CN104153267A - Crossroad and going-through method of intelligent magnetic-navigation vehicle - Google Patents
Crossroad and going-through method of intelligent magnetic-navigation vehicle Download PDFInfo
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- CN104153267A CN104153267A CN201410374310.XA CN201410374310A CN104153267A CN 104153267 A CN104153267 A CN 104153267A CN 201410374310 A CN201410374310 A CN 201410374310A CN 104153267 A CN104153267 A CN 104153267A
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Abstract
The invention relates to a crossroad and a going-through method of an intelligent magnetic-navigation vehicle. The crossroad is built at the intersection position of multiple cross ways and comprises an annular track, a communication base station and a magnetic track spike, wherein the annular track adopts double lanes and comprises an outer annular road and an inner annular road, the communication base station is arranged at the central part of the inner annular road and is connected with a remote monitoring server, and the magnetic track spike is paved on the surface of the cross way and the annular track; the going-through method comprises the following steps: the magnetic track spike is adopted for encoding to achieve accurate location of the vehicle at the crossroad, and the communication base station is adopted to perform vehicle scheduling and handle emergency stop, so that the intelligent magnetic-navigation vehicle can be smoothly driven in the whole journey. Compared with the prior art, the crossroad and the going-through method of the intelligent magnetic-navigation vehicle have good universality and expansibility and can effectively solve the problems of the start and stop actions of the vehicles and the complex scheduling of the remote monitoring center, and the running efficiency of the intelligent transportation system is greatly improved while the energy is saved.
Description
Technical field
The present invention relates to unmanned urban track traffic, especially relate to a kind of intersection and passing method of magnetic navigation intelligent vehicle.
Background technology
Along with to magnetic navigation intelligent vehicle research deeply and the development of technology, the function of each car individuality becomes better and approaching perfection day by day, thereby improves the rationalization of road design and mutual comprehensive more and more outstanding to promoting the meaning of whole traffic system of increasing bus or train route.While running into crossedpath in conventional road design, generally adopt the form of cross or T word, vehicle is inevitably wanted start and stop action in the time of the crossing through such, not only can increase the energy consumption of magnetic navigation intelligent vehicle, and the frequent response of acceleration and deceleration, brakes can be accelerated the wearing and tearing of device, shorten its life-span, need real-time monitoring and the scheduling of Surveillance center simultaneously, increase development difficulty and system load.The present invention is intended to a kind of brief feasible, adaptable magnetic navigation intelligent vehicle crossedpath of comprehensive magnetic track nail code Design.
Summary of the invention
Object of the present invention is exactly intersection and the passing method that a kind of magnetic navigation intelligent vehicle is provided in order to overcome the defect that above-mentioned prior art exists, versatility and favorable expandability, effectively evade the start and stop action of vehicle and the scheduling of the complexity of remote monitoring center, when energy conservation, significantly promote the operational efficiency of intelligent transportation system.
Object of the present invention can be achieved through the following technical solutions:
A kind of intersection of magnetic navigation intelligent vehicle, be built in the intersection of many cross ways, comprise circular orbit, communication base station and magnetic track nail, described circular orbit adopts two-way traffic, comprise outer ring road and interior circumferential road, described communication base station is arranged on the core of interior circumferential road, connects remote monitoring server, and described magnetic track nail is layed on the road surface of cross way and circular orbit;
The outer ring road of circular orbit is as normal passing road, interior circumferential road is as emergency stopping lane only, the laying of magnetic track nail is as the mark of road information, guided vehicle is current, in the time that vehicle carries out road conditions selection and breaks down, between communication base station and vehicle, communicate, guide vehicle to select entrance, vehicle trouble information and positional information are sent to remote monitoring server simultaneously.
Described communication base station and vehicle communicate by WIFI network.
The paving mode of described magnetic track nail be the N utmost point upwards or the S utmost point upwards.
Described magnetic track nail is from starting laying apart from circular orbit access 50m.
An intersection passing method for magnetic navigation intelligent vehicle, comprises the following steps:
101: when vehicle in front is normally travelled to intersection, constantly read the encoded radio of road surface magnetic track nail, execution step 102;
102: identification enters the magnetic track nail coding before crossing, calculates the distance when vehicle in front and intersection, in the time that distance is zero, turns right and sails outer ring road into when vehicle in front, advance along outer ring road, execution step 103;
Described enter magnetic track nail encoded packets before crossing containing track be open to traffic direction, near there is type and the intersection range information of intersection;
103: work as the self diagnosis of the each module of vehicle in front, judgement, when whether vehicle in front breaks down, if so, performs step 104, if not, execution step 107;
104: sail interior annular track into, be decelerated to zero, read the magnetic track nail coding of interior circumferential road, start inter-vehicle communication module, send help signal, judge whether near the response of vehicle obtaining, if so, perform step 105, if not, perform step 106;
The magnetic track nail encoded packets of described interior circumferential road is containing positional information;
105: send current vehicle trouble information and positional information near to meet with a response vehicle, wait for that it comes to the rescue;
106: when vehicle in front is communicated by letter with communication base station by WIFI network, send fault message and the positional information when vehicle in front to communication base station, communication base station feeds back to remote monitoring server by reception information in time, the decision-making of resource thereby remote monitoring server output configuration is sued and laboured, when vehicle in front waits for rescue;
107: when vehicle in front sends to communication base station the destination information that travels, communication base station is according to current Vehicle Driving Cycle destination information, and export target exports sequence number, and to sending when vehicle in front, execution step 108;
108: the magnetic track nail that reads outer ring road when vehicle in front is encoded, when magnetic track nail coding and target outlet sequence number coupling, current location, in target exit, performs step 109;
The magnetic track nail encoded packets of described outer ring road is containing the radius of curvature in track, sequence number and the present position information of corresponding access;
109: when vehicle in front is rolled intersection away from, continue to move ahead along destination path.
Compared with prior art, the present invention has the following advantages:
1) magnetic track nail coding is realized the accurate location of vehicle at crossedpath place, makes magnetic navigation intelligent vehicle complete smoothly through running;
2) independently pass through crossedpath by bus or train route interactive vehicle height, while being mainly that with communicating by letter of communication base station crossing is selected and breaks down, reduced the communication pressure of WIFI network;
3) take annular track as basis, build the efficient current hinge that the commutation of magnetic navigation intelligent vehicle intersection is travelled, realize alternately the intellectuality of vehicle intersection path selection by bus or train route, circular ring type crossedpath versatility and favorable expandability, can better adapt to three tunnels, four tunnels and situation that more multichannel crosses, greatly reduce the development cost of magnetic navigation intelligent transportation system;
4) magnetic navigation intelligent vehicle does not need to stop when by crossedpath, effectively evade the start and stop action of vehicle and the scheduling of the complexity of remote monitoring center, significantly promote the operational efficiency of intelligent transportation system, can also improve the minimizing of vehicle average speed, reduction energy consumption of vehicles simultaneously, the components and parts wearing and tearing that cause while reducing vehicle start and stop, extend vehicle service life.
Brief description of the drawings
Fig. 1 is the present invention four tunnels crossedpath schematic diagrames while crossing;
Fig. 2 is the flow chart of vehicle of the present invention at intersection passing.
In figure: 1, outer ring road, 2, interior circumferential road, 3, communication base station, 4, vehicle, 5, magnetic track nail.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented as prerequisite taking technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Magnetic navigation intelligent vehicle selects magnetic track nail to guide Vehicle Driving Cycle as inducement signal, utilizes the code attribute tags of magnetic track nail to go out the feature of crossedpath, makes the vehicle can be at the smooth and easy crossing of passing through without stop with remote scheduling in the situation that.
As shown in Figure 1, Si road intersection, adopt the intersection of magnetic navigation intelligent vehicle, comprise circular orbit, communication base station 3 and magnetic track nail 5, circular orbit adopts two-way traffic, comprises outer ring road 1 and interior circumferential road 2, communication base station 3 is arranged on the core of interior circumferential road 2, by wireless connections remote monitoring server, magnetic track nail 5 is layed on the road surface of cross way and circular orbit, and vehicle 4 is the magnetic navigation intelligent vehicle of operation;
The core element of crossedpath is circular orbit, the outer ring road 1 of circular orbit is as normal passing road, while entering intersection for vehicle, travel, interior circumferential road 2 is as emergency stopping lane only, parking while breaking down in intersection for vehicle, the laying of magnetic track nail 5 is as the mark of road information, guided vehicle 4 is current, the core that track surrounds is the communication base station 3 of intelligent automobile traffic system, communication base station 3 is determined the access that crossing intersection part should be selected and sends to the magnetic navigation intelligent vehicle 4 travelling by WIFI network according to vehicle 4 through running routes, vehicle 4 sails interior circumferential road 2 into while breaking down, near seeking by inter-vehicle communication, vehicle 4 helps, the in the situation that vehicle 4 helping near cannot obtaining, send vehicle 4 fault messages and positional information by WIFI network to communication base station 3, communication base station 3 is responsible for vehicle 4 fault messages and positional information to feed back to remote monitoring center, to implement in time rescue.
Communication base station 3 communicates by WIFI network with vehicle 4.
Magnetic track nail 5 is from starting laying apart from circular orbit access 50m.The paving mode of magnetic track nail 5 be the N utmost point upwards or the S utmost point upwards, the N utmost point of magnetic track nail 5 is labeled as " 1 " upward, the S utmost point is labeled as " 0 " upward, by the N utmost point upward or the S utmost point realize coding upward, the polarity mark value composition of continuous six magnetic tracks nail 5 of a set of coding.
Enter the front three representative of straight way coding and the distance of intersection before intersection, 0B000 mark vehicle is about to or has entered endless track, is not can calculate by formula for 0 o'clock entirely: distance=6*0Bxxx (m); Near road element information two indicating positions in the middle of coding, 0B00 represents that front is without crossedpath, and 0B01 represents the crossing that crosses, Wei San road, front, and 0B10 represents the crossing that crosses, Wei Si road, front, and 0B11 represents the crossing that crosses, Wei Wu road, front; The current direction in last bit representation track of coding, 0B0 representative trend intersection, 0B1 represents away from intersection.Sail into after circumferential road, coding front three is 0 entirely, rear three mark radius of curvature, the sequence number of access, correspondence position information, can be defined as: 0B000 represents that radius of curvature is 8m, No. 1 access, Due South, 0B001 represents that radius of curvature is 9m, without access, the southeast, 0B010 represents that radius of curvature is 8m, No. 2 access, positive east, like that.
As shown in Figure 2, magnetic navigation intelligent vehicle, at the passing method of intersection, comprises the following steps:
101: when in the situation that vehicle in front is normally travelled to intersection, constantly read the encoded radio of road surface magnetic track nail 5, execution step 102;
102: current vehicle detection is near the feature that has intersection magnetic track nail coding meets position, enter the magnetic track nail coding before crossing, and when vehicle in front be in trend intersection track on, do not stop to calculate the distance when vehicle in front and intersection, in the time that distance is zero, turn right and sail outer ring road 1 into when vehicle in front, keep right counterclockwise advance along outer ring road, execution step 103; Enter magnetic track before crossing nail encoded packets containing track be open to traffic direction, near there is the information such as type and intersection distance of intersection;
103: work as the self diagnosis of the each module of vehicle in front, judgement, when whether vehicle in front breaks down, if so, performs step 104, if not, execution step 107;
104: sail immediately interior annular track into when vehicle in front, be decelerated to zero, read the magnetic track nail coding of interior circumferential road 2, start inter-vehicle communication module, send help signal, judge whether near the response of vehicle obtaining, if, perform step 105, if not, perform step 106; The magnetic track nail encoded packets of interior circumferential road 2 is containing information such as positions;
105: send current vehicle trouble information and positional information near to meet with a response vehicle, wait for that it comes to the rescue;
106: when vehicle in front is communicated by letter with communication base station 3 by WIFI network, the fault message from vehicle in front to communication base station 3 and the positional information that send when, communication base station 3 feeds back to remote monitoring server by reception information in time, the decision-making of resource thereby remote monitoring server output configuration is sued and laboured, when vehicle in front waits for rescue;
107: when vehicle in front sends to communication base station 3 destination information that travels, communication base station 3 is according to current Vehicle Driving Cycle destination information, and export target exports sequence number, and to sending when vehicle in front, execution step 108;
108: the magnetic track nail that reads outer ring road 1 when vehicle in front is encoded, when magnetic track nail coding and target outlet sequence number coupling, current location, in target exit, performs step 109; The magnetic track nail encoded packets of outer ring road 1 is containing the radius of curvature in track, the information such as sequence number and present position of corresponding access;
109: when vehicle in front is rolled intersection away from, continue to move ahead along destination path.
Claims (8)
1. the intersection of a magnetic navigation intelligent vehicle, be built in the intersection of many cross ways, it is characterized in that, comprise circular orbit, communication base station (3) and magnetic track nail (5), described circular orbit adopts two-way traffic, comprise outer ring road (1) and interior circumferential road (2), described communication base station (3) is arranged on the core of interior circumferential road (2), connect remote monitoring server, described magnetic track nail (5) is layed on the road surface of cross way and circular orbit;
The outer ring road (1) of circular orbit is as normal passing road, interior circumferential road (2) is as emergency stopping lane only, the laying of magnetic track nail (5) is as the mark of road information, guided vehicle (4) is current, in the time that vehicle (4) carries out road conditions selection and breaks down, between communication base station (3) and vehicle (4), communicate, guide vehicle (4) to select entrance, vehicle (4) fault message and positional information are sent to remote monitoring server simultaneously.
2. the intersection of a kind of magnetic navigation intelligent vehicle according to claim 1, is characterized in that, described communication base station (3) communicates by WIFI network with vehicle (4).
3. the intersection of a kind of magnetic navigation intelligent vehicle according to claim 1, is characterized in that, the paving mode of described magnetic track nail (5) be the N utmost point upwards or the S utmost point upwards.
4. the intersection of a kind of magnetic navigation intelligent vehicle according to claim 1, is characterized in that, described magnetic track nail (5) is from starting laying apart from circular orbit access 50m.
5. an intersection passing method for magnetic navigation intelligent vehicle, is characterized in that, comprises the following steps:
101: when vehicle in front is normally travelled to intersection, constantly read the encoded radio of road surface magnetic track nail (5), execution step 102;
102: identification enters the magnetic track nail coding before crossing, calculates the distance when vehicle in front and intersection, in the time that distance is zero, turns right and sails outer ring road (1) into when vehicle in front, advance along outer ring road (1), execution step 103;
103: work as the self diagnosis of the each module of vehicle in front, judgement, when whether vehicle in front breaks down, if so, performs step 104, if not, execution step 107;
104: sail interior annular track into, be decelerated to zero, read the magnetic track nail coding of interior circumferential road (2), start inter-vehicle communication module, send help signal, judge whether near the response of vehicle obtaining, if, perform step 105, if not, perform step 106;
105: send current vehicle trouble information and positional information near to meet with a response vehicle, wait for that it comes to the rescue;
106: when vehicle in front is communicated by letter with communication base station (3) by WIFI network, send fault message and the positional information when vehicle in front to communication base station (3), communication base station (3) feeds back to remote monitoring server by reception information in time, the decision-making of resource thereby remote monitoring server output configuration is sued and laboured, when vehicle in front waits for rescue;
107: when vehicle in front sends to communication base station (3) destination information that travels, communication base station (3) is according to current Vehicle Driving Cycle destination information, and export target exports sequence number, and to sending when vehicle in front, execution step 108;
108: the magnetic track nail that reads outer ring road (1) when vehicle in front is encoded, when magnetic track nail coding and target outlet sequence number coupling, current location, in target exit, performs step 109;
109: when vehicle in front is rolled intersection away from, continue to move ahead along destination path.
6. the intersection passing method of a kind of magnetic navigation intelligent vehicle according to claim 5, is characterized in that, described enter magnetic track nail encoded packets before crossing containing track be open to traffic direction, near there is type and the intersection range information of intersection.
7. the intersection passing method of a kind of magnetic navigation intelligent vehicle according to claim 5, is characterized in that, the magnetic track nail encoded packets of described outer ring road (1) is containing the radius of curvature in track, sequence number and the present position information of corresponding access.
8. the intersection passing method of a kind of magnetic navigation intelligent vehicle according to claim 5, is characterized in that, the magnetic track nail encoded packets of described interior circumferential road (2) is containing positional information.
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Cited By (8)
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| CN106403961A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Combined magnetic landmark positioning method |
| CN107704964A (en) * | 2017-10-13 | 2018-02-16 | 刘鹏 | Ultra-large antiblocking personalization high-speed traffic system and its operation method |
| CN108291945A (en) * | 2015-10-23 | 2018-07-17 | 爱知制钢株式会社 | Magnetic mark detection method and magnetic mark detection device |
| CN109074731A (en) * | 2016-04-28 | 2018-12-21 | 爱知制钢株式会社 | Magnetic marker and driving assist system |
| CN109492763A (en) * | 2018-09-17 | 2019-03-19 | 同济大学 | A kind of automatic parking method based on intensified learning network training |
| CN109624933A (en) * | 2018-12-18 | 2019-04-16 | 广东天骄智能制造要素配置有限公司 | Car washer |
| CN111323019A (en) * | 2020-03-25 | 2020-06-23 | 浙江亿控自动化设备有限公司 | Path planning method for magnetic navigation AGV |
| CN113759899A (en) * | 2021-08-12 | 2021-12-07 | 东风汽车股份有限公司 | AGV distributed automatic traffic control method |
Families Citing this family (1)
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| CN106996064A (en) * | 2017-05-28 | 2017-08-01 | 佛山市神风航空科技有限公司 | A kind of Intelligent road |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403961A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Combined magnetic landmark positioning method |
| CN108291945A (en) * | 2015-10-23 | 2018-07-17 | 爱知制钢株式会社 | Magnetic mark detection method and magnetic mark detection device |
| CN109074731A (en) * | 2016-04-28 | 2018-12-21 | 爱知制钢株式会社 | Magnetic marker and driving assist system |
| CN107704964A (en) * | 2017-10-13 | 2018-02-16 | 刘鹏 | Ultra-large antiblocking personalization high-speed traffic system and its operation method |
| CN109492763A (en) * | 2018-09-17 | 2019-03-19 | 同济大学 | A kind of automatic parking method based on intensified learning network training |
| CN109492763B (en) * | 2018-09-17 | 2021-09-03 | 同济大学 | Automatic parking method based on reinforcement learning network training |
| CN109624933A (en) * | 2018-12-18 | 2019-04-16 | 广东天骄智能制造要素配置有限公司 | Car washer |
| CN111323019A (en) * | 2020-03-25 | 2020-06-23 | 浙江亿控自动化设备有限公司 | Path planning method for magnetic navigation AGV |
| CN113759899A (en) * | 2021-08-12 | 2021-12-07 | 东风汽车股份有限公司 | AGV distributed automatic traffic control method |
| CN113759899B (en) * | 2021-08-12 | 2023-11-21 | 东风汽车股份有限公司 | AGV distributed traffic automatic control method |
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