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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Abstract
本发明涉及一种基于射频识别的智能车辆路口停车方法，包括信号发生器、射频线圈、电磁传感器、信号处理电路和智能车辆控制器；信号发生器和射频线圈安装在十字路口的路面下方，电磁传感器安装在智能车辆车头的前置支架上，信号处理电路和智能车辆控制器安装在智能车辆底盘上，路口红灯信号使能信号发生器驱动射频线圈产生电磁场，电磁传感器检测到电磁信号后，经信号处理送到控制器处理，从而决定车辆是否停车。与采用红外传感器等传统的停车方法相比，本发明采用射频识别技术，具有刹车信号辐射距离远、抗干扰能力强、检测精度高等优点，还可以避免对其他车道车辆的影响。
The invention relates to a method for parking an intelligent vehicle at an intersection based on radio frequency identification, comprising a signal generator, a radio frequency coil, an electromagnetic sensor, a signal processing circuit and an intelligent vehicle controller; The sensor is installed on the front bracket of the front of the intelligent vehicle, and the signal processing circuit and the intelligent vehicle controller are installed on the chassis of the intelligent vehicle. The red light signal at the intersection enables the signal generator to drive the radio frequency coil to generate an electromagnetic field. After the electromagnetic sensor detects the electromagnetic signal, After signal processing, it is sent to the controller for processing, so as to determine whether the vehicle stops. Compared with traditional parking methods such as infrared sensors, the present invention adopts radio frequency identification technology, which has the advantages of long braking signal radiation distance, strong anti-interference ability, and high detection accuracy, and can also avoid the impact on vehicles in other lanes.
Description
技术领域technical field
本发明属于智能交通领域，涉及一种智能车辆路口停车方法，利用一个电磁传感器检测与路口红灯信号同步的射频信号，实现智能车辆在路口的停车。The invention belongs to the field of intelligent transportation, and relates to a method for parking an intelligent vehicle at an intersection. An electromagnetic sensor is used to detect a radio frequency signal synchronized with a red light signal at the intersection to realize the parking of the intelligent vehicle at the intersection.
背景技术Background technique
目前，应用于智能车辆路口停车的常用方法有红外传感技术和磁场感应技术。At present, the common methods applied to intelligent vehicle intersection parking include infrared sensing technology and magnetic field sensing technology.
红外传感技术以红外线作为通信介质，基于红外传感技术的智能车辆路口停车方法，将红外发射装置放置于路侧，红外接收装置安装于智能车辆上。红外发射装置的信号与路口红灯信号同步，红灯亮起时，激活红外发射装置。当智能车辆到达路口时，检测到红外信号，智能车辆停车；等待红灯信号结束后，红外信号消失，启动发车。此方法在实际应用中存在以下问题：（1）阳光中含有红外成分，红外接收装置容易受干扰；（2）由于红外发射装置置于路侧，容易对相邻车道产生影响，造成误停车；（3）红外发射装置放置于路侧，影响美观。Infrared sensing technology uses infrared as the communication medium, and the intelligent vehicle intersection parking method based on infrared sensing technology places the infrared emitting device on the roadside, and the infrared receiving device is installed on the intelligent vehicle. The signal of the infrared emitting device is synchronized with the signal of the red light at the intersection, and when the red light is on, the infrared emitting device is activated. When the intelligent vehicle arrives at the intersection, it detects the infrared signal, and the intelligent vehicle stops; after waiting for the red light signal to end, the infrared signal disappears, and the vehicle starts to depart. This method has the following problems in practical application: (1) The sunlight contains infrared components, and the infrared receiving device is easily interfered; (2) Since the infrared emitting device is placed on the side of the road, it is easy to affect the adjacent lanes, resulting in parking by mistake; (3) The infrared emitting device is placed on the side of the road, which affects the appearance.
应用磁场感应技术，可以将电磁铁埋设在路面的下方，磁场检测设备安装于智能车辆上。红色信号灯点亮时电磁铁通电产生磁场，当智能车辆到达路口，检测磁场信号，智能车辆停在路口；等待红灯信号结束后电磁铁断电，启动发车。该方法虽然避免了红外停车的不足，但是电磁铁产生的磁场信号有效距离短，使车辆无法检测刹车信号，若通过提高电磁铁功率来提高刹车准确率，势必会造成电能浪费。Using magnetic field sensing technology, electromagnets can be buried under the road surface, and magnetic field detection equipment can be installed on smart vehicles. When the red signal light is on, the electromagnet is energized to generate a magnetic field. When the smart vehicle arrives at the intersection, the magnetic field signal is detected, and the smart vehicle stops at the intersection; after the red light signal is over, the electromagnet is powered off and the car starts. Although this method avoids the deficiency of infrared parking, the effective distance of the magnetic field signal generated by the electromagnet is short, so that the vehicle cannot detect the braking signal. If the braking accuracy is improved by increasing the power of the electromagnet, it will inevitably cause waste of electric energy.
综上所述，以上两种智能车辆路口停车方法，抗干扰能力差、检测距离小，易造成不同车道的误停车以及闯红灯的现象，造成智能车辆的异常。To sum up, the above two intelligent vehicle intersection parking methods have poor anti-interference ability and small detection distance, which may easily cause wrong parking in different lanes and red light running, resulting in abnormalities of intelligent vehicles.
发明内容Contents of the invention
针对采用红外传感技术、磁场感应技术的智能车辆路口停车方法存在抗干扰能力差，检测精度低等问题，本发明提出一种基于射频识别的智能车辆路口停车方法，利用射频信号的传输特点提高智能车辆对路口红灯信号的检测精度，提高抗干扰能力。Aiming at the problems of poor anti-interference ability and low detection accuracy in the intelligent vehicle intersection parking method using infrared sensing technology and magnetic field induction technology, the present invention proposes an intelligent vehicle intersection parking method based on radio frequency identification, which utilizes the transmission characteristics of radio frequency signals to improve The detection accuracy of intelligent vehicles on red light signals at intersections improves the anti-interference ability.
智能车辆停车装置主要由信号发生器、射频线圈、电磁传感器、信号处理电路、智能车辆控制器组成。信号发生器和射频线圈安装在十字路口的路面下方，如图2所示，电磁传感器安装在智能车辆车头的前置支架上，信号处理电路和智能车辆控制器安装在智能车辆底盘上，红灯信号使能信号发生器驱动射频线圈产生电磁场，电磁传感器检测到电磁信号后，经信号处理送到控制器处理，从而决定车辆是否停车。The intelligent vehicle parking device is mainly composed of a signal generator, a radio frequency coil, an electromagnetic sensor, a signal processing circuit, and an intelligent vehicle controller. The signal generator and radio frequency coil are installed under the road surface of the intersection, as shown in Figure 2, the electromagnetic sensor is installed on the front bracket of the front of the intelligent vehicle, the signal processing circuit and the intelligent vehicle controller are installed on the chassis of the intelligent vehicle, and the red light The signal enables the signal generator to drive the radio frequency coil to generate an electromagnetic field. After the electromagnetic sensor detects the electromagnetic signal, the signal is processed and sent to the controller for processing, so as to determine whether the vehicle stops.
下面给出利用上述停车装置进行路口停车的原理。Provide below to utilize the above-mentioned parking device to carry out the principle of crossing parking.
当路口的红灯亮时，红灯信号作为使能信号触发信号发生器产生正弦交变电流，当射频线圈中通有正弦交变电流时，在射频线圈周围产生交变的磁场，从而以射频线圈为中心向外辐射与信号发生器同频的射频信号。当智能车辆行驶至路口附近时，电磁传感器感应射频信号在其内部产生微小交变电流，经整流、放大后产生模拟电压信号，再经AD模数转换装置将模拟信号变换成数字信号后送至智能车辆控制器。电磁传感器感应到的信号强度随着智能车辆与射频线圈中心的距离变化，当电磁传感器位于射频线圈中心时，检测到的信号强度最大；当电磁传感器偏离射频线圈中心时，检测到的信号强度逐渐变小，距离越远，信号越弱。随着智能车辆与路口的不断接近，检测到的信号越来越强，当超过设定的刹车阈值时，控制器输出刹车控制信号。因此，调整刹车阈值可以控制车辆刹车位置。When the red light at the intersection is on, the red light signal is used as an enabling signal to trigger the signal generator to generate a sinusoidal alternating current. When the sinusoidal alternating current is passed through the radio frequency coil, an alternating magnetic field is generated around the radio frequency coil, thereby The coil acts as the center to radiate a radio frequency signal of the same frequency as the signal generator. When the smart vehicle drives near the intersection, the electromagnetic sensor induces the radio frequency signal to generate a small alternating current inside it, which is rectified and amplified to generate an analog voltage signal, and then the analog signal is converted into a digital signal by the AD analog-to-digital conversion device and sent to Smart vehicle controller. The signal strength sensed by the electromagnetic sensor changes with the distance between the smart vehicle and the center of the radio frequency coil. When the electromagnetic sensor is located at the center of the radio frequency coil, the detected signal strength is the largest; when the electromagnetic sensor deviates from the center of the radio frequency coil, the detected signal strength gradually increases. The smaller the distance, the weaker the signal. As the intelligent vehicle approaches the intersection, the detected signal becomes stronger and stronger, and when the set braking threshold is exceeded, the controller outputs a braking control signal. Therefore, adjusting the brake threshold can control the vehicle brake position.
由于智能车辆行进过程中存在惯性，并且要求车辆可以在电磁场足够强的范围内将车停下，所以设定阈值时不能将电磁传感器位于射频线圈中心上方时的感应值作为车辆的刹车阈值，若将此值作为停车阈值，当智能车辆的电磁传感器到达射频线圈的中心时，智能车辆控制器发出停车指令，智能车辆开始刹车动作，由于车辆惯性会使车辆压线或冲出刹车信号电磁场的有效范围，造成刹车失败；阈值也不能选择过小，阈值太小，射频线圈辐射的面积过大，不仅会影响到邻近车道，而且造成车辆未到路口便刹车。因此，选择一个合适的阈值十分重要，选取的阈值需要围绕射频线圈的中心，辐射形成一个圆形区域，当电磁传感器采集的数值大于设定阈值的时候，智能车辆停车，从而实现基于射频识别的智能车辆路口停车。Since there is inertia in the process of smart vehicles, and the vehicle is required to stop the vehicle within a sufficiently strong electromagnetic field, the induction value when the electromagnetic sensor is located above the center of the radio frequency coil cannot be used as the braking threshold of the vehicle when setting the threshold. Use this value as the parking threshold. When the electromagnetic sensor of the smart vehicle reaches the center of the radio frequency coil, the smart vehicle controller issues a parking command, and the smart vehicle starts to brake. Due to the inertia of the vehicle, the vehicle will press the line or rush out of the effective electromagnetic field of the braking signal. If the threshold is too small, the radiation area of the radio frequency coil is too large, which will not only affect the adjacent lanes, but also cause the vehicle to brake before reaching the intersection. Therefore, it is very important to choose an appropriate threshold value. The selected threshold value needs to surround the center of the radio frequency coil, and the radiation forms a circular area. When the value collected by the electromagnetic sensor is greater than the set threshold value, the intelligent vehicle stops, so as to realize the radio frequency identification based Smart vehicles stop at intersections.
一种射频识别的智能车辆路口停车方法，具体包括以下几个步骤：A radio frequency identification intelligent vehicle intersection parking method specifically includes the following steps:
步骤一，路口信号灯红灯亮起，产生触发信号。In step 1, the red light of the signal light at the intersection is turned on, and a trigger signal is generated.
步骤二，信号发生器检测到触发信号，信号发生器给射频线圈通交变电流，在射频线圈周围产生交变的射频磁场。Step 2, when the signal generator detects the trigger signal, the signal generator passes an alternating current to the radio frequency coil to generate an alternating radio frequency magnetic field around the radio frequency coil.
步骤三，当智能车辆行驶至路口附近时，电磁传感器感应射频信号在其内部产生微小交变电流，经整流、放大后产生模拟电压信号，再经AD模数转换装置将模拟信号变换成数字信号后送至智能车辆控制器。Step 3: When the smart vehicle drives near the intersection, the electromagnetic sensor induces the radio frequency signal to generate a small alternating current inside it, which is rectified and amplified to generate an analog voltage signal, and then the analog signal is converted into a digital signal by the AD analog-to-digital conversion device Then sent to the intelligent vehicle controller.
步骤四，根据输入到智能车辆控制器的信号强度δ判定智能车辆在路口的行为。Step 4: Determine the behavior of the smart vehicle at the intersection according to the signal strength δ input to the smart vehicle controller.
当信号强度δ小于刹车阈值δ0时，认为智能车辆未检测到红灯信号，智能车辆正常行驶通过路口；When the signal strength δ is less than the braking threshold δ 0 , it is considered that the intelligent vehicle has not detected the red light signal, and the intelligent vehicle passes the intersection normally;
当检测到刹车信号值δ大于等于刹车阈值δ0时，认为智能车辆检测到红灯信号，进入路口停车区域，智能车辆刹车，直至路口红灯信号消失智能车辆再次启动。When it is detected that the brake signal value δ is greater than or equal to the brake threshold δ0 , it is considered that the smart vehicle detects a red light signal and enters the parking area at the intersection. The smart vehicle brakes until the red light signal at the intersection disappears and the smart vehicle starts again.
步骤四所述的刹车阈值δ0按照以下方法确定：首先确定射频线圈的辐射范围，然后将电磁传感器放置于射频线圈辐射范围的边缘，沿行进方向移动车辆，根据距离选择适当刹车信号大小作为刹车阈值δ0。The brake threshold δ0 described in step 4 is determined as follows: first determine the radiation range of the radio frequency coil, then place the electromagnetic sensor on the edge of the radiation range of the radio frequency coil, move the vehicle along the direction of travel, and select the appropriate brake signal size as the brake according to the distance Threshold δ 0 .
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
（1）与采用红外传感器等传统的停车方法相比，本发明采用射频传识别技术，具有刹车信号辐射距离远、抗干扰能力强、检测精度高等优点，还可以避免对其他车道车辆的影响。(1) Compared with traditional parking methods such as infrared sensors, the present invention adopts radio frequency transmission identification technology, which has the advantages of long braking signal radiation distance, strong anti-interference ability, and high detection accuracy, and can also avoid the impact on vehicles in other lanes.
（2）根据实际应用，智能车辆可以选择所需要的射频线圈辐射范围，灵活性较高，低功耗。(2) According to the actual application, the intelligent vehicle can select the required radio frequency coil radiation range, with high flexibility and low power consumption.
附图说明Description of drawings
图1为射频线圈示意图；Fig. 1 is a schematic diagram of a radio frequency coil;
图2为信号发生器与射频线圈在十字路口的布置示意图；Fig. 2 is a schematic diagram of the layout of the signal generator and the radio frequency coil at the intersection;
图3为5kHz正弦交变信号波形图；Fig. 3 is a 5kHz sinusoidal alternating signal waveform diagram;
图4为本发明电磁传感器放置俯视图；4 is a top view of the placement of the electromagnetic sensor of the present invention;
图5为本发明所涉及的智能车辆路口停车方法流程图。Fig. 5 is a flow chart of the intelligent vehicle intersection parking method involved in the present invention.
具体实施方式detailed description
下面结合附图和具体实施方式对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
智能车辆停车装置包括信号发生器、射频线圈、电磁传感器、信号处理电路、智能车辆控制器。其中，射频线圈采用漆包线缠绕而成，漆包线直径为0.5mm，如图1所示。射频线圈中通有频率为5kHz、大小为100±20mA的正弦电流，波形如图3所示。射频线圈在十字路口的布置示意图如图2所示。在射频线圈的周围产生5kHz的交变电磁场。The intelligent vehicle parking device includes a signal generator, a radio frequency coil, an electromagnetic sensor, a signal processing circuit, and an intelligent vehicle controller. Among them, the radio frequency coil is wound with an enameled wire, and the diameter of the enameled wire is 0.5 mm, as shown in FIG. 1 . A sinusoidal current with a frequency of 5kHz and a size of 100±20mA is passed through the RF coil, and the waveform is shown in Figure 3. The schematic diagram of the layout of the radio frequency coil at the intersection is shown in Figure 2. A 5kHz alternating electromagnetic field is generated around the radio frequency coil.
电磁传感器是一个10mH的“工”字形电感线圈，电磁传感器放置在位于智能车辆车头的前置支架的右侧，如图4，电感与100nF的电容并联，形成LC谐振回路，谐振频率为5kHz。由于射频线圈的频率也为5kHz，故在电磁传感器的LC回路中产生谐振，使检测到的信号强度最大。The electromagnetic sensor is a 10mH "I"-shaped inductance coil. The electromagnetic sensor is placed on the right side of the front bracket of the smart vehicle, as shown in Figure 4. The inductance is connected in parallel with a 100nF capacitor to form an LC resonant circuit with a resonant frequency of 5kHz. Since the frequency of the radio frequency coil is also 5kHz, a resonance is generated in the LC circuit of the electromagnetic sensor to maximize the detected signal strength.
电磁传感器采集的信号是正弦信号，且强度比较小，智能车辆控制器无法直接处理，需要通过整流、放大后变换成直流电压信号，再通过AD模数转换成8位数字信号传输给智能车辆控制器进行处理。The signal collected by the electromagnetic sensor is a sinusoidal signal, and the intensity is relatively small. The intelligent vehicle controller cannot directly process it. It needs to be rectified, amplified, and converted into a DC voltage signal, and then converted into an 8-bit digital signal by AD and transmitted to the intelligent vehicle control. device for processing.
射频线圈信号与路口红灯信号同步。本发明将路口信号机的红灯信号作为信号发生器的使能信号，将信号机红灯信号端连接到继电器的信号输入端，当信号灯红灯亮起时，相应的红灯信号接口输出5V高电平，触发继电器，继而使能信号发生器，信号发生器给射频线圈通5kHz的交变电流，在射频线圈周围产生交变的磁场。The radio frequency coil signal is synchronized with the red light signal at the intersection. In the present invention, the red light signal of the intersection signal machine is used as the enabling signal of the signal generator, and the red light signal end of the signal machine is connected to the signal input end of the relay. When the red light of the signal light is on, the corresponding red light signal interface outputs 5V High level, the relay is triggered, and then the signal generator is enabled, and the signal generator passes a 5kHz alternating current to the radio frequency coil to generate an alternating magnetic field around the radio frequency coil.
本发明所述的智能车辆路口停车方法流程如图5所示，具体包括以下几个步骤：The intelligent vehicle crossing parking method flow chart of the present invention is as shown in Figure 5, specifically comprises the following several steps:
步骤一，路口信号灯红灯亮起，触发信号发生器。Step 1, the red light of the intersection signal light is on, triggering the signal generator.
步骤二，信号发生器检测到触发信号，信号发生器给射频线圈通5kHz的交变电流，在射频线圈周围产生交变的磁场。Step 2, when the signal generator detects the trigger signal, the signal generator passes an alternating current of 5 kHz to the radio frequency coil to generate an alternating magnetic field around the radio frequency coil.
步骤三，当智能车辆行驶至路口附近时，电磁传感器感应射频信号在其内部产生微小交变电流，经整流、放大后产生模拟电压信号，再经AD模数转换装置将模拟信号变换成数字信号后送至智能车辆控制器。Step 3: When the smart vehicle drives near the intersection, the electromagnetic sensor induces the radio frequency signal to generate a small alternating current inside it, which is rectified and amplified to generate an analog voltage signal, and then the analog signal is converted into a digital signal by the AD analog-to-digital conversion device Then sent to the intelligent vehicle controller.
步骤四，根据输入到智能车辆控制器的信号强度δ判定智能车辆在路口的行为。Step 4: Determine the behavior of the smart vehicle at the intersection according to the signal strength δ input to the smart vehicle controller.
当信号强度δ小于刹车阈值δ0时，认为智能车辆未检测到红灯信号，智能车辆正常行驶通过路口；When the signal strength δ is less than the braking threshold δ 0 , it is considered that the intelligent vehicle has not detected the red light signal, and the intelligent vehicle passes the intersection normally;
当检测到刹车信号值δ大于等于刹车阈值δ0时，认为智能车辆检测到红灯信号，进入路口停车区域，智能车辆刹车，直至路口红灯信号消失智能车辆再次启动。When it is detected that the brake signal value δ is greater than or equal to the brake threshold δ0 , it is considered that the smart vehicle detects a red light signal and enters the parking area at the intersection. The smart vehicle brakes until the red light signal at the intersection disappears and the smart vehicle starts again.
刹车阈值δ0的确定方法：首先确定射频线圈的辐射范围，将电磁传感器放置于射频线圈辐射范围的边缘沿行进方向移动车辆，在射频线圈辐射半径为5cm边缘，电磁传感器采集的信号值δ0经模数转换后的数字量为70，对应模拟电压为1.367V，作为智能车辆的刹车阈值δ0。The method of determining the braking threshold δ 0 : first determine the radiation range of the radio frequency coil, place the electromagnetic sensor on the edge of the radiation range of the radio frequency coil and move the vehicle along the direction of travel, at the edge of the radio frequency coil radiation radius of 5cm, the signal value collected by the electromagnetic sensor δ 0 The digital quantity after analog-to-digital conversion is 70, and the corresponding analog voltage is 1.367V, which is used as the braking threshold δ 0 of the smart vehicle.
通过比较本发明所述的基于射频识别的智能车辆路口停车与传统红外传感技术停车和磁场感应技术停车效果，可以看出，基于射频识别的智能车辆路口停车方法，效果明显优于传统的停车方法，本发明中智能车辆可以根据实际需求选择射频线圈辐射范围，灵活性高，功耗低；解决了可见光传感器抗干扰能力差及传统停车方法检测精度低等问题。By comparing the intelligent vehicle intersection parking based on radio frequency identification of the present invention with traditional infrared sensing technology parking and magnetic field induction technology parking effects, it can be seen that the intelligent vehicle intersection parking method based on radio frequency identification is significantly better than traditional parking. According to the method, the intelligent vehicle in the invention can select the radiation range of the radio frequency coil according to actual needs, has high flexibility and low power consumption; the problems of poor anti-interference ability of the visible light sensor and low detection accuracy of the traditional parking method are solved.
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