CN104015723B - A kind of intelligent vehicle control system and method based on intelligent transportation platform - Google Patents
A kind of intelligent vehicle control system and method based on intelligent transportation platform Download PDFInfo
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- CN104015723B CN104015723B CN201410261100.XA CN201410261100A CN104015723B CN 104015723 B CN104015723 B CN 104015723B CN 201410261100 A CN201410261100 A CN 201410261100A CN 104015723 B CN104015723 B CN 104015723B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
The present invention relates to a kind of intelligent vehicle control system and method based on intelligent transportation platform.Described system includes Intelligent vehicle controller, closed electromagnetic guide rail, electromagnetic transducer, steering-engine, motor drive module, speed measuring module, infrared distance measurement module, radio frequency identification module, radio-frequency coil and signal generator.Described control method includes that intelligent vehicle independently travels step, rate controlling step along the setting road of intelligent transportation platform, the step travelled of forming into columns, the step travelled according to traffic rules in intersection.The present invention uses electromagnetic transducer to complete intelligent vehicle tracking function, solves the problem using photoelectricity, camera sensing device to be vulnerable to visible ray interference.Realize forming into columns travelling based on infrared distance measurement and control, solve influenced by environmental temperature, the problem such as Detection accuracy is low using that ultrasonic measuring distance technology exists.The problem that intelligent vehicle cannot synchronize to cause making a dash across the red light with signal lights is overcome by control signal during crossing based on REID.
Description
Technical field
The invention belongs to intelligent transportation field, relate to a kind of intelligent vehicle control system and method based on intelligent transportation platform.
Background technology
Due to the sustainable growth of the development of global economy, urban population and vehicle guaranteeding organic quantity, all faces, various countries' majority city in the world
Facing the biggest traffic pressure, in the face of world's globalization, informationalized development trend, traditional traffic technique means are the suitableeest
Answering the requirement of socio-economic development, development intelligent transportation is the inevitable choice of communication development, along with economy in world wide
High speed development, the quick raising of automobile popularity rate, automobile also brings the most very important asking while being convenient for people to life
Topic, such as traffic congestion, driving safety, environmental pollution etc., intelligent transportation system can well solve to carry in traffic fast development
The problem come, and intelligent vehicle is as the key technology of intelligent transportation system, has and can not replace during solving traffic problems
The effect in generation, therefore, in intelligent transportation evolution, the design of intelligent vehicle control system becomes particularly important.
Intelligent vehicle control system can be divided into photoelectricity, photographic head, electromagnetism three class according to the difference of sensor.Intelligent vehicle passes through
Gather that racing track image mode carries out path detection belongs to photographic head mode；Intelligent vehicle is anti-by gathering minority isolated point on racing track
That penetrates that brightness carries out path detection belongs to photoelectric sensor mode；Intelligent vehicle is produced by racing track center electromagnetic path by sensing
What alternating magnetic field carried out path detection belongs to electromagnetic transducer mode.Utilize photographic head mode tracking and the intelligence of photovoltaic tracking
Vehicle is easily subject to the light under the impact of light, experimental situation, and the tracking of intelligent vehicle all can be impacted by sunlight etc., leads
Cause the failure of intelligent vehicle tracking.Utilize electromagnetic transducer tracking then can overcome disadvantages mentioned above.
Existing intelligent vehicle control system typically uses ultrasonic ranging to complete intelligent vehicle formation and travels control, and this method exists
Problem be: influenced by environmental temperature；The angle of departure is relatively big, causes Detection accuracy low, causes mistakenly stop car；Ultrasound wave is received
Transmitting apparatus volume is big, installation difficulty.
Existing intelligent vehicle intersection travels and controls the general following two scheme that uses: (1) uses Hall module and is embedded in ground
Under permanent magnet realize intersection travel control.Owing to permanent magnet control cannot be Tong Bu with the signal lights of crossing, can only control
Intelligent vehicle is reaching fixed position parking, it is impossible to realizes the automatic stopping under Signalized control, i.e. " Red Light, Stop " and hands over
Drift is then lower to travel；(2) using electromagnetic induction technology, be embedded under road surface by electric magnet, magnetic field detection device is installed on intelligence
On vehicle, when crossing, red light lights, and electric magnet energising produces electromagnetic field, and magnetic field detection device detects electromagnetic signal, intelligence
Vehicle parking.Although completing " Red Light, Stop " traffic rules to travel, but the field signal that electric magnet produces being effective
Apart from little, when crossing red light lights, intelligent vehicle often can't detect electromagnetic signal, causes intelligent vehicle to make a dash across the red light.
Summary of the invention
Travel the problems referred to above present in controlling for intelligent vehicle, the present invention proposes a kind of intelligent vehicle based on intelligent transportation platform
Control system and method, this system, on the premise of completing intelligent vehicle tracking, completes intelligent vehicle based on infrared distance measurement
Form into columns and travel, the driving functions under based on RF identification " Red Light, Stop " rule.
As it is shown in figure 1, intelligent transportation platform is the traffic element of city real road environment to be carried out micro be transplanted to laboratory,
Wherein intelligent vehicle control system is the key point of intelligent transportation platform.Intelligent vehicle control system of the present invention is mainly wrapped
Include: Intelligent vehicle controller, closed electromagnetic guide rail, electromagnetic transducer, steering-engine, motor drive module, speed measuring module,
Infrared distance measurement module, radio frequency identification module, radio-frequency coil and signal generator.The electromagnetic signal of closed electromagnetic guide rail radiation is by pacifying
Three electromagnetic transducers being contained on intelligent vehicle headstock dead ahead vehicle frame detect.The electromagnetic signal that sensor detects is delivered to
Intelligent vehicle controller carries out signal processing, then outputs control signals to be arranged on vehicle body and connects the steering-engine of front axle,
By the corner of steering-engine action control front-wheel, intelligent vehicle is made to be maintained at central authorities' traveling of road.Speed measuring module is arranged on intelligence
On energy vehicle rear wheel motor transmission shaft, by the speed Real-time Feedback of intelligent vehicle to Intelligent vehicle controller, by speed closed loop control
System makes vehicle stabilization travel.It is arranged on the infrared distance measurement module of intelligent vehicle headstock dead ahead, the most forwards sends infrared letter
Number, whether detection front has intelligent vehicle or other barriers of traveling, and the range information recorded is delivered to by infrared distance measurement module
Intelligent vehicle controller processes, and Intelligent vehicle controller outputs control signals to motor drive module according to spacing size, control
Motor speed processed, makes vehicle deceleration or normally travels.When intelligent vehicle travels to crossing, just it is being arranged on intelligent vehicle headstock
Radio frequency identification module on the right side of the vehicle frame of front, detection is embedded in whether the radio-frequency coil immediately below intersection pavement has and danger signal
The signal that modulating signal synchronizes sends.The signal detected is delivered to Intelligent vehicle controller and is carried out signal processing by radio frequency identification module,
Complete the control that intelligent vehicle stops or travels.
Described three electromagnetic transducers, one of them sensor is arranged on directly over electromagnetism center line of guide rail, and other two symmetrically
It is arranged on its arranged on left and right sides.The signal of intermediate sensor is used for judging the position of intelligent vehicle deviation electromagnetism center line of guide rail,
The signal of two sensors of left and right symmetry is used for judging the direction of intelligent vehicle deviation electromagnetism center line of guide rail.
Described electromagnetic transducer is three I-shaped inductance coils, and each inductance coil is in parallel with electric capacity, forms LC concussion
Circuit, its resonant frequency is identical with signal frequency in electromagnetic path, therefore produces resonance in the LC loop of electromagnetic transducer, makes
The signal intensity that described electromagnetic transducer detects is maximum.
Described infrared distance measurement module utilizes infrared principles to find range, by Position-Sensitive Detector, infrarede emitting diode and signal processing
Circuit forms.
Described signal generator and radio-frequency coil are arranged on below the road surface of intersection, during when red, enable signal generator and drive
Dynamic radio-frequency coil produces electromagnetic field.
The method applying described system to carry out intelligent vehicle control comprises the following steps:
Step 1, controls intelligent vehicle and sets the step that independently travels of road, including herein below along intelligent transportation platform:
Step 1.1, the electromagnetic signal of three electromagnetic transducer detection electromagnetic path radiation, and deliver at Intelligent vehicle controller
Reason.
Step 1.2, according to the signal intensity that three electromagnetic transducers detect, Intelligent vehicle controller judges that vehicle deviates electromagnetic path
The size and Orientation of centrage, method is as follows:
Assume that the signal intensity that when intelligent vehicle is positioned at electromagnetic path centrage, intermediate sensor detects is A, left and right sensor
The signal intensity detected is B.
As the signal intensity X that intermediate sensor detectsInDuring=A, show that vehicle is positioned at electromagnetic path center；
As the signal intensity X that intermediate sensor detectsIn< during A, if the signal intensity X that left sensor detectsLeft< B, right
The signal intensity X that sensor detectsRight> B, show that vehicle is deviated to the left electromagnetic path center；If left sensor detects
Signal intensity XLeft> B, the signal intensity X that right sensor detectsRight< B shows that vehicle is deviated to the right electromagnetic path center.
Step 1.3, Intelligent vehicle controller is according to A-XInThe direction at size and vehicle deviation electromagnetic path center, output controls
Signal, to steering-engine, controls front-wheel by steering-engine and deflects round about, makes vehicle be maintained at central authorities' traveling of road.
Step 2, the rate controlling step of intelligent vehicle, including herein below:
Step 2.1, motor speed signal is sent to Intelligent vehicle controller, is converted into number of speed after treatment by speed measuring module in real time
Word signal.
Step 2.2, the speed digital signal that step 2.1 is converted into by described controller asks poor with the speed values of setting.
Step 2.3, when the speed deviations setting speed of intelligent vehicle, the speed difference that described controller is tried to achieve according to step 2.2
Size and symbol, output control signals to motor drive module, and motor drive module output PWM ripple, to motor, makes motor turn
Speed changes towards the direction that intelligent vehicle deviation setting speed is contrary, so that intelligent vehicle is travelled by the velocity-stabilization set.
Step 3, controls the step that intelligent vehicle travels along the road formation that intelligent transportation platform sets, including herein below:
Step 3.1, the range information of the preceding vehicle recorded or barrier is delivered to Intelligent vehicle controller and is carried out by infrared distance measurement module
Process.
Step 3.2, when being more than safe distance between vehicles with traveling ahead intelligent vehicle or obstacle distance, keeps original speed to travel.
Step 3.3, when being less than safe distance between vehicles with traveling ahead intelligent vehicle or obstacle distance, Intelligent vehicle controller output control
Signal processed, to motor drive module, makes intelligent vehicle slow down, until after reaching safe distance between vehicles, intelligent vehicle recovers normal speed.
Step 4, controls the step that intelligent vehicle travels according to " Red Light, Stop " traffic rules in intersection, including
Herein below:
Step 4.1, when intelligent vehicle travels to crossing, it is same with red signal that radio frequency identification module detection radio-frequency coil sends
The signal of step, and deliver to vehicle control device and carry out signal processing.
Step 4.2, if the signal intensity that step 4.1 detects is less than setting value, intelligent vehicle judges that belisha beacon is green light,
Intelligent vehicle normally crosses crossing.
Step 4.3, if the signal intensity that step 4.1 detects is more than or equal to setting value, intelligent vehicle judges that crossing is red light, intelligence
Energy vehicle parking, until red light terminates, intelligent vehicle starts, and normally sails out of crossing.
Compared with prior art, the invention have the advantages that
(1) present invention uses electromagnetic transducer to complete intelligent vehicle tracking function, successfully avoids visible ray and follows intelligent vehicle
The impact that mark brings, solves the problem using photoelectricity, camera sensing device to be vulnerable to visible ray interference.
(2) formation that the present invention achieves intelligent vehicle based on infrared distance measurement travels control, solves employing ultrasonic measuring distance technology
Compared with causing greatly, Detection accuracy is low causes mistakenly stop car, ultrasonic receiving device body to influenced by environmental temperature, the angle of departure existed
The problems such as long-pending big installation difficulty.
(3) present invention achieves intelligent vehicle under crossing " Red Light, Stop " traffic rules based on REID
Driving functions, overcome cannot synchronize with signal lights present in prior art, to cause intelligent vehicle to be rushed because detection signal is weak red
The problem of lamp.
Accompanying drawing explanation
Fig. 1 is intelligent transportation platform schematic diagram；
Fig. 2 is the intelligent vehicle control block diagram of system involved in the present invention；
Fig. 3 is electromagnetic transducer, infrared distance measurement module placement top view；
Fig. 4 is code-disc and infrared external reflection photoelectric tube operation principle schematic diagram.
Detailed description of the invention
The present invention is further illustrated with detailed description of the invention below in conjunction with the accompanying drawings.
The composition of a kind of intelligent vehicle control system based on intelligent transportation platform is as in figure 2 it is shown, specifically include that intelligent vehicle control
Device processed, closed electromagnetic guide rail, electromagnetic transducer, steering-engine, motor drive module, speed measuring module, infrared distance measurement module,
Radio frequency identification module, radio-frequency coil and signal generator.
Closed electromagnetic track passes to the sinusoidal current signal of alternation, and frequency is 20kHz, and size is 100mA, near runway
Produce the alternating magnetic field of 20kHz.
Electromagnetic transducer is the I-shaped inductance coil of three 10mH, and inductance coil is in parallel with the electric capacity of 6.8nF, forms LC
Oscillating circuit, resonant frequency is 20kHz.In closed electromagnetic track, signal frequency is also 20kHz, therefore at the LC of electromagnetic transducer
Loop produces resonance, makes the signal intensity detected maximum.Three electromagnetic transducers are arranged on intelligent vehicle headstock dead ahead car
On frame, one of them sensor is arranged on electromagnetism guideway centreline line position, other two arranged on left and right sides being symmetrically mounted at it.
As shown in Figure 3.The signal of intermediate sensor is used for judging the position of intelligent vehicle deviation electromagnetism center line of guide rail, left and right symmetry
The signal of two sensors is used for judging the direction of intelligent vehicle deviation electromagnetism center line of guide rail.
Steering-engine is arranged on vehicle body and connects on front axle, and the 1.2KG steering wheel using model to be cys0006 accepts intelligent vehicle
The output signal of controller, controls the corner of front-wheel.
Intelligent vehicle controller is the control centre of intelligent vehicle, is arranged on the vehicle frame central authorities of intelligent vehicle interior of body, and employing flies
The MC9S12XS128 single-chip microcomputer thinking karr company judges as main control chip, the Magnetic Field gathered by processing electromagnetic transducer
The position of vehicle；By controlling the rotation of the controlling angle intelligent vehicle front-wheel of steering wheel, guide intelligent vehicle along the track row set
Enter；Vehicle is controlled with the velocity-stabilization traveling set by gathering motor velocity signal.
Infrared distance measurement module is made up of Position-Sensitive Detector, infrarede emitting diode, signal processing circuit, is arranged on intelligent vehicle
Headstock dead ahead, utilizes infrared principles to find range, and detection range is remote, and finding range is 10cm-80cm.
Signal generator and radio-frequency coil are embedded in immediately below intersection pavement, during when red, enable signal generator and drive radio frequency
Coil generating electromagnetic field.
Radio frequency identification module includes amplifying circuit and the bridge rectifier of diode composition that LM358 chip forms, and is arranged on intelligence
On the right side of energy vehicle headstock dead ahead vehicle frame, the signal that detection radio-frequency coil sends.
Speed measuring module uses infrared speed measuring module, by testing the speed code-disc and infrared external reflection photoelectric tube is constituted, such as Fig. 4.Code-disc is installed
On the power transmission shaft of motor, infrared sensor is arranged on just lower section to code-disc.When code-disc is along with pinion rotation, photocell connects
The weak alternate of reflective light intensity received, it is hereby achieved that a series of height electric pulse.Arrange and catch photocell output simultaneously
The rising edge of electric pulse and trailing edge.By the umber of pulse in accumulative certain time, the parameter value of equal value with speed can be obtained.
Motor drive module uses L298 as motor drive ic, utilizes PWM ripple to realize to control rate control module
The speed governing of direct current generator.
The method applying intelligent vehicle control system of the present invention to be controlled includes herein below:
1. control intelligent vehicle independently travels along the setting road of intelligent transportation platform
When intelligent vehicle is positioned at the centrage of electromagnetism guide rail, the signal that intermediate sensor detects reaches maximum, corresponding digital quantity
Being 140, being converted to analog voltage is 2.734V, and the digital quantity that two symmetrical sensors are corresponding is 80, and being converted to analog voltage is
1.563V；When the value of intermediate sensor is less than 140, it is judged that intelligent vehicle off center line position.When left sensor value is more than
80, when right sensor value is less than 80, it is believed that intelligent vehicle is turned right lateral deviation；When the value of left sensor is less than 80, and right side senses
When the value of device is more than 80, it is believed that intelligent vehicle is toward left avertence.When vehicle shift, Intelligent vehicle controller output control signal, logical
Cross the corner controlling steering-engine and rotate to control the real-time of front-wheel, make intelligent vehicle remain at central authorities' traveling of electromagnetism guide rail.
2. the speed controlling of intelligent vehicle
As a example by speed controlling when intelligent vehicle upward slope, descending, rate control process is described.
When intelligent vehicle goes up a slope, if motor uses constant voltage to control, intelligent vehicle there will be can climb Shang Qu or speed is the slowest
Situation.And use speed closed loop control, adjusted in real time by motor drive module, make intelligent vehicle keep a stable car
Speed is gone up a slope；When intelligent vehicle descending, if motor uses constant Control of Voltage, intelligent vehicle is due to inertia, it may appear that steering wheel
Shake or speed is too fast goes out road, causes potential safety hazard, and uses speed closed loop control, make car by motor drive module
Slow down, thus ensure safe descending.
3. control the road formation traveling that intelligent vehicle sets along intelligent transportation platform
In intelligent vehicle traveling process, infrared distance measurement module the most forwards sends infrared signal, detection and preceding object thing or
Other distances of intelligent vehicles travelled of person, when the avoidance module of intelligent vehicle record with traveling ahead intelligent vehicle or barrier away from
From the when of less than 25cm, Intelligent vehicle controller judgement current vehicle is away from less than safe distance between vehicles, and corresponding digital quantity is 60, intelligent vehicle
Slow down, until it reaches safe distance between vehicles, intelligent vehicle recover normal speed.
4. control intelligent vehicle to travel according to " Red Light, Stop " traffic rules in intersection
When intelligent vehicle travel to crossing time, radio frequency identification module detection radio-frequency coil send with red signal synchronizing signal,
And deliver to vehicle control device and carry out signal processing.If detected value is less than setting value, intelligent vehicle judges that belisha beacon is green light,
Intelligent vehicle normally crosses crossing；If detected value is more than or equal to setting value, intelligent vehicle judges that crossing is red light, intelligent vehicle
Stopping, until red light terminates, intelligent vehicle starts, and normally sails out of crossing.
Experiment shows, system of the present invention can complete the many platoonings of intelligent transportation platform based on infrared distance measurement principle and travel
Control, it is achieved the traveling under crossing " Red Light, Stop " traffic rules under intelligent transportation platform based on RF identification
Function, for the function presentation of intelligent transportation platform, simulation study based on intelligent transportation platform provides feasible intelligent vehicle control
System processed.
Claims (6)
1. an intelligent vehicle control system based on intelligent transportation platform, it is characterised in that including: Intelligent vehicle controller, closed electromagnetic guide rail, electromagnetic transducer, steering-engine, motor drive module, speed measuring module, infrared distance measurement module, radio frequency identification module, radio-frequency coil and signal generator；The electromagnetic signal of closed electromagnetic guide rail radiation is detected by three electromagnetic transducers being arranged on intelligent vehicle headstock dead ahead vehicle frame；The electromagnetic signal that described sensor detects is delivered to Intelligent vehicle controller and is carried out signal processing, then output control signals to be arranged on vehicle body and connect the steering-engine of front axle, by the corner of steering-engine action control front-wheel, intelligent vehicle is made to be maintained at central authorities' traveling of road；Speed measuring module is arranged on intelligent vehicle rear-wheel motor power transmission shaft, by the speed Real-time Feedback of intelligent vehicle to Intelligent vehicle controller, makes vehicle stabilization travel by speed closed loop control；It is arranged on the infrared distance measurement module of intelligent vehicle headstock dead ahead, the most forwards send infrared signal, whether detection front has intelligent vehicle or other barriers of traveling, the range information recorded is delivered to Intelligent vehicle controller and is processed by infrared distance measurement module, Intelligent vehicle controller outputs control signals to motor drive module according to spacing size, control motor speed, make vehicle deceleration or normally travel；When intelligent vehicle travels to intersection, being arranged on the radio frequency identification module on the right side of intelligent vehicle headstock dead ahead vehicle frame, detection is embedded in whether the radio-frequency coil immediately below intersection pavement has the signal Tong Bu with danger signal modulating signal to send；The signal detected is delivered to Intelligent vehicle controller and is carried out signal processing by radio frequency identification module, completes the control that intelligent vehicle stops or travels.
A kind of intelligent vehicle control system based on intelligent transportation platform the most according to claim 1, it is characterized in that, described three electromagnetic transducers, one of them sensor is arranged on directly over electromagnetism center line of guide rail, other two arranged on left and right sides being symmetrically mounted at it；The signal of intermediate sensor is used for judging the direction that the position of intelligent vehicle deviation electromagnetism center line of guide rail, the signal of two sensors of left and right symmetry are used for judging intelligent vehicle deviation electromagnetism center line of guide rail.
A kind of intelligent vehicle control system based on intelligent transportation platform the most according to claim 1 and 2, it is characterized in that, described electromagnetic transducer is three I-shaped inductance coils, each inductance coil is in parallel with electric capacity, form LC oscillating circuit, its resonant frequency is identical with signal frequency in electromagnetic path, therefore produces resonance in the LC loop of electromagnetic transducer, and the signal intensity making described electromagnetic transducer detect is maximum.
A kind of intelligent vehicle control system based on intelligent transportation platform the most according to claim 1, it is characterised in that described infrared distance measurement module utilizes infrared principles to find range, and is made up of Position-Sensitive Detector, infrarede emitting diode and signal processing circuit.
A kind of intelligent vehicle control system based on intelligent transportation platform the most according to claim 1, it is characterized in that, described signal generator and radio-frequency coil are arranged on below the road surface of intersection, during when red, enable signal generator and drive radio-frequency coil to produce electromagnetic field.
6. the method that intelligent vehicle control system described in application claim 1 is controlled, comprises the following steps:
Step 1, controls intelligent vehicle and sets the step that independently travels of road along intelligent transportation platform；
Step 1.1, the electromagnetic signal of three electromagnetic transducers detection electromagnetic path radiation, and deliver to Intelligent vehicle controller and process；
Step 1.2, Intelligent vehicle controller judges the size and Orientation of vehicle deviation electromagnetic path centrage according to the signal intensity that three electromagnetic transducers detect, method is as follows:
Assuming that the signal intensity that when intelligent vehicle is positioned at electromagnetic path centrage, intermediate sensor detects is A, the signal intensity that left and right sensor detects is B；
As the signal intensity X that intermediate sensor detectsInDuring=A, show that vehicle is positioned at electromagnetic path center；
As the signal intensity X that intermediate sensor detectsIn< during A, if the signal intensity X that left sensor detectsLeft< B, the signal intensity X that right sensor detectsRight> B, show that vehicle is deviated to the left electromagnetic path center；If the signal intensity X that left sensor detectsLeft> B, the signal intensity X that right sensor detectsRight< B shows that vehicle is deviated to the right electromagnetic path center；
Step 1.3, Intelligent vehicle controller is according to A-XInThe direction at size and vehicle deviation electromagnetic path center, output control signals to steering-engine, control front-wheel by steering-engine and deflect round about, make vehicle be maintained at central authorities' traveling of road；
Step 2, the rate controlling step of intelligent vehicle；
Step 2.1, motor speed signal is sent to Intelligent vehicle controller, is converted into speed digital signal after treatment by speed measuring module in real time；
Step 2.2, the speed digital signal that step 2.1 is converted into by described controller asks poor with the speed values of setting；
Step 2.3, when the speed deviations setting speed of intelligent vehicle, speed extent that described controller is tried to achieve according to step 2.2 and symbol, output control signals to motor drive module, motor drive module output PWM ripple is to motor, motor speed is made to change towards the direction that intelligent vehicle deviation setting speed is contrary, so that intelligent vehicle is travelled by the velocity-stabilization set；
Step 3, controls the step that intelligent vehicle travels along the road formation that intelligent transportation platform sets；
Step 3.1, the range information of the front vehicles recorded or barrier is delivered to Intelligent vehicle controller and is processed by infrared distance measurement module；
Step 3.2, when being more than safe distance between vehicles with traveling ahead intelligent vehicle or obstacle distance, keeps original speed to travel；
Step 3.3, when being less than safe distance between vehicles with traveling ahead intelligent vehicle or obstacle distance, Intelligent vehicle controller outputs control signals to motor drive module, makes intelligent vehicle slow down, until after reaching safe distance between vehicles, intelligent vehicle recovers normal speed；
Step 4, controls the step that intelligent vehicle travels according to " Red Light, Stop " traffic rules in intersection；
Step 4.1, when intelligent vehicle travels to crossing, the radio frequency identification module detection signal Tong Bu with red signal that send of radio-frequency coil, and deliver to vehicle control device and carry out signal processing；
Step 4.2, if the signal intensity that step 4.1 detects is less than setting value, intelligent vehicle judges that belisha beacon is green light, and intelligent vehicle normally crosses crossing；
Step 4.3, if the signal intensity that step 4.1 detects is more than or equal to setting value, intelligent vehicle judges that crossing is red light, and intelligent vehicle stops, until red light terminates, intelligent vehicle starts, and normally sails out of crossing.
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| CN103402838A (en) * | 2011-03-02 | 2013-11-20 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Intelligent vehicle sensor device |
| CN202337258U (en) * | 2011-11-14 | 2012-07-18 | 长安大学 | Intelligent automobile obstacle avoidance control device |
| CN102745196A (en) * | 2012-07-18 | 2012-10-24 | 重庆邮电大学 | Intelligent control device and method for granular computing-based micro intelligent vehicle |
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