environmental information can be given to the magnetic nail database by the magnetic nail points, and the magnetic nail navigation scheme is comprehensive in information, high in safety and reliability and low in cost. By using magnetic nail tracking navigation, the train can accurately identify position information and environment information, and traffic environment information such as the train and the train, the train and the platform, the train and the traffic lights and the like can be accurately identified, so that the magnetic nail tracking navigation system is conveniently applied to speed guidance planning of the train, can realize high-efficiency operation in an operation line, and achieves energy conservation and emission reduction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a speed guiding system and a guiding method thereof for realizing safe operation by utilizing a magnetic nail track, which can monitor the longitudinal position of a vehicle in the magnetic nail track in real time to carry out speed planning, improve the speed guiding precision and reliability of a train, obtain reliable traffic light phase information according to a high-efficiency response mechanism of the vehicle and traffic light equipment, and further carry out speed guiding and efficiently pass through a traffic light intersection.
The technical scheme for realizing the purpose is as follows: a speed guidance system for realizing safe operation by utilizing a magnetic nail track comprises a vehicle-mounted end and a road side end, wherein the vehicle-mounted end comprises a vehicle, a front magnetic sensor, a rear magnetic sensor, a navigation planning processor, a vehicle-mounted communication unit and a speed sensor; the roadside end includes signal lamp, semaphore, roadside communication equipment and magnetic nail track, wherein:
the vehicle runs along the magnetic nail track;
the front magnetic sensor is arranged at the front end of the vehicle, and the rear magnetic sensor is arranged at the middle rear end of the vehicle; the navigation planning processor, the vehicle-mounted communication unit and the speed sensor are respectively arranged on the vehicle, and the vehicle is also provided with a vehicle controller and a vehicle execution driving end;
the navigation planning processor is connected with the vehicle-mounted communication unit through Ethernet, and the navigation planning processor is respectively connected with the vehicle controller and the vehicle execution driving end;
the vehicle-mounted communication unit is used for realizing information interaction between a vehicle and intersection signal lamp equipment, information of other vehicles and a dispatching center, obtaining road end information and position information of other vehicles, and sending the road end information and the position information of other vehicles to the navigation planning processor, and the navigation planning processor sends suggested speed information to the vehicle controller according to the road end information and the position information of other vehicles to realize control of vehicle speed;
the signal lamp, the signal machine and the roadside communication equipment are installed at the roadside;
the annunciator transmits control information to the signal of the signal lamp, and transmits the real-time lamp state, signal lamp identification and lamp state phase information of the signal lamp to the vehicle-mounted communication unit in a wireless mode;
the magnetic nail track is composed of a plurality of magnetic nails arranged on a vehicle running track at equal intervals, magnetic field distribution generated by the magnetic nails is acquired by the front magnetic sensor and the rear magnetic sensor, the acquired magnetic field distribution information is sent to the navigation planning processor by the front magnetic sensor and the rear magnetic sensor, and a virtual digital track is fitted in the navigation planning processor to restrict the vehicle from running.
The speed guidance system for realizing safe operation by using the magnetic nail track is characterized in that the speed sensor adopts an inertial navigation device or a wheel speed sensor.
The speed guidance system for realizing safe operation by using the magnetic nail track is characterized in that the mounting positions of the front and rear magnetic sensors are 20cm away from the ground, and each of the front and rear magnetic sensors consists of a plurality of MEMS (micro-electromechanical systems) magnetic sensor modules and is used for measuring a three-dimensional magnetic field of the magnetic nail and further identifying the relative position information of the vehicle and the magnetic nail.
The speed guidance system for realizing safe operation by using the magnetic nail track is characterized in that a magnetic nail track electronic map is pre-loaded in the navigation planning processor, and each magnetic nail has a unique number; when the front magnetic sensor and the rear magnetic sensor pass right above any magnetic nail, identifying the serial number of the magnetic nail, accurately positioning the physical position of the vehicle, and sending the serial number of the magnetic nail to the navigation planning processor; the navigation planning processor indexes the magnetic nail track electronic map according to the magnetic nail number, reads a parameter corresponding to a current position prefabricated in the magnetic nail track electronic map, and extracts magnetic nail point information, wherein the magnetic nail point information for speed planning comprises a magnetic nail longitudinal position, road curvature, a distance from a nearest parking line, a front signal lamp ID number, a current recommended vehicle speed and a maximum speed limit; and when the vehicle tracks along the magnetic nails on the magnetic nail tracks, the navigation planning processor accurately positions the position and the roadside information of the vehicle.
The speed guidance system for realizing safe operation by using the magnetic nail track is characterized in that the navigation planning processor sends a request signal to the vehicle-mounted communication unit, the request signal is transmitted to the roadside communication equipment in a wireless mode through the vehicle-mounted communication unit, the roadside communication equipment sends the request information to the annunciator, the request information contains a request signal lamp ID, when the ID of a signal lamp at the roadside end is matched with the request signal lamp ID, the annunciator transmits signal lamp information to the roadside communication equipment, the roadside communication equipment sends the signal lamp information to the vehicle-mounted communication unit in a wireless mode, the vehicle-mounted communication unit sends the signal lamp information to the navigation planning processor, and the navigation planning processor collects the signal lamp information in front and the signal lamp information contains the signal lamp ID, the lamp state and the lamp state phase information.
The other technical scheme for realizing the purpose is as follows: a guiding method of a speed guiding system for realizing safe operation by using a magnetic nail track is based on the speed guiding system for realizing the safe operation by using the magnetic nail track, and the speed planning of traffic light intersections is carried out, and the method specifically comprises the following steps:
s1, road network speed information extraction and traffic light matching: matching road network speed information according to a magnetic nail rail electronic map, wherein the road network speed information comprises suggested speeds and maximum speed limits of operation requirements on road networks such as large-curvature curves, straight roads and intersections, carrying out speed planning on the basis of the speeds, and realizing the acquisition of signal lamp information in front by a navigation planning processor through the communication among the navigation planning processor, a vehicle-mounted communication unit and roadside communication equipment to obtain a signal lamp control period, a lamp state and a lamp state phase;
s2, judging whether the current state can pass through the intersection: calculating the distance from the vehicle to a parking line according to the magnetic nail track electronic map, wherein the vehicle position is obtained by integrating the magnetic nail position and a speed sensor together, the magnetic nail positions the longitudinal absolute coordinate of the vehicle, the speed sensor determines the relative distance with the nearest magnetic nail through integration, the continuity of the longitudinal distance is realized based on the method, the position information of the parking line loaded in the magnetic nail track electronic map is compared when the vehicle is switched on, the distance from the vehicle to the parking line is accurately calculated, and the traffic light state when the vehicle reaches the parking line under the current magnetic nail track electronic map matching with the recommended vehicle speed driving state is calculated;
s3, optimizing the traffic light intersection passing strategy in the step S2: determining whether to enter a vehicle speed guiding module according to the judgment result of the step S2, if the stop line is in the red light time period, calculating whether the vehicle can pass through the intersection or not by the maximum speed limit running matched in the step S1, if the vehicle can pass through the intersection, entering the vehicle speed guiding module, and if the vehicle cannot pass through the intersection, calculating whether the vehicle can pass through the intersection by the dissipation speed or not; if the vehicle can run to the green light time period at the dissipation speed at a low speed, entering a vehicle speed guiding module;
s4, calculating the current guiding vehicle speed and inputting the current guiding vehicle speed to the vehicle controller, and if the vehicle enters the vehicle speed guiding mode according to the result of the step S3And the vehicle speed guiding module further processes the recommended vehicle speed matched with the magnetic nail track electronic map, and firstly updates the road network recommended vehicle speed V by combining the speed result which can pass through the intersection in the step S3 road (ii) a Pre-aiming parameter of automatic driving state of vehicle, minimum suggested speed V of all magnetic nail points in pre-aiming distance min As the current recommended vehicle speed V adv And the speed is input to a vehicle controller to control the vehicle speed, so that the speed planning of the traffic light intersection is realized.
In the guiding method of the speed guiding system for realizing safe operation by using the magnetic nail track, in the step S3, the dissipation speed considers a multi-vehicle detention scene under the condition of red light, the information interaction of the magnetic nail track and a vehicle dispatching center is combined, the traffic density and the speed information of each vehicle are calculated, and the dissipation speed is calculated by combining a traffic fluctuation theory.
In the guiding method of the speed guiding system for realizing safe operation by using the magnetic nail track, in the step S3, when the passing speed cannot be calculated or the vehicle cannot pass through the intersection, the algorithm is converged, the vehicle cannot pass through the intersection along with the vehicle queued ahead at the moment, the speed guiding is not performed on the vehicle, the vehicle does not pass through the intersection at the moment, and the speed guiding system prompts that the vehicle cannot pass through the intersection and instructs to stop to the intersection.
The speed guidance system and the guidance method thereof for realizing safe operation by utilizing the magnetic nail track monitor the longitudinal position of the vehicle in the magnetic nail track in real time to carry out speed planning, improve the speed guidance precision and reliability of the train, obtain reliable traffic light phase information according to the efficient response mechanism of the vehicle and traffic light equipment, and further carry out speed guidance to efficiently pass through a traffic light intersection.
Drawings
FIG. 1 is a schematic structural diagram of a speed guidance system for realizing safe operation by using a magnetic nail track according to the invention;
FIG. 2 is a schematic diagram of communications between a vehicle-mounted side and a road-side;
fig. 3 is a flowchart of a guiding method of the speed guiding system according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1, 2 and 3, a speed guidance system for realizing safe operation by using a magnetic nail track and a guidance method thereof according to a preferred embodiment of the present invention includes a vehicle-mounted terminal and a road-side terminal, wherein the vehicle-mounted terminal includes a vehicle 1, a front magnetic sensor 2, a rear magnetic sensor 3, a navigation planning processor (NCU) 4, a vehicle-mounted communication unit (OBU) 5 and a speed sensor 10; the roadside end includes a signal lamp 6, a signal machine 7, roadside communication equipment (RSU) 8, and a magnet nail rail 9. The speed sensor 10 is not limited to an inertial navigation device, a wheel speed sensor, or the like, which may be used for speed measurement.
The vehicle 1 runs along the magnetic nail track 9.
The front magnetic sensor 2 is installed at the front end of the vehicle 1, and the rear magnetic sensor 3 is installed at the middle rear end of the vehicle 1; the navigation planning processor 4, the vehicle-mounted communication unit 5 and the speed sensor 10 are respectively arranged on the vehicle 1, and the vehicle 1 is also provided with a vehicle controller and a vehicle execution driving end; the navigation planning processor 4 and the vehicle-mounted communication unit 5 are connected through Ethernet, and the navigation planning processor 4 is respectively connected with the vehicle controller and the vehicle execution driving end.
The vehicle-mounted communication unit 5 is used for realizing information interaction between the vehicle and the intersection signal lamp equipment, information of other vehicles and the dispatching center, obtaining road end information and position information of other vehicles, sending the road end information and the position information of other vehicles to the navigation planning processor 4, and the navigation planning processor 4 sends suggested speed information to the vehicle controller according to the road end information and the position information of other vehicles to realize control of the vehicle speed.
The signal lamp 6, the signal machine 7 and the roadside communication equipment 8 are installed on the roadside; the annunciator 6 transmits control information to the signal of the signal lamp, and the annunciator 6 transmits the real-time lamp state, signal lamp identification and lamp state phase information of the signal lamp to the vehicle-mounted communication unit 5 in a wireless mode; the magnetic nail track 9 is composed of a plurality of magnetic nails arranged on the running track of the vehicle at equal intervals, and the interval distance of the magnetic nails can be 1m; the magnetic field distribution generated by the magnetic nails is acquired by the front magnetic sensor 2 and the rear magnetic sensor 3, the front magnetic sensor 2 and the rear magnetic sensor 3 send the acquired magnetic field distribution information to the navigation planning processor 4, and a virtual digital track is fitted in the navigation planning processor 4 to restrict the vehicle from running.
The mounting positions of the front magnetic sensor 2 and the rear magnetic sensor 3 are 20cm away from the ground, and the front magnetic sensor and the rear magnetic sensor are composed of a plurality of MEMS magnetic sensor modules and used for measuring the three-dimensional magnetic field of the magnetic nail and further identifying the relative position information of the vehicle and the magnetic nail.
The navigation planning processor 4 is pre-loaded with a magnetic nail track electronic map, and each magnetic nail has a unique number; when the front magnetic sensor 2 and the rear magnetic sensor 3 pass right above any magnetic nail, the serial number of the magnetic nail is identified, the physical position of the vehicle is accurately positioned, and the serial number of the magnetic nail is sent to the navigation planning processor 4; the navigation planning processor 4 indexes the magnetic nail track electronic map according to the magnetic nail number, reads the parameters corresponding to the current position prefabricated in the magnetic nail track electronic map, and extracts the magnetic nail point information, wherein the magnetic nail point information for speed planning comprises the longitudinal position of the magnetic nail, the road curvature, the distance from the nearest parking line, the ID number of a front signal lamp, the current recommended vehicle speed and the maximum speed limit; when the vehicle tracks along the magnetic nails on the magnetic nail track 9, the navigation planning processor 4 accurately positions the position and road side information of the vehicle.
Referring to fig. 2, the speed guidance system for realizing safe operation by using the magnetic nail track of the invention is matched with the magnetic nail track electronic map, the vehicle-mounted system can be matched with the nearest traffic light, and the problem of interference of multiple traffic lights can be solved through a response mechanism, so that reliable traffic light intersection speed planning can be performed, and the operational requirement can be met; firstly, a request signal is sent to a vehicle-mounted communication unit (OBU) by a navigation planning processor (NCU), the request signal is transmitted to a road-side communication device (RSU) in a wireless mode through the vehicle-mounted communication unit (OBU), the request information is sent to a signaler by the road-side communication device (RSU), the signaler transmits signal lamp information to the road-side communication device (RSU) when the ID of a signal lamp is matched with the ID of the request signal lamp because the request information contains a request signal lamp ID, the signal lamp information is sent to the vehicle-mounted communication unit (OBU) in a wireless mode through the road-side communication device (RSU), and the vehicle-mounted communication unit (OBU) sends the signal lamp information to the navigation planning processor (NCU), so that the information acquisition of a front signal lamp by the navigation planning processor (NCU) is realized, and the signal lamp information contains signal lamp ID, lamp state and lamp state phase information; based on the method, the speed planning of the multi-intersection signal lamp is protected, the navigation planning processor NCU can send a signal lamp ID information request in front of the intersection, the navigation planning processor NCU can also send a second intersection in front of the intersection or even a more front intersection information request through the look-ahead of a magnetic nail track electronic map, the signal lamp information can be acquired as long as the communication distance range between the vehicle-mounted communication unit OBU and the roadside communication equipment RSU is reached, and the navigation planning processor NCU can carry out more efficient speed planning.
Referring to fig. 3, a method for guiding a speed guidance system for realizing safe operation of a magnetic nail track performs speed planning at a traffic light intersection based on the speed guidance system for realizing safe operation of a magnetic nail track, which specifically includes the following steps:
s1, road network speed information extraction and traffic light matching: matching road network speed information according to a magnetic nail rail electronic map, wherein the road network speed information comprises suggested speeds and maximum speed limits of operation requirements on road networks such as large-curvature curves, straight roads and intersections, carrying out speed planning on the basis of the speeds, and referring to communication among a navigation planning processor, a vehicle-mounted communication unit and roadside communication equipment in the figure 2, realizing the acquisition of front signal lamp information by the navigation planning processor, and obtaining a signal lamp control cycle C, a lamp state and a lamp state phase. Wherein the green time interval of the signal lamp is 0-T g The time interval when the signal lamp is in yellow is T g -T h The time when the signal lamp is in red is T h -T r The equal phase information, the lamp state and the lamp state phase are matched with the signal lamp time interval;
s2, judging whether the current state can pass through the intersection: calculating the distance from the vehicle to a parking line according to the magnetic nail track electronic map, wherein the vehicle position is obtained by integrating the magnetic nail position and a speed sensor together, the magnetic nail positions the longitudinal absolute coordinate of the vehicle, the speed sensor determines the relative distance with the nearest magnetic nail through integration, the continuity of the longitudinal distance is realized based on the method, the position information of the parking line loaded in the magnetic nail track electronic map is compared when the vehicle is switched on, the distance from the vehicle to the parking line is accurately calculated, and the traffic light state when the vehicle reaches the parking line under the current magnetic nail track electronic map matching with the recommended vehicle speed driving state is calculated;
s3, optimizing the traffic light intersection passing strategy in the step S2: determining whether to enter a vehicle speed guiding module according to the judgment result of the step S2, if the stop line is in the red light time period, calculating whether the vehicle can pass through the intersection or not by the maximum speed limit running matched in the step S1, if the vehicle can pass through the intersection, entering the vehicle speed guiding module, and if the vehicle cannot pass through the intersection, calculating whether the vehicle can pass through the intersection by the dissipation speed or not; if the vehicle can run to the green light time period at the dissipation speed at a low speed, entering a vehicle speed guiding module; the dissipation speed considers a multi-vehicle detention scene under the red light condition, the magnetic nail track and new information interaction in vehicle and scheduling are combined, the vehicle flow density and the speed information of each vehicle can be calculated, and the dissipation speed is calculated by combining a vehicle flow fluctuation theory. If the vehicle can run at a low speed to a green light period by dissipating the speed, the vehicle speed guiding module is entered. The decision of whether to enter the vehicle speed guiding module is realized through the step S3, and the decided speed information is transmitted to the vehicle speed guiding module, namely the speed of the passing intersection;
s4, calculating the current guiding vehicle speed and inputting the current guiding vehicle speed to a vehicle controller, updating and calculating the suggested vehicle speed if the vehicle enters a vehicle speed guiding module according to the result of the step S3, further processing the suggested vehicle speed matched with the magnetic nail track electronic map by the vehicle speed guiding module, and firstly updating the suggested vehicle speed V of the road network by combining the speed result of the intersection in the step S3 road (ii) a Pre-aiming parameter of automatic driving state of vehicle, minimum suggested speed V of all magnetic nail points in pre-aiming distance min As the current recommended vehicle speed V adv And the speed is input to a vehicle controller to control the vehicle speed, so that the speed planning of the traffic light intersection is realized.
In the step S3, when the passing speed cannot be calculated or the vehicle cannot pass through the intersection, the algorithm is converged, the vehicle cannot pass through the intersection along with the front queued vehicle at the moment, the vehicle is not subjected to speed guidance, the vehicle does not pass through the intersection at the moment, and the speed guidance system prompts that the vehicle cannot pass through the intersection and instructs parking to the intersection.
The speed guiding system and the guiding method thereof for realizing safe operation by using the magnetic nail track can realize a safer vehicle speed guiding strategy based on the digital track aiming at rubber-tyred electric vehicles, buses, automobiles and the like which run on an operation line with a complete magnetic nail digital track laid on the ground, and solve the problem that the automatic driving industry cannot realize reliable and accurate positioning.
According to the speed guidance system and the guidance method thereof for realizing safe operation by using the magnetic nail track, the distance between the vehicle and the red road lamp parking line is accurately identified based on the magnetic nail track, a more accurate traffic light intersection passing scheme is realized, the vehicle operation efficiency is improved through the speed guidance scheme, and the energy consumption is reduced. Meanwhile, based on a magnetic nail track electronic map and a vehicle and traffic signal machine response mechanism, the method can accurately identify the information of a signal lamp in the front and the information of a signal lamp in the front, avoid the problem of vehicle speed guide failure caused by interference of multiple traffic lights, has strong adaptability, can be applied to a road section without signal priority conditions, can realize speed guide without controlling the signal lamp, reduces the input cost, and can realize safe operation while reducing the input cost
In conclusion, the speed guiding system and the guiding method thereof for realizing safe operation by using the magnetic nail track realize accurate positioning of vehicles by acquiring the magnetic nail information in real time, accurately identify the parking line distance between the vehicles and the red road lamp, realize a more accurate traffic light intersection passing scheme, improve the vehicle operation efficiency and reduce the energy consumption. Meanwhile, based on the magnetic nail track electronic map, the vehicle-mounted system can be matched with the traffic lights in front, the problem of interference of multiple traffic lights is solved through a response mechanism, and the reliability of the system is improved.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (8)
1. A speed guidance system for realizing safe operation by utilizing a magnetic nail track is characterized by comprising a vehicle-mounted end and a road side end, wherein the vehicle-mounted end comprises a vehicle, a front magnetic sensor, a rear magnetic sensor, a navigation planning processor, a vehicle-mounted communication unit and a speed sensor; roadside end includes signal lamp, semaphore, roadside communication equipment and magnetism nail track, wherein:
the vehicle runs along the magnetic nail track;
the front magnetic sensor is arranged at the front end of the vehicle, and the rear magnetic sensor is arranged at the middle rear end of the vehicle; the navigation planning processor, the vehicle-mounted communication unit and the speed sensor are respectively arranged on the vehicle, and the vehicle is also provided with a vehicle controller and a vehicle execution driving end;
the navigation planning processor is connected with the vehicle-mounted communication unit through Ethernet, and the navigation planning processor is respectively connected with the vehicle controller and the vehicle execution driving end;
the vehicle-mounted communication unit is used for realizing information interaction between a vehicle and intersection signal lamp equipment, information of other vehicles and a dispatching center, obtaining road end information and position information of other vehicles, and sending the road end information and the position information of other vehicles to the navigation planning processor, and the navigation planning processor sends suggested speed information to the vehicle controller according to the road end information and the position information of other vehicles to realize control of vehicle speed;
the signal lamp, the signal machine and the roadside communication equipment are installed at the roadside;
the annunciator transmits control information to the signal of the signal lamp, and transmits the real-time lamp state, signal lamp identification and lamp state phase information of the signal lamp to the vehicle-mounted communication unit in a wireless mode;
the magnetic nail track is composed of a plurality of magnetic nails arranged on a vehicle running track at equal intervals, magnetic field distribution generated by the magnetic nails is acquired by the front magnetic sensor and the rear magnetic sensor, the acquired magnetic field distribution information is sent to the navigation planning processor by the front magnetic sensor and the rear magnetic sensor, and a virtual digital track is fitted in the navigation planning processor to restrict the vehicle from running.
2. The system of claim 1, wherein the speed sensor is an inertial navigation device or a wheel speed sensor.
3. The system for guiding speed of achieving safe operation by means of the magnetic nail track according to claim 1, wherein the installation positions of the front magnetic sensor and the rear magnetic sensor are 20cm away from the ground, and the front magnetic sensor and the rear magnetic sensor are composed of a plurality of MEMS magnetic sensor modules and used for measuring a three-dimensional magnetic field of the magnetic nail and further identifying relative position information of a vehicle and the magnetic nail.
4. The system for guiding speed of achieving safe operation by utilizing the magnetic nail track is characterized in that an electronic map of the magnetic nail track is loaded in advance in the navigation planning processor, and each magnetic nail has a unique number; when the front magnetic sensor and the rear magnetic sensor pass right above any magnetic nail, identifying the serial number of the magnetic nail, accurately positioning the physical position of the vehicle, and sending the serial number of the magnetic nail to the navigation planning processor; the navigation planning processor indexes the magnetic nail track electronic map according to the magnetic nail number, reads a parameter corresponding to the current position prefabricated in the magnetic nail track electronic map, extracts magnetic nail point information, and the magnetic nail point information for speed planning comprises the longitudinal position of the magnetic nail, road curvature, the distance from the nearest parking line, the ID number of a front signal lamp, the current recommended vehicle speed and the maximum speed limit of a road network; and when the vehicle tracks along the magnetic nails on the magnetic nail tracks, the navigation planning processor accurately positions the position and the roadside information of the vehicle.
5. The speed guidance system for realizing safe operation by using a magnetic nail track according to claim 1, wherein the navigation planning processor sends a request signal to the vehicle-mounted communication unit, the request signal is wirelessly transmitted to the roadside communication device through the vehicle-mounted communication unit, the roadside communication device sends request information to the annunciator, the request information comprises a request signal lamp ID, when the ID of a signal lamp at a roadside end is matched with the request signal lamp ID, the annunciator transmits signal lamp information to the roadside communication device, the roadside communication device sends the signal lamp information to the vehicle-mounted communication unit in a wireless manner, the vehicle-mounted communication unit sends the signal lamp information to the navigation planning processor, and the navigation planning processor collects the signal lamp information in front, and the signal lamp information comprises the signal lamp ID, the lamp state and the lamp state phase information.
6. The guiding method of the speed guiding system for realizing the safe operation by using the magnetic nail track is characterized in that the speed planning of the traffic light intersection is carried out based on the speed guiding system for realizing the safe operation by using the magnetic nail track as claimed in claim 1, and the method specifically comprises the following steps:
s1, road network speed information extraction and traffic light matching: matching road network speed information according to a magnetic nail rail electronic map, wherein the road network speed information comprises suggested speeds and maximum speed limits of operation requirements on road networks such as large-curvature curves, straight roads and intersections, carrying out speed planning on the basis of the speeds, and realizing the acquisition of signal lamp information in front by a navigation planning processor through the communication among the navigation planning processor, a vehicle-mounted communication unit and roadside communication equipment to obtain a signal lamp control period, a lamp state and a lamp state phase;
s2, judging whether the current state can pass through the intersection: calculating the distance from the vehicle to a parking line according to the magnetic nail track electronic map, wherein the vehicle position is obtained by integrating the magnetic nail position and a speed sensor together, the magnetic nail positions the longitudinal absolute coordinate of the vehicle, the speed sensor determines the relative distance with the nearest magnetic nail through integration, the continuity of the longitudinal distance is realized based on the method, the position information of the parking line loaded in the magnetic nail track electronic map is compared when the vehicle is switched on, the distance from the vehicle to the parking line is accurately calculated, and the traffic light state when the vehicle reaches the parking line under the current magnetic nail track electronic map matching with the recommended vehicle speed driving state is calculated;
s3, optimizing the traffic light intersection passing strategy in the step S2: determining whether to enter a vehicle speed guiding module according to the judgment result of the step S2, if the stop line is reached in the red light time period, calculating whether the vehicle can pass through the intersection or not by the maximum speed limit running matched in the step S1, if the vehicle can pass through the intersection, entering the vehicle speed guiding module, and if the vehicle cannot pass through the intersection, calculating whether the vehicle can pass through the intersection at the dissipation speed or not; if the vehicle can run to the green light time period at the dissipation speed at a low speed, entering a vehicle speed guiding module;
s4, calculating the current guiding vehicle speed and inputting the current guiding vehicle speed to a vehicle controller, updating and calculating the suggested vehicle speed if the vehicle speed guiding module enters the vehicle speed guiding module according to the result of the step S3, further processing the suggested vehicle speed matched with the magnetic nail rail electronic map by the vehicle speed guiding module, and firstly updating the suggested vehicle speed V of the road network by combining the speed result of the intersection in the step S3 road (ii) a Pre-aiming parameter of automatic driving state of vehicle, minimum suggested speed V of all magnetic nail points in pre-aiming distance min As the current recommended vehicle speed V adv And the speed of the vehicle is controlled by inputting the speed data to a vehicle controller, so that the speed planning of the traffic light intersection is realized.
7. The guidance method of the speed guidance system for realizing the safe operation by using the magnetic nail track according to the claim 6 is characterized in that in the step S3, the dissipation speed considers the multi-vehicle detention scene under the red light condition, the information interaction of the magnetic nail track and the vehicle dispatching center is combined to calculate the traffic density and the information of each vehicle speed, and the dissipation speed is calculated by combining the traffic fluctuation theory.
8. The guidance method of the speed guidance system for realizing the safe operation by using the magnetic nail track according to the claim 6 is characterized in that in the step S3, when the passing vehicle speed cannot be calculated or the vehicle cannot pass through the intersection, the algorithm is converged, the vehicle cannot pass through the intersection along with the vehicle queued in front at the moment, the speed guidance is not performed on the vehicle, the vehicle does not pass through the intersection at the moment, and the speed guidance system prompts that the vehicle cannot pass through the intersection and instructs the vehicle to stop at the intersection.
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