CN103903450B - A kind of intelligent vehicle crossing parking method based on radio-frequency (RF) identification - Google Patents
A kind of intelligent vehicle crossing parking method based on radio-frequency (RF) identification Download PDFInfo
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- CN103903450B CN103903450B CN201410143765.0A CN201410143765A CN103903450B CN 103903450 B CN103903450 B CN 103903450B CN 201410143765 A CN201410143765 A CN 201410143765A CN 103903450 B CN103903450 B CN 103903450B
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Abstract
The present invention relates to a kind of intelligent vehicle crossing parking method based on radio-frequency (RF) identification, comprise signal generator, radio-frequency coil, electromagnetic sensor, signal processing circuit and Intelligent vehicle controller; Signal generator and radio-frequency coil are arranged on below the 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, after electromagnetic sensor detects electromagnetic signal, deliver to controller process through signal transacting, thus determine whether vehicle stops.Compared with the parking method traditional with adopting infrared sensor etc., the present invention adopts REID, 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.
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 synchronous 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 based on the intelligent vehicle crossing parking method of infrared electronic technology, infrared launcher is positioned over trackside, and infrared receiving device is installed on intelligent vehicle.The signal of infrared launcher is synchronous with crossing red signal, when red light lights, activates infrared launcher.When intelligent vehicle arrives crossing, infrared signal detected, intelligent vehicle stops; After waiting for that red signal terminates, infrared signal disappears, and startup is dispatched a car.There is following problem in the method: containing infrared composition in (1) sunlight, infrared receiving device is easily disturbed in actual applications; (2) because infrared launcher is placed in trackside, easily adjacent lane is had an impact, cause mistakenly stop car; (3) infrared launcher is positioned over trackside, affects attractive in appearance.
Applying a magnetic field induction technology, electromagnet can be embedded in the below on road surface, magnetic field detection device is installed on intelligent vehicle.When red eye is lighted, electromagnet energising produces magnetic field, and when intelligent vehicle arrives crossing, detect field signal, intelligent vehicle is parked in crossing; Wait for that red signal terminates rear electromagnet power-off, startup is dispatched a car.Although the method avoids the deficiency of infrared parking, the field signal coverage that electromagnet produces is short, makes vehicle 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, detecting distance are little, and the mistakenly stop car easily causing different track and the phenomenon of making a dash across the red light, cause the exception of intelligent vehicle.
Summary of the invention
There is poor anti jamming capability in the intelligent vehicle crossing parking method for employing 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 intelligent vehicle to satisfy the need the accuracy of detection of lipstick modulating signal, improve antijamming capability.
Intelligent vehicle lugs are primarily of signal generator, radio-frequency coil, electromagnetic sensor, signal processing circuit, Intelligent vehicle controller composition.Signal generator and radio-frequency coil are arranged on below the 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, after electromagnetic sensor detects electromagnetic signal, deliver to controller process through signal transacting, thus determine whether vehicle stops.
Provide the principle utilizing above-mentioned lugs to carry out crossing parking below.
When the when red at crossing, red signal produces sinusoidal alternating current as enable signal trigger signal generator, when being connected with sinusoidal alternating current in radio-frequency coil, the magnetic field of alternation is produced around radio-frequency coil, thus to external radiation and the same radiofrequency signal frequently of signal generator centered by radio-frequency coil.When intelligent vehicle travels near crossing, 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 changes along with the distance at intelligent vehicle and radio-frequency coil center, and when electromagnetic sensor is positioned at radio-frequency coil center, the signal intensity detected is maximum; When electromagnetic sensor departs from radio-frequency coil center, the signal intensity detected diminishes gradually, and distance is far away, and signal is more weak.Constantly close along with intelligent vehicle and crossing, the signal detected is more and more stronger, and when exceeding the brake threshold value of setting, controller exports brake control signal.Therefore, adjustment brake threshold value can control vehicle brake position.
Owing to there is inertia in intelligent vehicle traveling process, and require that car can stop by vehicle in the scope that electromagnetic field is enough strong, so influence value when electromagnetic sensor can not be positioned at radio-frequency coil overcentre during setting threshold value is as the brake threshold value of vehicle, if using this value as parking threshold value, when the electromagnetic sensor of intelligent vehicle arrives the center of radio-frequency coil, Intelligent vehicle controller sends cutoff command, intelligent vehicle starts brake, vehicle line ball can be made due to vehicle inertia or go out the effective range of brake signal electromagnetic field, causing 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 causes vehicle just not brake to crossing.Therefore, select a suitable threshold value very important, the threshold value chosen needs the center around radio-frequency coil, radiation formation border circular areas, when the numerical value of electromagnetic sensor collection is greater than setting threshold value time, intelligent vehicle stops, thus realizes stopping based on the intelligent vehicle crossing of radio-frequency (RF) identification.
An intelligent vehicle crossing parking method for radio-frequency (RF) identification, specifically comprises following step:
Step one, belisha beacon red light lights, and produces trigger pip.
Step 2, signal generator detects trigger pip, and signal generator leads to exchange current to radio-frequency coil, produces the radio-frequency (RF) magnetic field of alternation around radio-frequency coil.
Step 3, when intelligent vehicle travels near crossing, 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, the signal intensity δ according to being input to Intelligent vehicle controller judges the behavior of intelligent vehicle at crossing.
When signal intensity δ is less than brake threshold value δ
0time, think that intelligent vehicle does not detect red signal, intelligent vehicle normally drives 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 brakes, until crossing red signal disappearance intelligent vehicle starts again.
Brake threshold value δ described in step 4
0determine in accordance with the following methods: the radiation scope first determining radio-frequency coil, then electromagnetic sensor is positioned over 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 traditional with adopting infrared sensor etc. parking method, 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 select required radio-frequency coil radiation scope, and dirigibility is higher, low-power consumption.
Accompanying drawing explanation
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 vertical view placed by electromagnetic sensor of the present invention;
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.Be connected with in radio-frequency coil that frequency is 5kHz, size is the sinusoidal current of 100 ± 20mA, waveform as shown in Figure 3.Radio-frequency coil layout schematic diagram at the parting of the ways as shown in Figure 2.The alternating electromagnetic field of 5kHz is produced around radio-frequency coil.
Electromagnetic sensor is 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, form LC resonant tank, resonance frequency is 5kHz.Frequency due to radio-frequency coil is also 5kHz, therefore produces resonance in the LC loop of electromagnetic sensor, makes the signal intensity that detects maximum.
The signal of electromagnetic sensor collection is sinusoidal signal, and intensity is smaller, Intelligent vehicle controller cannot directly process, need by rectification, amplify after be transformed into d. c. voltage signal, 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 synchronous with crossing red signal.The present invention is using the enable signal of the red signal of intersection annunciator as signal generator, teleseme red signal end is connected to the signal input part of relay, when signal lamp red light lights, corresponding red signal interface exports 5V high level, trigger relay, then enable signal generator, signal generator leads to the exchange current of 5kHz to radio-frequency coil, produces the magnetic field of alternation around radio-frequency coil.
Intelligent vehicle crossing of the present invention parking method flow process as shown in Figure 5, specifically comprises following step:
Step one, belisha beacon red light lights, trigger signal generator.
Step 2, signal generator detects trigger pip, and signal generator leads to the exchange current of 5kHz to radio-frequency coil, produces the magnetic field of alternation around radio-frequency coil.
Step 3, when intelligent vehicle travels near crossing, 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, the signal intensity δ according to being input to Intelligent vehicle controller judges the behavior of intelligent vehicle at crossing.
When signal intensity δ is less than brake threshold value δ
0time, think that intelligent vehicle does not detect red signal, intelligent vehicle normally drives 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 brakes, until crossing red signal disappearance intelligent vehicle starts again.
Brake threshold value δ
0defining method: the radiation scope first determining radio-frequency coil, edge electromagnetic sensor being positioned over radio-frequency coil radiation scope, along direct of travel moving vehicle, is 5cm edge at radio-frequency coil radiation radius, electromagnetic sensor gather signal value δ
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.
Stopped 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 parking, can find out, based on the intelligent vehicle crossing parking method of radio-frequency (RF) identification, successful is better than traditional parking method, in the present invention, intelligent vehicle can select radio-frequency coil radiation scope according to the actual requirements, dirigibility is high, low in energy consumption; Solve visible light sensor poor anti jamming capability and the problem such as traditional parking method accuracy of detection is low.
Claims (2)
1., based on an intelligent vehicle crossing parking method for radio-frequency (RF) identification, comprise signal generator, radio-frequency coil, electromagnetic sensor, signal processing circuit and Intelligent vehicle controller; Signal generator and radio-frequency coil are arranged on below the 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, after electromagnetic sensor detects electromagnetic signal, deliver to controller process through signal transacting, thus determine whether vehicle stops; It is characterized in that said method comprising the steps of:
Step one, belisha beacon red light lights, and produces trigger pip;
Step 2, signal generator detects trigger pip, and signal generator leads to exchange current to radio-frequency coil, produces the radio-frequency (RF) magnetic field of alternation around radio-frequency coil;
Step 3, when intelligent vehicle travels near crossing, 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, the signal intensity δ according to being input to Intelligent vehicle controller judges the behavior of intelligent vehicle at crossing;
When signal intensity δ is less than brake threshold value δ
0time, think that intelligent vehicle does not detect red signal, intelligent vehicle normally drives through crossing;
When detecting that signal intensity 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 brakes, 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: the radiation scope first determining radio-frequency coil, then electromagnetic sensor is positioned over 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108827330A (en) * | 2018-04-28 | 2018-11-16 | 重庆交通大学 | A kind of system and method for realizing lane change guidance based on Radio Frequency Identification Technology |
| CN109523818B (en) * | 2018-12-05 | 2021-11-30 | 山东星志智能交通科技股份有限公司 | Fault pre-alarming emergency device of urban traffic signal control system |
| CN111605657B (en) * | 2019-02-22 | 2023-05-09 | 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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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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