CN103903450A - Intelligent vehicle intersection stopping method based on radio frequency identification - Google Patents
Intelligent vehicle intersection stopping method based on radio frequency identification Download PDFInfo
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- CN103903450A CN103903450A CN201410143765.0A CN201410143765A CN103903450A CN 103903450 A CN103903450 A CN 103903450A CN 201410143765 A CN201410143765 A CN 201410143765A CN 103903450 A CN103903450 A CN 103903450A
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Abstract
The invention relates to an intelligent vehicle intersection stopping method based on radio frequency identification. The intelligent vehicle intersection stopping method relates to signal generators, radio frequency coils, an electromagnetic sensor, a signal processing circuit and an intelligent vehicle controller. The signal generators and the radio frequency coils are installed below the road surface of an intersection, the electromagnetic sensor is installed on a front-arranged support at the head of an intelligent vehicle, the signal processing circuit and the intelligent vehicle controller are installed on a chassis of the intelligent vehicle, red light signals at the intersection enables the signal generators to drive the radio frequency coils to generate electromagnetic fields, after being detected by the electromagnetic sensor, electromagnetic signals are processed to be transmitted to the controller to carry out processing, and therefore whether the vehicle is stopped or not is determined. Compared with the traditional stopping method with an infrared sensor and the like, the radio frequency identification technology is adopted, the intelligent vehicle intersection stopping method has the advantages of being large in brake signal radiating distance, high in interference resistance, high in detection accuracy and the like, and influences on vehicles on other lanes can be further avoided.
Description
Technical field
The invention belongs to intelligent transportation field, relate to a kind of intelligent vehicle crossing parking method, utilize an electromagnetic sensor to detect the radiofrequency signal of synchronizeing with crossing red signal, realize the parking of intelligent vehicle at crossing.
Background technology
At present, be applied to the common method of stopping at intelligent vehicle crossing and have infrared electronic technology and magnetic field induction technology.
Infrared electronic technology is using infrared ray as communication media, and the intelligent vehicle crossing parking method based on infrared electronic technology, is positioned over trackside by infrared launcher, and infrared receiving device is installed on intelligent vehicle.The signal of infrared launcher is synchronizeed with crossing red signal, when red light lights, activates infrared launcher.In the time that intelligent vehicle arrives crossing, infrared signal detected, intelligent vehicle stops; After waiting for that red signal finishes, infrared signal disappears, and startup is dispatched a car.There is following problem in the method: in (1) sunlight, contain infrared composition, infrared receiving device is easily disturbed in actual applications; (2) because infrared launcher is placed in trackside, easily adjacent lane is exerted an influence, cause mistakenly stop car; (3) infrared launcher is positioned over trackside, affects attractive in appearance.
Applying a magnetic field induction technology, can be embedded in electromagnet the below on road surface, and magnetic field detection equipment is installed on intelligent vehicle.When red eye is lighted, electromagnet energising produces magnetic field, when intelligent vehicle arrives crossing, detects field signal, and intelligent vehicle is parked in crossing; Wait for that red signal finishes rear electromagnet power-off, startup is dispatched a car.Although the method has been avoided the deficiency of infrared parking, the field signal coverage that electromagnet produces is short, makes vehicle cannot detect brake signal, if improve brake accuracy rate by improving power of electromagnet, will certainly cause waste of energy.
In sum, above two kinds of intelligent vehicle crossing parking methods, poor anti jamming capability, detection, apart from little, easily cause the mistakenly stop car in different tracks and the phenomenon of making a dash across the red light, and cause the abnormal of intelligent vehicle.
Summary of the invention
There is poor anti jamming capability for the intelligent vehicle crossing parking method that adopts infrared electronic technology, magnetic field induction technology, the problems such as accuracy of detection is low, the present invention proposes a kind of intelligent vehicle crossing parking method based on radio-frequency (RF) identification, utilize the transmission feature of radiofrequency signal to improve the satisfy the need accuracy of detection of lipstick modulating signal of intelligent vehicle, improve antijamming capability.
Intelligent vehicle lugs are mainly made up of signal generator, radio-frequency coil, electromagnetic sensor, signal processing circuit, Intelligent vehicle controller.Signal generator and radio-frequency coil are arranged on the below, road surface of crossroad, as shown in Figure 2, electromagnetic sensor is arranged on the preposition support of intelligent vehicle headstock, signal processing circuit and Intelligent vehicle controller are arranged on intelligent vehicle chassis, red signal enable signal generator drives radio-frequency coil to generate an electromagnetic field, electromagnetic sensor detects after electromagnetic signal, delivers to controller processing through signal processing, thereby determines whether vehicle stops.
Provide the principle of utilizing above-mentioned lugs to carry out crossing parking below.
In the time of the when red at crossing, red signal produces sinusoidal alternating current as enable signal trigger signal generator, in the time being connected with sinusoidal alternating current in radio-frequency coil, around radio-frequency coil, produce the magnetic field of alternation, thus centered by radio-frequency coil to external radiation and signal generator with radiofrequency signal frequently.When intelligent vehicle travels near crossing time, electromagnetic sensor induction radiofrequency signal produces small exchange current therein, after rectification, amplification, produce analog voltage signal, then deliver to Intelligent vehicle controller after simulating signal is transformed into digital signal by AD analog-digital commutator.The signal intensity that electromagnetic sensor senses is along with the change of distance at intelligent vehicle and radio-frequency coil center, in the time that electromagnetic sensor is positioned at radio-frequency coil center, and the signal intensity maximum detecting; In the time that electromagnetic sensor departs from radio-frequency coil center, the signal intensity detecting diminishes gradually, and distance is far away, and signal is more weak.Along with constantly approaching of intelligent vehicle and crossing, the signal detecting is more and more stronger, in the time exceeding the brake threshold value of setting, and controller output brake control signal.Therefore, adjust brake threshold value and can control vehicle brake position.
Owing to having inertia in intelligent vehicle traveling process, and require vehicle enough in strong scope, car to be stopped at electromagnetic field, so influence value electromagnetic sensor can not be positioned to top, radio-frequency coil center when setting threshold time is as the brake threshold value of vehicle, if this is worth as parking threshold value, in the time that the electromagnetic sensor of intelligent vehicle arrives the center of radio-frequency coil, Intelligent vehicle controller sends cutoff command, intelligent vehicle starts brake, because vehicle inertia can make vehicle line ball or go out the effective range of brake signal electromagnetic field, cause and brake unsuccessfully; Threshold value can not be selected too small, and threshold value is too little, and the area of radio-frequency coil radiation is excessive, not only can have influence on contiguous track, and cause vehicles failed just to brake to crossing.Therefore, select a suitable threshold value very important, the threshold value of choosing need to be around the center of radio-frequency coil, border circular areas of radiation formation, in the time that the numerical value of electromagnetic sensor collection is greater than setting threshold, intelligent vehicle stops, thereby stops in the intelligent vehicle crossing of realizing based on radio-frequency (RF) identification.
An intelligent vehicle crossing parking method for radio-frequency (RF) identification, specifically comprises following step:
When signal intensity δ is less than brake threshold value δ
0time, think that intelligent vehicle does not detect red signal, intelligent vehicle normally travels and passes through crossing;
When detecting that brake signal value δ is more than or equal to brake threshold value δ
0time, think that intelligent vehicle detects red signal, enter crossing parking area, intelligent vehicle brake, until crossing red signal disappearance intelligent vehicle starts again.
Brake threshold value δ described in step 4
0determine in accordance with the following methods: first determine the radiation scope of radio-frequency coil, then electromagnetic sensor is positioned over to the edge of radio-frequency coil radiation scope, along direct of travel moving vehicle, select suitable brake signal size as brake threshold value δ according to distance
0.
Compared with prior art, the present invention has the following advantages:
(1) compared with the parking method traditional with adopting infrared sensor etc., the present invention adopts radio frequency to pass recognition technology, has that brake signal radiation length is far away, antijamming capability strong, accuracy of detection advantages of higher, can also avoid the impact on other track vehicles.
(2) according to practical application, intelligent vehicle can be selected needed radio-frequency coil radiation scope, and dirigibility is higher, low-power consumption.
Brief description of the drawings
Fig. 1 is radio-frequency coil schematic diagram;
Fig. 2 is signal generator and radio-frequency coil layout schematic diagram at the parting of the ways;
Fig. 3 is 5kHz sinusoidal alternating signal waveforms;
Fig. 4 is that electromagnetic sensor of the present invention is placed vertical view;
Fig. 5 is intelligent vehicle crossing parking method process flow diagram involved in the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
Intelligent vehicle lugs comprise signal generator, radio-frequency coil, electromagnetic sensor, signal processing circuit, Intelligent vehicle controller.Wherein, radio-frequency coil adopts enameled wire to be entwined, and enameled wire diameter is 0.5mm, as shown in Figure 1.In radio-frequency coil, being connected with frequency is the sinusoidal current that 5kHz, size are 100 ± 20mA, and waveform as shown in Figure 3.Radio-frequency coil layout schematic diagram at the parting of the ways as shown in Figure 2.Around radio-frequency coil, produce the alternating electromagnetic field of 5kHz.
Electromagnetic sensor is a 10mH " work " font telefault, and electromagnetic sensor is held in place the right side of the preposition support of intelligent vehicle headstock, and as Fig. 4, the Capacitance parallel connection of inductance and 100nF, forms LC resonant tank, and resonance frequency is 5kHz.Because the frequency of radio-frequency coil is also 5kHz, therefore produce resonance in the LC loop of electromagnetic sensor, make the signal intensity maximum detecting.
The signal of electromagnetic sensor collection is sinusoidal signal, and intensity is smaller, Intelligent vehicle controller cannot directly be processed, need to be by rectification, be transformed into d. c. voltage signal after amplifying, then become 8 position digital signals to be transferred to Intelligent vehicle controller by AD analog to digital conversion to process.
Radio-frequency coil signal is synchronizeed with crossing red signal.The enable signal of the present invention using the red signal of intersection annunciator as signal generator, teleseme red signal end is connected to the signal input part of relay, in the time that signal lamp red light lights, corresponding red signal interface output 5V high level, trigger relay, then enable signal generator, signal generator is to the exchange current of the logical 5kHz of radio-frequency coil, the magnetic field that produces alternation around radio-frequency coil.
Intelligent vehicle of the present invention crossing parking method flow process as shown in Figure 5, specifically comprises following step:
When signal intensity δ is less than brake threshold value δ
0time, think that intelligent vehicle does not detect red signal, intelligent vehicle normally travels and passes through crossing;
When detecting that brake signal value δ is more than or equal to brake threshold value δ
0time, think that intelligent vehicle detects red signal, enter crossing parking area, intelligent vehicle brake, until crossing red signal disappearance intelligent vehicle starts again.
Brake threshold value δ
0definite method: first determining the radiation scope of radio-frequency coil, electromagnetic sensor is positioned over to the edge of radio-frequency coil radiation scope along direct of travel moving vehicle, is 5cm edge at radio-frequency coil radiation radius, the signal value δ that electromagnetic sensor gathers
0digital quantity after analog to digital conversion is 70, and corresponding analog voltage is 1.367V, as the brake threshold value δ of intelligent vehicle
0.
Stop and stop and magnetic field induction technology parking effect with traditional infrared sensing technology by the intelligent vehicle crossing based on radio-frequency (RF) identification more of the present invention, can find out, intelligent vehicle crossing parking method based on radio-frequency (RF) identification, successful is better than traditional parking method, in the present invention, intelligent vehicle can be selected radio-frequency coil radiation scope according to the actual requirements, dirigibility is high, low in energy consumption; The problems such as visible light sensor poor anti jamming capability and traditional parking method accuracy of detection are low are solved.
Claims (2)
1. the intelligent vehicle crossing parking method based on radio-frequency (RF) identification, comprises signal generator, radio-frequency coil, electromagnetic sensor, signal processing circuit and Intelligent vehicle controller; Signal generator and radio-frequency coil are arranged on the below, road surface of crossroad, electromagnetic sensor is arranged on the preposition support of intelligent vehicle headstock, signal processing circuit and Intelligent vehicle controller are arranged on intelligent vehicle chassis, crossing red signal enable signal generator drives radio-frequency coil to generate an electromagnetic field, electromagnetic sensor detects after electromagnetic signal, deliver to controller processing through signal processing, thereby determine whether vehicle stops; It is characterized in that said method comprising the steps of:
Step 1, belisha beacon red light lights, and produces trigger pip;
Step 2, signal generator detects trigger pip, signal generator, to the logical exchange current of radio-frequency coil, produces the radio-frequency (RF) magnetic field of alternation around radio-frequency coil;
Step 3, when intelligent vehicle travels near crossing time, electromagnetic sensor induction radiofrequency signal produces small exchange current therein, produces analog voltage signal, then deliver to Intelligent vehicle controller after rectification, amplification after simulating signal is transformed into digital signal by AD analog-digital commutator;
Step 4, judges the behavior of intelligent vehicle at crossing according to the signal intensity δ that is input to Intelligent vehicle controller;
When signal intensity δ is less than brake threshold value δ
0time, think that intelligent vehicle does not detect red signal, intelligent vehicle normally travels and passes through crossing;
When detecting that brake signal value δ is more than or equal to brake threshold value δ
0time, think that intelligent vehicle detects red signal, enter crossing parking area, intelligent vehicle brake, until crossing red signal disappearance intelligent vehicle starts again.
2. a kind of intelligent vehicle crossing parking method based on radio-frequency (RF) identification according to claim 1, is characterized in that, the brake threshold value δ described in step 4
0determine in accordance with the following methods: first determine the radiation scope of radio-frequency coil, then electromagnetic sensor is positioned over to the edge of radio-frequency coil radiation scope, along direct of travel moving vehicle, select suitable brake signal size as brake threshold value δ according to distance
0.
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| CN109523818A (en) * | 2018-12-05 | 2019-03-26 | 山东星志智能交通科技有限公司 | A kind of urban traffic signal control system Fault pre-warning emergency set |
| CN111605657A (en) * | 2019-02-22 | 2020-09-01 | 富泰华工业（深圳）有限公司 | Single-vehicle intersection parking method, single-vehicle system and single vehicle |
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| CN103903450B (en) | 2016-03-09 |
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Effective date of registration: 20160918 Address after: 266000, room 52, 417 Hechuan Road, Licang District, Shandong, Qingdao, China Patentee after: Qingdao Huateng Automation Technology Co., Ltd. Address before: 100124 Chaoyang District, Beijing Ping Park, No. 100 Patentee before: Beijing University of Technology |
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Granted publication date: 20160309 Termination date: 20170410 |