CN115240449B - Speed guiding system and guiding method for realizing safe operation by utilizing magnetic nail track - Google Patents
Speed guiding system and guiding method for realizing safe operation by utilizing magnetic nail track Download PDFInfo
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- CN115240449B CN115240449B CN202210796740.5A CN202210796740A CN115240449B CN 115240449 B CN115240449 B CN 115240449B CN 202210796740 A CN202210796740 A CN 202210796740A CN 115240449 B CN115240449 B CN 115240449B
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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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
- G08G1/0967—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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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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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, wherein the speed guiding system comprises a vehicle-mounted end and a road side end, and 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 road side end comprises a signal lamp, a signal machine, road side communication equipment and a magnetic nail track, and the vehicle runs along the magnetic nail track; the signal machine transmits control information to the signal of the signal lamp, and the signal machine transmits 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. According to the speed guiding system and the guiding method thereof for realizing safe operation by utilizing the magnetic nail track, the longitudinal position of the vehicle in the magnetic nail track is monitored in real time to conduct speed planning, the speed guiding precision and reliability of the train are improved, reliable traffic light phase information is obtained according to a high-efficiency effect mechanism of the vehicle and traffic light equipment, and further speed guiding is conducted to efficiently pass through a traffic light intersection.
Description
Technical Field
The invention relates to a speed guiding system and a guiding method for realizing safe operation by utilizing a magnetic nail track.
Background
The magnetic nail digital track utilizes the buried passive magnetic nails to form a track line, the steel rail used by the traditional rail train is cancelled, the magnetic nail digital track still has the functions of positioning, guiding and signal systems in a rail system, and meanwhile, the magnetic nail track has the characteristics of difficult failure, strong environment adaptability and the like, and can realize precise positioning, automatic guiding and planning control while ensuring safe running.
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 the information such as the current position and the like can be obtained by inquiring the high-precision magnetic nail map after the train recognizes the magnetic nails, so that the safe and efficient running of the train is controlled. The current magnetic nail map needs to be pre-generated and stored in a configuration file mode, and is read once when the system is started, and the running period cannot be changed. The data in the magnetic nail map is organized according to the running line, one path from the starting point to the end point of the train is a line, and all magnetic nail information on the line needs to be pre-stored in the magnetic nail map.
In recent years, the development of the autopilot industry is rapid, and the sensor technology such as a wheel speed sensor, an inertial navigator, a visual sensor, a millimeter wave radar, a laser radar and the like can be used for train positioning and can be used for train speed guiding. Because of the complex driving environment and the complexity, the current automatic driving algorithm is required to have the boundarity, and the method is far from reaching the ground of large-scale use, and still is in the operation stage of experimental test and limited scenes. The public transportation field has extremely high requirements on safety, and the demand for an automatic driving scheme with higher reliability is urgent. The wheel speed sensor is greatly 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 has large identifiable information quantity, can effectively identify position information, can sense various information such as icons, pedestrians, barriers, traffic lights and the like, is convenient for a controller to make a decision, but is greatly influenced by environment, and the positioning accuracy is reduced or even fails under the conditions of 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 accuracy and relatively small data volume, but the hardware cost of the laser radar is high, and the laser radar is also affected by weather such as rain and snow, and cannot achieve high reliability. Millimeter wave radars have the characteristics of high environmental adaptability, large detection distance and the like, but have inferior positioning recognition accuracy as laser radars. The magnetic nail navigation scheme is not influenced by environmental factors, not only can realize high-precision positioning in the transverse and longitudinal directions, but also the magnetic nail points can endow environmental information to the magnetic nail database, and the magnetic nail navigation scheme has comprehensive information, high safety and reliability and low cost. By using the magnetic nail tracking navigation, the train can accurately identify the position information and the environment information, the traffic environment information such as the vehicle-to-vehicle, the vehicle-to-platform, the vehicle-to-traffic light and the like can accurately identify, the magnetic nail tracking navigation is convenient to apply to the speed guiding planning of the train, the high-efficiency operation can be realized in an operation line, and the energy conservation and the emission reduction are realized.
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, wherein the longitudinal position of a vehicle in the magnetic nail track is monitored in real time to carry out speed planning, the speed guiding precision and reliability of a train are improved, and reliable traffic light phase information is obtained according to a high-efficiency response mechanism of vehicle and traffic light equipment, so that the speed guiding is carried out to efficiently pass through a traffic light intersection.
The technical scheme for achieving the purpose is as follows: the speed guiding system for realizing safe operation by utilizing the 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 road side end comprises a signal lamp, a signal machine, road side communication equipment and a 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 an 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, other vehicle information and a dispatching center, obtaining road end information and other vehicle position information, sending the road end information and the other vehicle position information to the navigation planning processor, and sending suggested speed information to the vehicle controller according to the road end information and the other vehicle position information by the navigation planning processor so as to realize control of vehicle speed;
the signal lamp, the annunciator and the road side communication equipment are arranged on the road side;
the signal machine is used for transmitting control information to the signal of the signal lamp, and the signal machine is used for transmitting 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 which are arranged on the vehicle running track and are equidistant in interval, 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 to run.
The speed guiding system for realizing safe operation by utilizing the magnetic nail track, wherein the speed sensor adopts inertial navigation equipment or a wheel speed sensor.
The speed guiding system for realizing safe operation by utilizing the magnetic nail track, 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 are used for measuring the three-dimensional magnetic field of the magnetic nail so as to identify the relative position information of the vehicle and the magnetic nail.
The speed guiding system for realizing safe operation by utilizing the magnetic nail track, wherein the navigation planning processor is preloaded with the magnetic nail track electronic map, and each magnetic nail has a unique number; when the front magnetic sensor and the rear magnetic sensor pass over any magnetic nail, the serial numbers of the magnetic nails are identified, the physical position of the vehicle is accurately positioned, and the serial numbers of the magnetic nails are sent to the navigation planning processor; the navigation planning processor 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 magnetic nail point information, wherein the magnetic nail point information for speed planning comprises the longitudinal position of the magnetic nail, the curvature of a road, the distance from the nearest stopping line, the ID number of a front signal lamp, the current recommended speed and the maximum speed limit of a road network; when the vehicle tracks along the magnetic nails on the magnetic nail track, the navigation planning processor accurately positions the position and the road side information of the vehicle.
The speed guiding system for realizing safe operation by utilizing the magnetic nail track, wherein the navigation planning processor sends a request signal to the vehicle-mounted communication unit, the request signal is transmitted to the road side communication equipment in a wireless mode through the vehicle-mounted communication unit, the road side communication equipment sends request information to the annunciator, the request information comprises a request signal lamp ID, when the ID of a signal lamp at a road side is matched with the request signal lamp ID, the annunciator transmits signal lamp information to the road side communication equipment, the road side 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 therefore the navigation planning processor collects front signal lamp information, and the signal lamp information comprises the signal lamp ID, a lamp state and lamp state phase information.
The other technical scheme for realizing the aim is as follows: the guiding method of the speed guiding system for realizing safe operation by utilizing the magnetic nail track is based on the speed guiding system for realizing safe operation by utilizing the magnetic nail track, and carries out traffic light intersection speed planning, and specifically comprises the following steps:
s1, road network speed information extraction and traffic light matching: according to road network speed information matched with the magnetic nail track electronic map, the road network speed information comprises recommended speed and maximum speed limit of road networks such as a large-curvature curve, a straight road, an intersection and the like required by operation, speed planning is carried out on the basis of the speed, and the navigation planning processor is used for acquiring front signal lamp information through communication among the navigation planning processor, the vehicle-mounted communication unit and road side communication equipment to obtain signal lamp control period, lamp state and lamp state phase;
s2, judging whether the current state can pass through the crossing step: calculating the distance from the vehicle to the parking line according to the magnetic nail track electronic map, wherein the position of the vehicle is obtained by integrating the position of the magnetic nail and a speed sensor, 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 loaded parking line position information in the magnetic nail track electronic map is compared during passing, 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 recommended vehicle speed running state is calculated;
s3, optimizing traffic light intersection passing strategies in the step S2: determining whether to enter a vehicle speed guiding module according to the judging result of the step S2, if the parking line is in the red light period, calculating whether the vehicle can pass through an intersection at the maximum speed limit matched in the step S1, if the vehicle can pass through the intersection, entering the vehicle speed guiding module, and if the vehicle can not pass through the intersection, calculating whether the vehicle can pass through the intersection at the dissipation speed; if the vehicle can run at a low speed to a green light period at the dissipating speed, entering a vehicle speed guiding module;
s4, calculating the current guiding speed and inputting the current guiding speed into a vehicle controller, updating and calculating the recommended speed if the current guiding speed enters a speed guiding module according to the result of the step S3, further processing the recommended speed matched with the magnetic nail track electronic map by the speed guiding module, and updating the road network recommended speed V by combining the speed result of the intersection in the step S3 road The method comprises the steps of carrying out a first treatment on the surface of the Pretightening parameter of automatic driving state of vehicle, minimum recommended speed V of all magnetic nail points in pretightening distance min As the current recommended vehicle speed V adv And the traffic light intersection speed planning is realized by inputting the traffic light intersection speed planning into a vehicle controller and controlling the vehicle speed.
In the guiding method of the speed guiding system for realizing safe operation by using the magnetic nail track, in the step S3, the dissipating speed considers a multi-vehicle detention scene under the condition of red light, the information interaction of the magnetic nail track and the vehicle dispatching center is combined, the vehicle flow density and the speed information of each vehicle are calculated, and the dissipating speed is calculated by combining the vehicle flow 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, at the moment, the vehicle cannot follow the front queuing vehicle to pass through the intersection, the speed guiding is not carried out on the vehicle, at the moment, the vehicle does not pass through the intersection, the speed guiding system prompts that the vehicle cannot pass through the intersection, and the vehicle is indicated to stop at the intersection.
According to the speed guiding system and the guiding method thereof for realizing safe operation by utilizing the magnetic nail track, the longitudinal position of the vehicle in the magnetic nail track is monitored in real time to conduct speed planning, the speed guiding precision and reliability of the train are improved, reliable traffic light phase information is obtained according to a high-efficiency effect mechanism of the vehicle and traffic light equipment, and further speed guiding is conducted to efficiently pass through a traffic light intersection.
Drawings
FIG. 1 is a schematic diagram of a speed guidance system utilizing magnetic staple tracks to achieve safe operation in accordance with the present invention;
FIG. 2 is a schematic communication diagram of a vehicle-mounted terminal and a roadside terminal;
fig. 3 is a flow chart of a guiding method of the velocity guiding system of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the technical scheme of the present invention, the following detailed description is provided with reference to the accompanying drawings:
referring to fig. 1, 2 and 3, a speed guiding system and a guiding method thereof for realizing safe operation by using a magnetic nail track according to a preferred embodiment of the present invention include a vehicle-mounted end and a road side end, wherein the vehicle-mounted end 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 comprises a signal lamp 6, a signal machine 7, a roadside communication device (RSU) 8 and a magnetic nail track 9. The speed sensor 10 is not limited to the inertial navigation device, the wheel speed sensor, or the like, which can be used for speed measurement.
The vehicle 1 runs along a magnetic tack track 9.
The front magnetic sensor 2 is mounted at the front end of the vehicle 1, and the rear magnetic sensor 3 is mounted 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, between the vehicle-mounted communication unit and the rest vehicle information and between the vehicle-mounted communication unit and the dispatching center, obtaining road end information and rest vehicle position information, sending the road end information and the rest vehicle position information to the navigation planning processor 4, and sending suggested speed information to the vehicle controller by the navigation planning processor 4 according to the road end information and the rest vehicle position information, so that control of the vehicle speed is realized.
The signal lamp 6, the signal machine 7 and the road side communication equipment 8 are arranged on the road side; the signal machine 6 transmits control information to the signal of the signal lamp, and the signal machine 6 transmits 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 which are arranged on the vehicle running track and are equidistant at 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 running of the vehicle.
The installation 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 are used for measuring the three-dimensional magnetic field of the magnetic nails so as to further identify the relative position information of the vehicle and the magnetic nails.
The navigation planning processor 4 is preloaded 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 numbers of the magnetic nails are identified, the physical position of the vehicle is accurately positioned, and the serial numbers of the magnetic nails are 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 magnetic nail point information, wherein the magnetic nail point information for speed planning comprises the longitudinal position of the magnetic nail, the curvature of a road, the distance from the nearest stopping line, the ID number of a signal lamp in front, the current recommended speed and the maximum speed limit of a road network; the navigation planning processor 4 accurately locates the position and road side information of the vehicle as it follows the magnetic tack tracking on the magnetic tack track 9.
Referring to fig. 2, the speed guiding 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 by a response mechanism, so that reliable traffic light intersection speed planning can be performed, and the operational requirement can be met; firstly, a navigation planning processor NCU sends a request signal to a vehicle-mounted communication unit OBU, the request signal is transmitted to road side communication equipment RSU in a wireless mode through the vehicle-mounted communication unit OBU, the road side communication equipment RSU sends request information to a signal machine, when the ID of a signal lamp is matched with the ID of the request signal lamp, the signal machine transmits signal lamp information to the road side communication equipment RSU, the road side communication equipment RSU sends the signal lamp information to the vehicle-mounted communication unit OBU in a wireless mode, the vehicle-mounted communication unit OBU sends the signal lamp information to the navigation planning processor NCU, and further the navigation planning processor NCU collects information of a signal lamp in front, and the signal lamp information comprises the ID of the signal lamp, a lamp state and lamp state phase information; based on the method, the speed planning of the multi-intersection signal lamp is also protected, the navigation planning processor NCU can not only send the ID information request of the front intersection signal lamp, but also send the information request of the second intersection at the front or even the intersection at the front through the look-ahead of the magnetic nail track electronic map, and the navigation planning processor NCU can acquire the signal lamp information as long as the communication distance range between the vehicle-mounted communication unit OBU and the road side communication equipment RSU is reached, so that the navigation planning processor NCU can carry out more efficient speed planning.
Referring to fig. 3, a guiding method of a speed guiding system for realizing safe operation by using a magnetic nail track is disclosed, which is based on the speed guiding system for realizing safe operation by using a magnetic nail track, and performs speed planning of a traffic light intersection, and specifically includes the following steps:
s1, road network speed information extraction and traffic light matching: according to the road network speed information matched with the magnetic nail track electronic map, the road network speed information comprises the recommended speed and the maximum speed limit of the road network such as a large-curvature curve, a straight road, an intersection and the like required by operation, speed planning is carried out on the basis of the speed, and the navigation planning processor, the vehicle-mounted communication unit and the road side communication equipment are referred to in FIG. 2 for communication, so that the acquisition of the information of the signal lamp in front by the navigation planning processor is realized, and the signal lamp control period C, the lamp state and the lamp state phase are obtained. Wherein the green light period of the signal lamp is 0-T g The signal lamp is positioned at the yellow lamp time period of T g -T h The time when the signal lamp is in red light is T h -T r Equiphase information, a lamp state and a lamp state phase are matched with a signal lamp period;
s2, judging whether the current state can pass through the crossing step: calculating the distance from the vehicle to the parking line according to the magnetic nail track electronic map, wherein the position of the vehicle is obtained by integrating the position of the magnetic nail and a speed sensor, 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 loaded parking line position information in the magnetic nail track electronic map is compared during passing, 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 recommended vehicle speed running state is calculated;
s3, optimizing traffic light intersection passing strategies in the step S2: determining whether to enter a vehicle speed guiding module according to the judging result of the step S2, if the parking line is in the red light period, calculating whether the vehicle can pass through an intersection at the maximum speed limit matched in the step S1, if the vehicle can pass through the intersection, entering the vehicle speed guiding module, and if the vehicle can not pass through the intersection, calculating whether the vehicle can pass through the intersection at the dissipation speed; if the vehicle can run at a low speed to a green light period at the dissipating speed, entering a vehicle speed guiding module; the dissipation speed considers the multi-vehicle retention scene under the condition of red light, and can be calculated by combining the magnetic nail track and new information interaction in the vehicle and the dispatching, and the dissipation speed can be calculated by combining the vehicle speed information and the vehicle flow fluctuation theory. If the vehicle can travel to the green light period at a low speed through the dissipation 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, meanwhile, the decision speed information is transmitted to the vehicle speed guiding module, and the decision speed information is the speed of the passable intersection;
s4, calculating the current guiding speed and inputting the current guiding speed into a vehicle controller, updating and calculating the recommended speed if the current guiding speed enters a speed guiding module according to the result of the step S3, further processing the recommended speed matched with the magnetic nail track electronic map by the speed guiding module, and updating the road network recommended speed V by combining the speed result of the intersection in the step S3 road The method comprises the steps of carrying out a first treatment on the surface of the Pretightening parameter of automatic driving state of vehicle, minimum recommended speed V of all magnetic nail points in pretightening distance min As the current recommended vehicle speed V adv And the traffic light intersection speed planning is realized by inputting the traffic light intersection speed planning into a vehicle controller and controlling the vehicle speed.
In step S3, when the passing speed cannot be calculated or the vehicle cannot pass through the intersection, the algorithm is converged, at this time, the vehicle cannot follow the front queuing vehicle to pass through the intersection, the vehicle is not guided in speed, at this time, the vehicle does not pass through the intersection, and the speed guiding system prompts that the vehicle cannot pass through the intersection, so as to indicate that the vehicle is stopped at the intersection.
The speed guiding system and the guiding method thereof for realizing safe operation by utilizing the magnetic nail track can realize safer vehicle speed guiding strategies based on the digital track aiming at rubber-tyred trolleys, buses, automobiles and the like which run on the operation line of paving the complete magnetic nail digital track on the ground, and solve the problem that the automatic driving industry cannot realize reliable and accurate positioning.
According to the speed guiding system and the guiding method for realizing safe operation by utilizing the magnetic nail track, the distance between the vehicle and the parking line of the red road lamp 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 guiding scheme, and the energy consumption is reduced. Meanwhile, the scheme has strong adaptability, can be applied to road sections without signal priority conditions, can realize speed guidance without controlling signal lamps, and can realize safe operation while reducing input cost
In summary, the speed guiding system and the guiding method thereof for realizing safe operation by utilizing the magnetic nail track, disclosed by the invention, are used for realizing accurate positioning of the vehicle by collecting the magnetic nail information in real time, accurately identifying the distance between the vehicle and the parking line of the red road lamp, realizing a more accurate traffic light intersection passing scheme, improving the vehicle operation efficiency and reducing the energy consumption. Meanwhile, based on the magnetic nail track electronic map, the vehicle-mounted system can be matched with a front traffic light, the problem of multi-traffic light interference is solved through a response mechanism, and the reliability of the system is improved.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (7)
1. The speed guiding system for realizing safe operation by utilizing the 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; the road side end comprises a signal lamp, a signal machine, road side communication equipment and a 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 an 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, other vehicle information and a dispatching center, obtaining road end information and other vehicle position information, sending the road end information and the other vehicle position information to the navigation planning processor, and sending suggested speed information to the vehicle controller according to the road end information and the other vehicle position information by the navigation planning processor so as to realize control of vehicle speed;
the signal lamp, the annunciator and the road side communication equipment are arranged on the road side;
the signal machine is used for transmitting control information to the signal of the signal lamp, and the signal machine is used for transmitting 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 which are arranged on the vehicle running track and are equidistant at intervals, the magnetic field distribution generated by the magnetic nails is acquired by the front magnetic sensor and the rear magnetic sensor, the front magnetic sensor and the rear magnetic sensor send the acquired magnetic field distribution information to the navigation planning processor, a virtual digital track is fitted in the navigation planning processor to restrict the vehicle to run,
the navigation planning processor is preloaded with a magnetic nail track electronic map, and each magnetic nail has a unique number; when the front magnetic sensor and the rear magnetic sensor pass over any magnetic nail, the serial numbers of the magnetic nails are identified, the physical position of the vehicle is accurately positioned, and the serial numbers of the magnetic nails are sent to the navigation planning processor; the navigation planning processor 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 magnetic nail point information, wherein the magnetic nail point information for speed planning comprises the longitudinal position of the magnetic nail, the curvature of a road, the distance from the nearest stopping line, the ID number of a front signal lamp, the current recommended speed and the maximum speed limit of a road network; when the vehicle tracks along the magnetic nails on the magnetic nail track, the navigation planning processor accurately positions the position and the road side information of the vehicle.
2. A speed guidance system for safe operation with magnetic tack tracks as in claim 1, wherein the speed sensor employs inertial navigation devices or wheel speed sensors.
3. The speed guiding system for realizing safe operation by utilizing 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 respectively composed of a plurality of MEMS magnetic sensor modules and are used for measuring the three-dimensional magnetic field of the magnetic nail so as to further identify the relative position information of the vehicle and the magnetic nail.
4. 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 transmitted to the road side communication equipment in a wireless mode by the vehicle-mounted communication unit, the road side communication equipment sends request information to the signal machine, the request information comprises a request signal lamp ID, when the signal lamp ID of a road side end is matched with the request signal lamp ID, the signal machine transmits signal lamp information to the road side communication equipment, the road side communication equipment sends signal lamp information to the vehicle-mounted communication unit in a wireless mode, the vehicle-mounted communication unit sends signal lamp information to the navigation planning processor, and the navigation planning processor collects front signal lamp information, wherein the signal lamp information comprises signal lamp ID, lamp state and lamp state phase information.
5. A guiding method of a speed guiding system for realizing safe operation by using a magnetic nail track, characterized in that the speed guiding system for realizing safe operation by using the magnetic nail track is based on the speed guiding system for realizing 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: according to road network speed information matched with the magnetic nail track electronic map, the road network speed information comprises recommended speed and maximum speed limit of road networks such as a large-curvature curve, a straight road, an intersection and the like required by operation, speed planning is carried out on the basis of the speed, and the navigation planning processor is used for acquiring front signal lamp information through communication among the navigation planning processor, the vehicle-mounted communication unit and road side communication equipment to obtain signal lamp control period, lamp state and lamp state phase;
s2, judging whether the current state can pass through the crossing step: calculating the distance from the vehicle to the parking line according to the magnetic nail track electronic map, wherein the position of the vehicle is obtained by integrating the position of the magnetic nail and a speed sensor, 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 loaded parking line position information in the magnetic nail track electronic map is compared during passing, 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 recommended vehicle speed running state is calculated;
s3, optimizing traffic light intersection passing strategies in the step S2: determining whether to enter a vehicle speed guiding module according to the judging result of the step S2, if the parking line is in the red light period, calculating whether the vehicle can pass through an intersection at the maximum speed limit matched in the step S1, if the vehicle can pass through the intersection, entering the vehicle speed guiding module, and if the vehicle can not pass through the intersection, calculating whether the vehicle can pass through the intersection at the dissipation speed; if the vehicle can run at a low speed to a green light period at the dissipating speed, entering a vehicle speed guiding module;
s4, calculating the current guiding vehicle speed and inputting the current guiding vehicle speed into the vehicle controller, and according to the result of the step S3, for exampleIf the vehicle enters the vehicle speed guiding module, the vehicle speed guiding module carries out updating calculation on the recommended vehicle speed, the vehicle speed guiding module carries out further processing on the recommended vehicle speed matched with the magnetic nail track electronic map, and the road network recommended vehicle speed V can be updated by combining the speed result of the intersection in the step S3 road The method comprises the steps of carrying out a first treatment on the surface of the Pretightening parameter of automatic driving state of vehicle, minimum recommended speed V of all magnetic nail points in pretightening distance min As the current recommended vehicle speed V adv And the traffic light intersection speed planning is realized by inputting the traffic light intersection speed planning into a vehicle controller and controlling the vehicle speed.
6. The guiding method of a speed guiding system for realizing safe operation by utilizing a magnetic nail track according to claim 5, wherein in step S3, the dissipating 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 vehicle flow density and the speed information of each vehicle are calculated, and the dissipating speed is calculated by combining the vehicle flow fluctuation theory.
7. The method for guiding a speed guiding system for realizing safe operation by using a magnetic nail track according to claim 5, wherein in step S3, when a passing speed cannot be calculated or a vehicle cannot pass through an intersection, an algorithm is converged, the vehicle cannot follow a front queuing vehicle to pass through the intersection, speed guiding is not performed on the vehicle, the vehicle does not pass through the intersection, the speed guiding system prompts that the vehicle cannot pass through the intersection, and stopping to the intersection is indicated.
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