CN102700573A - Anti-collision system of active railway vehicle and anti-collision method thereof - Google Patents
Anti-collision system of active railway vehicle and anti-collision method thereof Download PDFInfo
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- CN102700573A CN102700573A CN2012101731912A CN201210173191A CN102700573A CN 102700573 A CN102700573 A CN 102700573A CN 2012101731912 A CN2012101731912 A CN 2012101731912A CN 201210173191 A CN201210173191 A CN 201210173191A CN 102700573 A CN102700573 A CN 102700573A
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Abstract
The invention relates to an anti-collision system of an active railway vehicle and an anti-collision method thereof. The system is implemented by a vehicle-mounted host, a driving device and a breaking device, and the vehicle-mounted host is used for controlling the operation of the driving device and the breaking device and emitting, processing and analyzing distance measurement signals; the breaking device is used for controlling the communication state of two ends of an axle of the railway vehicle; and the driving device is used for driving the running of the railway vehicle and realizing the acceleration, the deceleration, the braking and the start of the railway vehicle according to the command of the vehicle-mounted host. The relative railway distance of front and back rows of railway vehicles can be accurately measured by the system disclosed by the invention, anti-collision predication can be carried out, the driving parameters of the railway vehicle is adjusted, and an collision accident of the railway vehicle is effectively and actively avoided.
Description
Technical field
The invention belongs to traffic and transport field; Relate to the technology of the anticollision between the vehicle on the track; Especially initiatively prevent that operational vehicle bumps in the Rail Transit System, the generation of rear-end collision, be a kind of active guideway vehicle collision avoidance system and collision-proof method thereof.
Background technology
At national product, indispensable in the people's lives I haven't seen you for ages uses Rail Transit System, like railway passenger and freight fortune, subway, light rail etc.In a single day operational vehicle bumps in the Rail Transit System, must cause the infringement to life and property, and especially manned guideway vehicle etc. bumps, when knocking into the back, stays huge mental wound when causing material damage, also for the people of experience accident.
The reason that analysis initiation track traffic crashes mainly contains following: the front and back car is sent same interval; Before and after car have that bigger velocity contrast, front truck stop or go slowly, the back car is faster than front truck; The scheduling of orbit centre control system goes wrong; Environment (inclement weather conditions) and artificial factor or the like.The generation of these calamities can prevent and controls through prior art, and this just needs the collision-proof method between vehicle in the traffic of design respective track.Prevent the collision between vehicle in the track traffic, the know-why that can adopt of knocking into the back is a lot.Have through lamp system, global positioning system (GPS) in the existed system and in track circuit, transmit continuous key frequency shift (FSK) signal of phase place and carry out the generation of method crash-avoidance accidents such as section blocked.Because the characteristics of track traffic anticollision require when the corresponding method of design, must to have simultaneously the characteristic of highly reliable, high available and high security; Collision-proof method should be to have the redundant scheme of many covers, and independent operating is answered by system, does not answer lock together; And each cover system should adopt the different techniques principle; To guarantee redundant validity, not because of a certain common cause lost efficacy simultaneously, i.e. common cause failure.Therefore be necessary to propose and a kind of active guideway vehicle collision-proof method, guarantee the safe and highly efficient operation of track traffic.
Summary of the invention
The problem that the present invention will solve is: in the existing track traffic; In Chinese train operation control system CTCS that has used (Chinese Train Control System) and the similar system; Do not have corresponding device thereof on the guideway vehicle and realize that active probe is to realize preventing collision between vehicle; Can not effectively guarantee the safe operation of vehicle, need overcome deficiency of the prior art, propose a kind of system of bumping between the vehicle on the track of initiatively preventing; Be applied to existing Orbital Transport Systems; Can have or not information of vehicles on the active detecting guideway vehicle working direction, the relative orbit distance of the speed of front truck and two cars, and estimated result is used between vehicle anticollision control.
Technical scheme of the present invention is: a kind of active guideway vehicle collision avoidance system; Comprise double-rail track and guideway vehicle; Track is a conductive material, and two parallel tracks of double-rail track and be open-circuit condition insulate between double-rail track and the earth; The wheel of guideway vehicle remains with double-rail track and contacts
Guideway vehicle is made up of wheel, wheel shaft, actuating device, circuit interrupting device, on-vehicle host and power module, and guideway vehicle comprises master and slave two states, and major state refers to whether this car of active detecting front and back have the state of vehicle; Refer to that from state this car is in by the state of other detecting test of vehicles; Wheel comprises a pair of front-wheel and pair of rear wheels, connects through wheel shaft between the front-wheel and between the trailing wheel, and circuit interrupting device is separately positioned on the wheel shaft of front-wheel and trailing wheel; On-vehicle host is sent the range finding impulse singla during major state; Circuit interrupting device opens circuit, and the wheel shaft two ends that make front-wheel and trailing wheel are off state, and on-vehicle host is not sent the range finding impulse singla during from state; The circuit interrupting device short circuit, the wheel shaft two ends that make front-wheel and trailing wheel are short-circuit condition; Two rail wheels and double-rail track constitute an electric loop; Wherein the on-vehicle host of major state guideway vehicle is exported the range finding impulse singla; Wheel shaft, wheel through the major state guideway vehicle transfer in the double-rail track, and the range finding impulse singla arrives from the state trajectory vehicle along track, transfer to another track through the circuit interrupting device of short-circuit condition; Get back to the major state guideway vehicle along track again, via the wheel and the wheel shaft input on-vehicle host of major state guideway vehicle;
The on-vehicle host of guideway vehicle is connected with the actuating device intercommunication, the vehicle operating of actuating device drive track, and to the operational factor of this car of on-vehicle host feedback, power module is supplied power to guideway vehicle simultaneously.
Said on-vehicle host is made up of processor core, prepulse transmission circuit, afterpulse transmission circuit, preceding high-speed comparator circuit, back high-speed comparator circuit, reference voltage circuit, preceding difference amplifier, back difference amplifier, actuating device interface, preceding circuit interrupting device interface and back circuit interrupting device interface; The prepulse transmission circuit connects front-wheel; The afterpulse transmission circuit connects trailing wheel; The output of processor core connects forward and backward pulse transmission circuit and reference voltage circuit; Processor core connects actuating device through the actuating device interface; Connect forward and backward circuit interrupting device through forward and backward circuit interrupting device interface, forward and backward pulse transmission circuit sends the range finding impulse singla, and reference voltage circuit provides reference voltage signal to forward and backward high-speed comparator circuit; The range finding impulse singla that returns that guideway vehicle receives is imported forward and backward high-speed comparator circuit through forward and backward difference discharge circuit respectively, the output signal input processor core of forward and backward high-speed comparator circuit.
Rail vehicle operates on the double-rail track; The operation of drive unit drive track vehicle; Realize the transport condition control of rail vehicle based on the order of on-vehicle host, and to the operational factor of on-vehicle host feedback rail vehicle, the operational factor of said vehicle comprises travel direction, speed and acceleration; The on-vehicle host of major state rail vehicle is controlled forward and backward tripper; Make between the wheel that is connected on the same wheel shaft and become open-circuit condition; And then, judge whether other vehicle ' are arranged in the rail vehicle measurement category through prepulse radiating circuit transmission range finding pulse signal;
When in the effective transmission range of range finding impulse singla, not having other guideway vehicles to go; On-vehicle host will can not receive the range finding impulse singla that returns; This moment is by the exomonental width of on-vehicle host control broadening; Emission range finding impulse singla does not once more also receive and returns the range finding impulse singla if reach maximum set value until pulse width, then the range finding impulse singla of repeat its transmission maximum width periodically;
When in the effective transmission range of range finding impulse singla, having other guideway vehicles to go; The range finding impulse singla will be along being in of running into from state wheel and the circuit interrupting device of short-circuit condition of guideway vehicle pass on another track; The impulse singla of finding range then turns back to the on-vehicle host of major state guideway vehicle along another track; On-vehicle host collection range finding impulse singla; Through the difference of calculating range finding time pulse signal point that sends and the range finding impulse singla time to peak point that receives, obtain the range finding result of front-wheel, repeat the process of above-mentioned transmission impulse singla, acquisition pulse signal and processing impulse singla; Take multiple measurements, this car operational factor that feeds back to on-vehicle host according to actuating device calculates the operational factor of another guideway vehicle;
Send the range finding impulse singla to track through the afterpulse transmission circuit simultaneously; Obtain the range finding result of trailing wheel; The front and rear wheel range finding result that will be obtained by the range finding impulse singla that synchronization sends makes comparisons, if the range finding result of front-wheel is greater than the range finding result of trailing wheel, then from the rear of state trajectory vehicle at major state guideway vehicle travel direction; If the range finding result of front-wheel is less than the range finding result of trailing wheel, then from state trajectory vehicle the place ahead at major state guideway vehicle travel direction; When going in the place ahead of major state guideway vehicle from the state trajectory vehicle; The on-vehicle host control range finding impulse singla of major state guideway vehicle sends from front-wheel; Front truck is found range once more; When going at the rear of major state guideway vehicle from the state trajectory vehicle, the on-vehicle host of major state guideway vehicle control range finding impulse singla sends from trailing wheel, and the back car is found range once more;
Carry out collision prediction according to the operational factor of resulting two guideway vehicles and the result that finds range once more, on-vehicle host is sent control command to actuating device, regulates the operational factor of this guideway vehicle; The running state of control guideway vehicle realizes the anticollision between the guideway vehicle, guideway vehicle is prevented to collide the handled of making be: when going in the place ahead of major state guideway vehicle from the state trajectory vehicle; If the orbital distance of two cars is greater than the safety distance of setting, the speed of a motor vehicle of two cars relatively is if the speed of a motor vehicle of major state guideway vehicle is less than from the state trajectory vehicle; Then withdraw from treatment scheme; Keep cruising, if the speed of a motor vehicle of major state guideway vehicle is greater than from the state trajectory vehicle, then the major state guideway vehicle is reduced to the speed of a motor vehicle and is equaled from the state trajectory vehicle; And obtain the operational factor of two cars once more; Confirm the present running state of two cars, if the orbital distance of two cars less than the safety distance of setting, then the major state guideway vehicle is implemented the action of stopping immediately; Obtain simultaneously the operational factor of two cars once more, beyond the orbital distance of two cars comes back to safety distance, restart; When going at the rear of major state guideway vehicle, if the orbital distance of two cars greater than the safety distance of setting, compares the speed of a motor vehicle of two cars from the state trajectory vehicle; If less than the major state guideway vehicle, then withdraw from treatment scheme, keep cruising from the speed of a motor vehicle of state trajectory vehicle; If from the speed of a motor vehicle of state trajectory vehicle greater than the major state guideway vehicle; Then the major state guideway vehicle is increased to the speed of a motor vehicle and equals from the state trajectory vehicle, and obtains the operational factor of two cars once more, confirms the present running state of two cars; If the orbital distance of two cars is less than the safety distance of setting; Then the major state guideway vehicle is increased to the speed of a motor vehicle and is higher than from the state trajectory vehicle, obtains simultaneously the operational factor of two cars once more, comes back to beyond the safety distance up to the orbital distance of two cars.
The operational factor that calculates another guideway vehicle according to this guideway vehicle operational factor is specially:
When two guideway vehicles moved on same section track section, the major state guideway vehicle was through initiatively sending the range finding pulse to surveying from the state trajectory vehicle, and the speed of transmission of range finding impulse singla in track is V
p, the speed of testing master and slave vehicle is respectively V
q, V
h, the major state guideway vehicle is being T from sending to the time difference that receives positive return signal, then can by:
L=V
P×T/4
Estimate the relative orbital distance L of two cars;
According to the Transmission Time Interval Δ t of range finding impulse singla, through repeatedly measuring L
1,, L
2...., L
n, this sequence is done calculus of differences obtains Δ L
1, Δ L
2...., Δ L
N-1, major state guideway vehicle speed V
hKnown, through
V
qi=ΔL
i/Δt+V
hi (i＝1,2,…,n)
Estimate from state trajectory car speed, wherein V
Qi, V
HiBe respectively from state trajectory vehicle and major state guideway vehicle in i speed constantly; When the speed from the state trajectory vehicle changes, through
a
qi=(V
qi+1-V
qi)/Δt (i＝1,2,…,n)
Estimate from the acceleration/accel of state trajectory vehicle, obtain from the operational factor of state trajectory vehicle.
The processor core of on-vehicle host is through control wave transmission circuit, high-speed comparator circuit and reference voltage circuit realize the finding range transmission and the collection of impulse singla; And the data of gathering are handled the relative orbit distance that obtains two cars, through the operation of actuating device interface and circuit interrupting device interface accessory drive and circuit interrupting device; Pulse transmission circuit answer processor control core is sent the controlled range finding impulse singla of width, and said range finding pulse signal width is wide more, and the scope that can transmit is just far away more; Comparator circuit be used to the to find range collection of impulse singla; Reference voltage circuit provides VREF (Voltage Reference), when the return signal level that receives during greater than reference voltage level, and high-speed comparator circuit output high level; When the return signal level that receives during less than reference voltage level; High-speed comparator circuit output low level, wherein, the size that processor core is recently regulated VREF (Voltage Reference) through the duty of regulating the PWM ripple; The range finding impulse singla that returns is through difference discharge circuit input comparator circuit again, and the difference discharge circuit is used to reduce the interference of external environment to the range finding impulse singla that transmits on the track.
The size that processor core is recently regulated VREF (Voltage Reference) through the duty of regulating the PWM ripple; The size of VREF (Voltage Reference) is regulated according to actual two spacings that record; Two spacings during less than 100m VREF (Voltage Reference) be adjusted to 1V, VREF (Voltage Reference) is adjusted to 0.5V during greater than 100m.
The width adjusting of range finding impulse singla is: the scope that pulse signal width is regulated is that 50ns is between the 200ns; Each amplitude of regulating is 50ns; The emission the initial ranging pulse signal width be 50ns, the cycle of the range finding impulse singla of said periodicity repeat its transmission maximum width more than or equal to 10s smaller or equal to 60s.
The width adjusting of range finding impulse singla is: the scope that pulse signal width is regulated is that 50ns is between the 200ns; Each amplitude of regulating is 50ns; The emission the initial ranging pulse signal width be 50ns, the cycle of the range finding impulse singla of said periodicity repeat its transmission maximum width more than or equal to 10s smaller or equal to 60s.
The present invention compared with prior art has following advantage:
1, can initiatively send the range finding pulse and find range, effectively avoid bumping;
2, can judge from the state trajectory vehicle rear of going in the place ahead of major state guideway vehicle still and go;
3, can regulate the width of test impules, adapt to different measuring distances;
4, can regulate the size of VREF (Voltage Reference), improve the precision of distance test;
5, can independent operating, need not external control.
Description of drawings
Fig. 1 is the active collision avoidance system scheme drawing of the present invention.
Fig. 2 is a guideway vehicle structural representation of the present invention.
Fig. 3 is an on-vehicle host scheme drawing of the present invention.
Fig. 4 is an impulse singla treatment scheme scheme drawing of the present invention.
Fig. 5 is a guideway vehicle parameter estimation flow process of the present invention.
Fig. 6 is guideway vehicle collision prediction of the present invention and treatment scheme.
The specific embodiment
The material that track of the present invention adopted is the favorable conductive material; Guaranteeing transmission range finding impulse singla, is open-circuit condition between two parallel orbits, is non-conductive between track and the earth; The wheel of guideway vehicle can contact with track well, to guarantee effective transmission of impulse singla.The on-vehicle host of the major state guideway vehicle forward and backward circuit interrupting device of control earlier makes between the coaxial wheel of this car and becomes open-circuit condition, and then sends the range finding impulse singla; On-vehicle host is sent the range finding impulse singla through the prepulse transmission circuit earlier and is judged whether other vehicle ' are arranged in the measurement range; When in the effective transmission range of range finding pulse, not having other guideway vehicles to go; On-vehicle host will not receive the impulse singla that returns; Once more launch range finding pulse by the exomonental width of processor core control broadening this moment; Also do not receive and return pulse if reach maximum, then with the range finding pulse of certain cycle repeat its transmission maximum width until pulse width; When in the effective transmission range of range finding impulse singla, having other guideway vehicles to go; The range finding impulse singla will pass on another track from the wheel of state trajectory vehicle and the circuit interrupting device of short-circuit condition along what run into; The impulse singla of finding range then turns back to the on-vehicle host of major state guideway vehicle along another track; The rapid acquisition pulse signal of on-vehicle host; Through calculating the difference of range finding time pulse signal point that sends and the range finding impulse singla time to peak point that receives, obtain the range finding result of front-wheel, repeat above-mentioned transmission pulse, acquisition pulse and processing impulse singla and take multiple measurements; This car operational factor that feeds back to on-vehicle host according to actuating device again calculates the operational factor of another guideway vehicle; Send the range finding impulse singla to same track through the afterpulse transmission circuit again, obtain the range finding result of trailing wheel, the front and rear wheel range finding result that twice test obtained makes comparisons; If the range finding result of front-wheel is greater than the range finding result of trailing wheel; Then from the rear of state trajectory vehicle, if the range finding result of front-wheel is less than the range finding result of trailing wheel, then from state trajectory vehicle the place ahead at major state guideway vehicle travel direction at major state guideway vehicle travel direction; When going in the place ahead of major state guideway vehicle from the state trajectory vehicle; The on-vehicle host control of major state guideway vehicle is sent impulse singla from front-wheel front truck is carried out precision ranging; When going at the rear of major state guideway vehicle from the state trajectory vehicle, then the control of the on-vehicle host of major state guideway vehicle is carried out precision ranging from trailing wheel transmission impulse singla to the back car; Operational factor and precision ranging result according to resulting two guideway vehicles carry out collision prediction; On-vehicle host is sent control command to actuating device; Regulate the operational factor of this guideway vehicle, the running state of control guideway vehicle realizes the anticollision between the guideway vehicle.
Guideway vehicle is prevented to collide the collision prediction of making before the control: prediction has comprised the orbital distance of testing master and slave vehicle and from the velocity estimation and the acceleration estimation of state trajectory vehicle.When two guideway vehicles moved on same section track section, the major state guideway vehicle was through initiatively sending the range finding pulse to surveying from the state trajectory vehicle, and the speed of transmission of range finding impulse singla in track is V
p, the speed of testing master and slave state trajectory vehicle is respectively V
z, V
c, the major state guideway vehicle is being T from sending to the time difference that receives positive return signal, then can by:
L=V
P×T/4
Estimate the relative orbital distance L of two cars;
According to the Transmission Time Interval Δ t of range finding impulse singla, through repeatedly measuring L
1, L
2...., L
n, this sequence is done calculus of differences obtains Δ L
1, Δ L
2...., Δ L
N-1, major state guideway vehicle speed V
ZiKnown, through
V
ci=ΔL
i/Δt+V
zi (i＝1,2,…,n)
Estimate from state trajectory car speed, wherein V
Ci, V
ZiBe respectively from state trajectory vehicle and major state guideway vehicle in i speed constantly; When the speed from the state trajectory vehicle changes, through
a
ci=(V
ci+1-V
ci)/Δt (i＝1,2,…,n)
Estimate from the acceleration/accel of state trajectory vehicle.
Fig. 1 is the active collision avoidance system scheme drawing of the present invention, and this system is made up of guideway vehicle and track two parts.Track can the transmission pulse signal, and track and the earth are insulated from each other, keep open-circuit condition between two parallel orbits; Guideway vehicle 1 can send the range finding pulse along track at any time on one's own initiative; The range finding pulse is passed on the other track through the wheel shaft of the short circuit attitude of guideway vehicle 2; The range finding pulse just can be got back to guideway vehicle 1 along another track like this; Guideway vehicle 1 calculates the relative orbit distance of two cars according to sending range finding impulse singla and the time difference that receives the range finding impulse singla, utilizes this orbital distance to make the running state of anticollision prediction and control guideway vehicle 1 again.
Fig. 2 is the guideway vehicle structural representation, and guideway vehicle is made up of vehicle body, actuating device, preceding circuit interrupting device, back circuit interrupting device, on-vehicle host and power module.The wheel of guideway vehicle can transmit the range finding impulse singla and can excellent contact be arranged with track; Forward and backward wheel shaft can be by the connected state at its two ends of forward and backward circuit interrupting device control, and forward and backward wheel shaft two ends are off state when on-vehicle host is sent the range finding pulse, and forward and backward wheel shaft two ends are not short-circuit condition when on-vehicle host is sent the range finding pulse; Actuating device can powered vehicle operation; Realize motoring conditions such as acceleration, deceleration, braking and the startup control of guideway vehicle according to the order of on-vehicle host; And the operational factor of guideway vehicle can be provided to on-vehicle host, the operational factor of vehicle comprises travel direction, speed and acceleration/accel; On-vehicle host is responsible for the operation control of total system, can accessory drive and the operation of circuit interrupting device, also can send, gather and analyze the range finding impulse singla; Power module provides electric energy for the whole rail vehicle, can adopt high-capacity storage battery.
Fig. 3 is the on-vehicle host scheme drawing, and on-vehicle host is made up of processor core, prepulse transmission circuit, afterpulse transmission circuit, preceding high-speed comparator circuit, back high-speed comparator circuit, reference voltage circuit, preceding high-speed-differential amplifier, back high-speed-differential amplifier, actuating device interface, preceding circuit interrupting device interface and back circuit interrupting device interface.Processor core can be controlled transmission and the collection of impulse singla from former and later two ports that realize finding range of prepulse transmission circuit, afterpulse transmission circuit, preceding high-speed comparator circuit, back high-speed comparator circuit and reference voltage circuit; And can handle the relative orbit distance that obtains two cars to the data of gathering, can also be through the operation of actuating device interface and forward and backward circuit interrupting device interface accessory drive and forward and backward circuit interrupting device; Forward and backward pulse transmission circuit can the answer processor control core send the controlled range finding impulse singla of width, and the wide more scope that can transmit of pulse signal width is just far away more; Be used to the to find range collection of impulse singla of forward and backward high-speed comparator is when signal level comparator output high level during greater than reference voltage level, when signal level comparator output low level during less than reference voltage level; Reference voltage circuit is that forward and backward high-speed comparator provides VREF (Voltage Reference); The size that processor core is recently regulated VREF (Voltage Reference) through the duty of regulating the PWM ripple; The big I of VREF (Voltage Reference) is regulated according to the distance of actual two cars that record; Can suitably improve VREF (Voltage Reference) if two spacings are nearer, if two spacings far then can suitably reduce VREF (Voltage Reference), VREF (Voltage Reference) can be adjusted to about 1V when being generally less than 100m; VREF (Voltage Reference) can be adjusted to about 0.5V during greater than 100m, also can set according to actual conditions; Forward and backward high-speed-differential amplifier is used to reduce the interference of external environment to the range finding impulse singla that transmits on the track.
The find range width of impulse singla of the present invention is a controollable; Can regulate according to the actual conditions of orbit, when emission inceptive impulse signal did not have return signal, explaining did not have other guideway vehicles to go in the test area of this pulse; Needing to increase exomonental width this moment tests once more; If exist this moment and return pulse then processor core begins range finding calculates, if also do not return impulse singla then continue to increase the width of impulse singla, when when pulse width is increased to maxim, still not returning impulse singla; Processor core is with the impulse singla of control wave transmission circuit with some cycles repeat its transmission maximum width; The cycle that repeats generally more than or equal to 10s smaller or equal to 60s, the scope that pulse signal width is regulated is generally 50ns between the 200ns, each amplitude of regulating is generally 50ns; The inceptive impulse deration of signal of emission is 50ns, also can set according to actual conditions.
Fig. 4 is an impulse singla treatment scheme scheme drawing; The datum of high-speed comparator at first is set; Behind the range finding impulse singla process comparator of range finding impulse singla that sends and reception, high-speed comparator is with two impulse singlas of correspondence output, and binary pair triggers the output high level when the positive rise of first pulse of comparator output; When the positive rise of second pulse, trigger output low level once more; High-speed counter is output as between high period at binary pair and counts, and just can calculate the time difference of two pulses according to the count value of counting machine, thereby further calculates the orbital distance of two cars.
Fig. 5 is a guideway vehicle parameter estimation diagram of circuit, and whether wait needed the initiatively order of range finding after on-vehicle host powered on, if do not need active to find range then the wheel shaft wait range finding order of this car of short circuit; Initiatively find range if desired and then break off the forward and backward wheel shaft of this car; Send the range finding pulse by the prepulse transmission circuit along track; Judge according to the echo situation whether vehicle is arranged on the track, if there is vehicle in the place ahead, then the repetition pulse signal processing flow calculates the operational factor of tested vehicle; If there is not vehicle in the place ahead, then continue to move ahead according to original driving plan, on-vehicle host is also sent the range finding pulse with certain frequency along track simultaneously.
Fig. 6 is guideway vehicle collision prediction and processing flow chart; The operational factor of the front truck that obtains according to the driving parameter of this car that reads and through range finding initiatively; The operational factor of resulting two cars comprises acceleration/accel and speed of two cars etc.; Range finding result through front and rear wheel judges the residing relative position of two cars again; If go in the place ahead of major state guideway vehicle from the state trajectory vehicle, then the control of the on-vehicle host of major state guideway vehicle is carried out precision ranging from front-wheel transmission impulse singla to front truck, if go at the rear of major state guideway vehicle from the state trajectory vehicle; Then the on-vehicle host of major state guideway vehicle control is sent impulse singla from trailing wheel the back car is carried out precision ranging, carries out collision prediction according to the operational factor and the precision ranging result of resulting two guideway vehicles; When going in the place ahead of major state guideway vehicle, if the orbital distance of two cars greater than the safety distance of setting, compares the speed of a motor vehicle of two cars from the state trajectory vehicle; If the speed of a motor vehicle of major state guideway vehicle then withdraws from treatment scheme less than from the state trajectory vehicle, keep cruising; If the speed of a motor vehicle of major state guideway vehicle is greater than from the state trajectory vehicle; Then the major state guideway vehicle is reduced to the speed of a motor vehicle and is equaled from the state trajectory vehicle, and obtains the operational factor of two cars once more, confirms the present running state of two cars; If the orbital distance of two cars is less than the safety distance of setting; Then the major state guideway vehicle is implemented the action of stopping immediately, obtains the operational factor of two cars simultaneously once more, beyond the orbital distance of two cars comes back to safety distance, restarts; When going at the rear of major state guideway vehicle, if the orbital distance of two cars greater than the safety distance of setting, compares the speed of a motor vehicle of two cars from the state trajectory vehicle; If less than the major state guideway vehicle, then withdraw from treatment scheme, keep cruising from the speed of a motor vehicle of state trajectory vehicle; If from the speed of a motor vehicle of state trajectory vehicle greater than the major state guideway vehicle; Then the major state guideway vehicle is increased to the speed of a motor vehicle and equals from the state trajectory vehicle, and obtains the operational factor of two cars once more, confirms the present running state of two cars; If the orbital distance of two cars is less than the safety distance of setting; Then the major state guideway vehicle is increased to the speed of a motor vehicle and is higher than from the state trajectory vehicle, obtains simultaneously the operational factor of two cars once more, comes back to beyond the safety distance up to the orbital distance of two cars.
Claims (8)
1. an active guideway vehicle collision avoidance system is characterized in that comprising double-rail track and guideway vehicle, and track is a conductive material; Two parallel tracks of double-rail track and be open-circuit condition; Insulate between double-rail track and the earth, the wheel of guideway vehicle remains with double-rail track and contacts
Guideway vehicle is made up of wheel, wheel shaft, actuating device, circuit interrupting device, on-vehicle host and power module, and guideway vehicle comprises master and slave two states, and major state refers to whether this car of active detecting front and back have the state of vehicle; Refer to that from state this car is in by the state of other detecting test of vehicles; Wheel comprises a pair of front-wheel and pair of rear wheels, connects through wheel shaft between the front-wheel and between the trailing wheel, and circuit interrupting device is separately positioned on the wheel shaft of front-wheel and trailing wheel; On-vehicle host is sent the range finding impulse singla during major state; Circuit interrupting device opens circuit, and the wheel shaft two ends that make front-wheel and trailing wheel are off state, and on-vehicle host is not sent the range finding impulse singla during from state; The circuit interrupting device short circuit, the wheel shaft two ends that make front-wheel and trailing wheel are short-circuit condition; Two rail wheels and double-rail track constitute an electric loop; Wherein the on-vehicle host of major state guideway vehicle is exported the range finding impulse singla; Wheel shaft, wheel through the major state guideway vehicle transfer in the double-rail track, and the range finding impulse singla arrives from the state trajectory vehicle along track, transfer to another track through the circuit interrupting device of short-circuit condition; Get back to the major state guideway vehicle along track again, via the wheel and the wheel shaft input on-vehicle host of major state guideway vehicle;
The on-vehicle host of guideway vehicle is connected with the actuating device intercommunication, the vehicle operating of actuating device drive track, and to the operational factor of this car of on-vehicle host feedback, power module is supplied power to guideway vehicle simultaneously.
2. a kind of active guideway vehicle collision avoidance system according to claim 1; It is characterized in that said on-vehicle host is made up of processor core, prepulse transmission circuit, afterpulse transmission circuit, preceding high-speed comparator circuit, back high-speed comparator circuit, reference voltage circuit, preceding difference amplifier, back difference amplifier, actuating device interface, preceding circuit interrupting device interface and back circuit interrupting device interface; The prepulse transmission circuit connects front-wheel; The afterpulse transmission circuit connects trailing wheel; The output of processor core connects forward and backward pulse transmission circuit and reference voltage circuit; Processor core connects actuating device through the actuating device interface; Connect forward and backward circuit interrupting device through forward and backward circuit interrupting device interface, forward and backward pulse transmission circuit sends the range finding impulse singla, and reference voltage circuit provides reference voltage signal to forward and backward high-speed comparator circuit; The range finding impulse singla that returns that guideway vehicle receives is imported forward and backward high-speed comparator circuit through forward and backward difference discharge circuit respectively, the output signal input processor core of forward and backward high-speed comparator circuit.
3. the collision-proof method of claim 1 or 2 described a kind of active guideway vehicle collision avoidance systems; It is characterized in that guideway vehicle operates on the double-rail track; The operation of actuating device drive track vehicle; Realize the motoring condition control of guideway vehicle according to the order of on-vehicle host, and to the operational factor of on-vehicle host feedback guideway vehicle, the operational factor of said vehicle comprises travel direction, speed and acceleration/accel; The on-vehicle host of major state guideway vehicle is controlled forward and backward circuit interrupting device; Make between the wheel that is connected on the same wheel shaft and become open-circuit condition; And then, judge whether other vehicle ' are arranged in the guideway vehicle measurement range through prepulse transmission circuit transmission range finding impulse singla;
When in the effective transmission range of range finding impulse singla, not having other guideway vehicles to go; On-vehicle host will can not receive the range finding impulse singla that returns; This moment is by the exomonental width of on-vehicle host control broadening; Emission range finding impulse singla does not once more also receive and returns the range finding impulse singla if reach maximum set value until pulse width, then the range finding impulse singla of repeat its transmission maximum width periodically;
When in the effective transmission range of range finding impulse singla, having other guideway vehicles to go; The range finding impulse singla will be along being in of running into from state wheel and the circuit interrupting device of short-circuit condition of guideway vehicle pass on another track; The impulse singla of finding range then turns back to the on-vehicle host of major state guideway vehicle along another track; On-vehicle host collection range finding impulse singla; Through the difference of calculating range finding time pulse signal point that sends and the range finding impulse singla time to peak point that receives, obtain the range finding result of front-wheel, repeat the process of above-mentioned transmission impulse singla, acquisition pulse signal and processing impulse singla; Take multiple measurements, this car operational factor that feeds back to on-vehicle host according to actuating device calculates the operational factor of another guideway vehicle;
Send the range finding impulse singla to track through the afterpulse transmission circuit simultaneously; Obtain the range finding result of trailing wheel; The front and rear wheel range finding result that will be obtained by the range finding impulse singla that synchronization sends makes comparisons, if the range finding result of front-wheel is greater than the range finding result of trailing wheel, then from the rear of state trajectory vehicle at major state guideway vehicle travel direction; If the range finding result of front-wheel is less than the range finding result of trailing wheel, then from state trajectory vehicle the place ahead at major state guideway vehicle travel direction; When going in the place ahead of major state guideway vehicle from the state trajectory vehicle; The on-vehicle host control range finding impulse singla of major state guideway vehicle sends from front-wheel; Front truck is found range once more; When going at the rear of major state guideway vehicle from the state trajectory vehicle, the on-vehicle host of major state guideway vehicle control range finding impulse singla sends from trailing wheel, and the back car is found range once more;
Carry out collision prediction according to the operational factor of resulting two guideway vehicles and the result that finds range once more, on-vehicle host is sent control command to actuating device, regulates the operational factor of this guideway vehicle; The running state of control guideway vehicle realizes the anticollision between the guideway vehicle, guideway vehicle is prevented to collide the handled of making be: when going in the place ahead of major state guideway vehicle from the state trajectory vehicle; If the orbital distance of two cars is greater than the safety distance of setting, the speed of a motor vehicle of two cars relatively is if the speed of a motor vehicle of major state guideway vehicle is less than from the state trajectory vehicle; Then withdraw from treatment scheme; Keep cruising, if the speed of a motor vehicle of major state guideway vehicle is greater than from the state trajectory vehicle, then the major state guideway vehicle is reduced to the speed of a motor vehicle and is equaled from the state trajectory vehicle; And obtain the operational factor of two cars once more; Confirm the present running state of two cars, if the orbital distance of two cars less than the safety distance of setting, then the major state guideway vehicle is implemented the action of stopping immediately; Obtain simultaneously the operational factor of two cars once more, beyond the orbital distance of two cars comes back to safety distance, restart; When going at the rear of major state guideway vehicle, if the orbital distance of two cars greater than the safety distance of setting, compares the speed of a motor vehicle of two cars from the state trajectory vehicle; If less than the major state guideway vehicle, then withdraw from treatment scheme, keep cruising from the speed of a motor vehicle of state trajectory vehicle; If from the speed of a motor vehicle of state trajectory vehicle greater than the major state guideway vehicle; Then the major state guideway vehicle is increased to the speed of a motor vehicle and equals from the state trajectory vehicle, and obtains the operational factor of two cars once more, confirms the present running state of two cars; If the orbital distance of two cars is less than the safety distance of setting; Then the major state guideway vehicle is increased to the speed of a motor vehicle and is higher than from the state trajectory vehicle, obtains simultaneously the operational factor of two cars once more, comes back to beyond the safety distance up to the orbital distance of two cars.
4. the collision-proof method of a kind of active guideway vehicle collision avoidance system according to claim 3 is characterized in that the operational factor that calculates another guideway vehicle according to this guideway vehicle operational factor is specially:
When two guideway vehicles moved on same section track section, the major state guideway vehicle was through initiatively sending the range finding pulse to surveying from the state trajectory vehicle, and the speed of transmission of range finding impulse singla in track is V
p, the speed of testing master and slave vehicle is respectively V
q, V
h, the major state guideway vehicle is being T from sending to the time difference that receives positive return signal, then can by:
L=V
P×T/4
Estimate the relative orbital distance L of two cars;
According to the Transmission Time Interval Δ t of range finding impulse singla, through repeatedly measuring L
1,, L
2...., L
n, this sequence is done calculus of differences obtains Δ L
1, Δ L
2...., Δ L
N-1, major state guideway vehicle speed V
hKnown, through
V
qi=ΔL
i/Δt+V
hi (i＝1,2,…,n)
Estimate from state trajectory car speed, wherein V
Qi, V
HiBe respectively from state trajectory vehicle and major state guideway vehicle in i speed constantly; When the speed from the state trajectory vehicle changes, through
a
qi=(V
qi+1-V
qi)/Δt (i＝1,2,…,n)
Estimate from the acceleration/accel of state trajectory vehicle, obtain from the operational factor of state trajectory vehicle.
5. according to the collision-proof method of claim 3 or 4 described a kind of active guideway vehicle collision avoidance systems; The processor core that it is characterized in that on-vehicle host is through control wave transmission circuit, high-speed comparator circuit and reference voltage circuit realize the finding range transmission and the collection of impulse singla; And the data of gathering are handled the relative orbit distance that obtains two cars, through the operation of actuating device interface and circuit interrupting device interface accessory drive and circuit interrupting device; Pulse transmission circuit answer processor control core is sent the controlled range finding impulse singla of width, and said range finding pulse signal width is wide more, and the scope that can transmit is just far away more; Comparator circuit be used to the to find range collection of impulse singla; Reference voltage circuit provides VREF (Voltage Reference), when the return signal level that receives during greater than reference voltage level, and high-speed comparator circuit output high level; When the return signal level that receives during less than reference voltage level; High-speed comparator circuit output low level, wherein, the size that processor core is recently regulated VREF (Voltage Reference) through the duty of regulating the PWM ripple; The range finding impulse singla that returns is through difference discharge circuit input comparator circuit again, and the difference discharge circuit is used to reduce the interference of external environment to the range finding impulse singla that transmits on the track.
6. according to the collision-proof method of the described a kind of active guideway vehicle collision avoidance system of claim 5; It is characterized in that processor core recently regulates the size of VREF (Voltage Reference) through the duty of regulating the PWM ripple; The size of VREF (Voltage Reference) is regulated according to actual two spacings that record; Two spacings during less than 100m VREF (Voltage Reference) be adjusted to 1V, VREF (Voltage Reference) is adjusted to 0.5V during greater than 100m.
7. according to the collision-proof method of claim 3 or 4 described a kind of active guideway vehicle collision avoidance systems; The width adjusting of impulse singla of it is characterized in that finding range is: the scope that pulse signal width is regulated is that 50ns is between the 200ns; Each amplitude of regulating is 50ns; The emission the initial ranging pulse signal width be 50ns, the cycle of the range finding impulse singla of said periodicity repeat its transmission maximum width more than or equal to 10s smaller or equal to 60s.
8. the collision-proof method of a kind of active guideway vehicle collision avoidance system according to claim 5; The width adjusting of impulse singla of it is characterized in that finding range is: the scope that pulse signal width is regulated is that 50ns is between the 200ns; Each amplitude of regulating is 50ns; The emission the initial ranging pulse signal width be 50ns, the cycle of the range finding impulse singla of said periodicity repeat its transmission maximum width more than or equal to 10s smaller or equal to 60s.
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