CN104153267A - Crossroad and going-through method of intelligent magnetic-navigation vehicle - Google Patents

Abstract

The invention relates to an intersection and a passing method of a magnetic navigation intelligent vehicle. The intersection is built at the intersection of multiple intersections and includes a circular track, a communication base station and magnetic track spikes. The circular track adopts two lanes and includes an outer circular track. road and the inner ring road, the communication base station is arranged in the central part of the inner ring road, connected to the remote monitoring server, and the magnetic track nail is laid on the road surface of the cross road and the ring track; the traffic method adopts the magnetic track nail coding to realize the vehicle Accurate positioning at the cross-path, vehicle scheduling and emergency parking through the communication base station, so that the magnetic navigation smart car can complete the whole journey smoothly. Compared with the prior art, the present invention has good versatility and expansibility, effectively avoids the start-stop action of the vehicle and the complex scheduling of the remote monitoring center, and greatly improves the operation efficiency of the intelligent transportation system while saving energy.

Description

A kind of intersection and passing method of magnetic navigation smart car

technical field

The invention relates to unmanned urban rail transit, in particular to an intersection and a passing method of a magnetic navigation intelligent vehicle.

Background technique

With the in-depth research on magnetic navigation intelligent vehicles and the development of technology, the individual functions of each vehicle are becoming more and more perfect. Therefore, improving the rationalization of road design and increasing the comprehensiveness of vehicle-road interaction are becoming more and more important to improve the entire transportation system. . Conventional road design generally adopts the form of a cross or a T when encountering a cross path. Vehicles inevitably start and stop when passing such intersections, which will not only increase the energy consumption of the magnetic navigation smart car, but also accelerate and decelerate. The frequent response of the dynamic system will accelerate the wear and tear of the device and shorten its life. At the same time, real-time monitoring and scheduling by the monitoring center are required, which increases the difficulty of development and system load. The invention aims at designing a simple, feasible and highly adaptable magnetic navigation intelligent vehicle cross path by integrating magnetic track spike coding.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned defects in the prior art and provide an intersection and passing method of a magnetic navigation intelligent vehicle, which has good versatility and expansibility, and can effectively avoid the start-stop action of the vehicle and the complex scheduling of the remote monitoring center , save energy while greatly improving the operating efficiency of intelligent transportation systems.

The purpose of the present invention can be achieved through the following technical solutions:

A kind of intersection of magnetic navigation smart car, built at the intersection of multiple crossing roads, including a circular track, a communication base station and magnetic track spikes, the circular track adopts two lanes, including an outer circular road and an inner circular road, the described The communication base station is arranged in the central part of the inner ring road, connected to the remote monitoring server, and the magnetic track nail is laid on the road surface of the cross road and the ring track;

The outer ring road of the ring track is used as a normal traffic road, the inner ring road is used as an emergency parking lane, and the laying of magnetic track nails is used as a mark of road information to guide vehicles to pass. Communication guides the vehicle to choose the entrance and exit, and at the same time sends the vehicle fault information and location information to the remote monitoring server.

The communication base station communicates with the vehicle through the WIFI network.

The way of laying the magnetic track nails is that the N pole is upward or the S pole is upward.

The track nails are laid at a distance of 50m from the entrance and exit of the circular track.

A method for crossing traffic of a magnetic navigation smart car, comprising the following steps:

101: The current vehicle is driving towards the intersection normally, continuously reads the coding value of the magnetic track stud on the road surface, and executes step 102;

102: Identify the magnetic track stud code before entering the intersection, calculate the distance between the current vehicle and the intersection, when the distance is zero, the current vehicle turns right and enters the outer ring road, advances along the outer ring road, and executes step 103;

The magnetic track stud code before entering the intersection includes the traffic direction of the lane, the type of intersection nearby, and the distance information of the intersection;

103: Perform self-diagnosis of each module of the current vehicle to determine whether the current vehicle is faulty, if so, perform step 104, if not, perform step 107;

104: Drive into the inner circular lane, decelerate to zero, read the magnetic track nail code of the inner circular road, start the inter-vehicle communication module, send a help signal, and judge whether a response from a nearby vehicle is received, if yes, then execute step 105, if not, then Execute step 106;

The magnetic track nail code of the inner ring road contains position information;

105: Transmit current vehicle fault information and location information to nearby vehicles that have received a response, and wait for them to come to rescue;

106: The current vehicle communicates with the communication base station through the WIFI network, and sends the fault information and location information of the current vehicle to the communication base station, and the communication base station promptly feeds back the received information to the remote monitoring server, so that the remote monitoring server outputs a decision to configure rescue resources. The vehicle is waiting for rescue;

107: The current vehicle sends the driving destination information to the communication base station, and the communication base station outputs the target exit serial number according to the current vehicle driving destination information, and sends it to the current vehicle, and executes step 108;

108: The current vehicle reads the magnetic track spike code of the outer circular road, and when the magnetic track spike code matches the serial number of the target exit, that is, the current position is at the target exit, go to step 109;

The magnetic track stud code of the outer circular road includes the radius of curvature of the lane, the serial number of the corresponding entrance and exit, and the location information;

109: The current vehicle drives out of the intersection and continues along the target path.

Compared with the prior art, the present invention has the following advantages:

1) The magnetic track nail code realizes the accurate positioning of the vehicle at the cross path, so that the magnetic navigation smart car can smoothly complete the whole journey;

2) Through the vehicle-road interaction, the vehicle highly autonomously passes through the cross-path, and the communication with the communication base station is mainly in the intersection selection and failure, which reduces the communication pressure of the WIFI network;

3) Based on the circular lane, build an efficient traffic hub for magnetic navigation intelligent vehicles to cross and change directions. Through vehicle-road interaction, the intelligent route selection of vehicle intersections is realized. The circular crossing path has good versatility and scalability, and can be compared It is well adapted to the intersection of three roads, four roads and more roads, greatly reducing the development cost of the magnetic navigation intelligent transportation system;

4) The magnetic navigation smart car does not need to stop when passing the cross path, which effectively avoids the start-stop action of the vehicle and the complex scheduling of the remote monitoring center, greatly improves the operating efficiency of the intelligent transportation system, and at the same time increases the average speed of the vehicle and reduces the energy consumption of the vehicle. The reduction of power consumption reduces the wear of components caused by the start and stop of the vehicle, and prolongs the service life of the vehicle.

Description of drawings

Fig. 1 is a schematic diagram of crossing paths when four roads meet in the present invention;

Fig. 2 is a flow chart of the vehicle passing at the intersection according to the present invention.

In the figure: 1, outer ring road, 2, inner ring road, 3, communication base station, 4, vehicle, 5, magnetic track spike.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

The magnetic navigation smart car uses magnetic track spikes as the guiding signal to guide the vehicle, and uses the codable characteristics of the magnetic track spikes to mark the characteristics of the intersection path, so that the vehicle can pass through the intersection smoothly without parking and remote scheduling.

As shown in Figure 1, at the intersection of four roads, the intersection of magnetic navigation intelligent vehicles includes a circular track, a communication base station 3 and a magnetic track spike 5. The circular track adopts two lanes, including an outer circular road 1 and an inner circular road 2. The communication base station 3 is arranged in the central part of the inner ring road 2, and is connected to the remote monitoring server by wireless. The magnetic track stud 5 is laid on the road surface of the intersection road and the ring track, and the vehicle 4 is a magnetic navigation smart car for operation;

The core element of the intersection path is the circular track. The outer circular road 1 of the circular track is used as a normal traffic road for vehicles to drive when entering the intersection, and the inner circular road 2 is used as an emergency parking lane for vehicles to park when a breakdown occurs at the intersection. , the laying of magnetic track nails 5 is used as a mark of road information to guide vehicles 4 to pass through, and the central part surrounded by the lane is the communication base station 3 of the intelligent vehicle traffic system, and the communication base station 3 determines the entrance and exit at the intersection according to the entire driving route of the vehicle 4 And send it to the magnetic navigation intelligent vehicle 4 that is moving through the WIFI network. When the vehicle 4 breaks down, drive into the inner ring road 2, and seek help from the nearby vehicle 4 through inter-vehicle communication. The communication base station 3 sends fault information and location information of the vehicle 4, and the communication base station 3 is responsible for feeding back the fault information and location information of the vehicle 4 to the remote monitoring center for timely rescue.

The communication base station 3 communicates with the vehicle 4 through the WIFI network.

The magnetic track nail 5 starts laying at a distance of 50m from the entrance and exit of the circular track. The way of laying the magnetic track nail 5 is N pole up or S pole up. The N pole of the magnetic track nail 5 is marked as "1" and the S pole is marked as "0". It is realized by N pole up or S pole up. Coding, a set of codes consists of six consecutive magnetic track nail 5 polarity mark values.

The first three digits of the code on the straight road before entering the intersection represent the distance from the intersection. 0B000 indicates that the vehicle is about to or has entered the circular runway. If it is not all 0, it can be calculated according to the formula: distance=6*0Bxxx(m); the middle two digits of the code indicate Road element information near the location, 0B00 means there is no intersection ahead, 0B01 means there is a three-way intersection ahead, 0B10 means a four-way intersection ahead, 0B11 means a five-way intersection ahead; the last digit of the code indicates the direction of the lane, 0B0 means heading toward the intersection, and 0B1 means moving away from the intersection. After entering the circular road, the first three digits of the code are all 0, and the last three digits mark the radius of curvature, the serial number of the entrance and exit, and the corresponding location information, which can be specified as: 0B000 means that the radius of curvature is 8m, the No. 1 entrance and exit is directly south, and 0B001 means The radius of curvature is 9m, no entrance and exit, southeast, 0B010 means the radius of curvature is 8m, entrance No. 2, due east, and so on.

As shown in Figure 2, the method for passing a magnetic navigation smart car at an intersection includes the following steps:

101: When the current vehicle is normally driving towards the intersection, continuously read the code value of the road surface magnetic track stud 5, and execute step 102;

102: The current vehicle detects that the magnetic track stud code matches the characteristics of an intersection near the position, that is, the magnetic track stud code before entering the intersection, and the current vehicle is in the lane approaching the intersection, then continuously calculate the distance between the current vehicle and the intersection , when the distance is zero, the current vehicle turns right and enters the outer ring road 1, keeps to the right along the outer ring road and advances in a counterclockwise direction, and executes step 103; the track spike code before entering the intersection includes the traffic direction of the lane, and there is an intersection nearby type, and intersection distance and other information;

103: Perform self-diagnosis of each module of the current vehicle to determine whether the current vehicle is faulty, if so, perform step 104, if not, perform step 107;

104: The current vehicle immediately drives into the inner circular lane, decelerates to zero, reads the magnetic track spike code of the inner circular road 2, starts the inter-vehicle communication module, sends a help signal, and judges whether a response from a nearby vehicle is obtained, and if so, executes step 105, If not, then step 106 is performed; the magnetic track nail code of inner ring road 2 includes information such as position;

105: Transmit current vehicle fault information and location information to nearby vehicles that have received a response, and wait for them to come to rescue;

106: The current vehicle communicates with the communication base station 3 through the WIFI network, and sends the fault information and location information of the current vehicle to the communication base station 3, and the communication base station 3 feeds back the received information to the remote monitoring server in time, so that the remote monitoring server outputs information on configuring rescue resources Decision-making, the current vehicle is waiting for rescue;

107: The current vehicle sends the driving destination information to the communication base station 3, and the communication base station 3 outputs the target exit serial number according to the current vehicle driving destination information, and sends it to the current vehicle, and executes step 108;

108: The current vehicle reads the track spike code of the outer circular road 1. When the track spike code matches the serial number of the target exit, that is, the current position is at the target exit, go to step 109; the track spike code of the outer circular road 1 includes the radius of curvature of the lane , the serial number and location of the corresponding entrance and exit;

109: The current vehicle drives out of the intersection and continues along the target path.

Claims (8)

1. a kind of intersection of magnetic navigation smart car, is built in the confluence of many intersection roads, is characterized in that, comprises ring track, communication base station (3) and magnetic track spike (5), and described ring track adopts double lane , including an outer ring road (1) and an inner ring road (2), the communication base station (3) is set at the center of the inner ring road (2), connected to a remote monitoring server, and the magnetic track nails (5) are laid On the road surface of crossing roads and circular tracks; The outer ring road (1) of the ring track is used as a normal traffic road, the inner ring road (2) is used as an emergency parking lane, and the laying of magnetic track nails (5) is used as a mark of road information to guide vehicles (4) to pass, and the vehicles (4) When road conditions are selected and a fault occurs, the communication base station (3) communicates with the vehicle (4), guides the vehicle (4) to select an entrance and exit, and simultaneously sends the fault information and location information of the vehicle (4) to the remote monitoring server. 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 with vehicle (4) by WIFI network. 3. The intersection of a kind of magnetic navigation intelligent car according to claim 1, is characterized in that, the laying mode of described magnetic track spike (5) is that N pole is upward or S pole is upward. 4. The intersection of a kind of magnetic navigation intelligent vehicle according to claim 1, is characterized in that, described magnetic track spike (5) starts laying from 50m from the entrance and exit of the circular track. 5. A crossroad passing method of a magnetic navigation smart car, characterized in that, comprising the following steps: 101: The current vehicle normally travels to the intersection, continuously reads the coded value of the road surface magnetic track spike (5), and executes step 102; 102: Identify the magnetic track spike code before entering the intersection, calculate the distance between the current vehicle and the intersection, when the distance is zero, the current vehicle turns right and enters the outer ring road (1), advances along the outer ring road (1), and executes the steps 103; 103: Perform self-diagnosis of each module of the current vehicle to determine whether the current vehicle is faulty, if so, perform step 104, if not, perform step 107; 104: Drive into the inner circular lane, decelerate to zero, read the magnetic track nail code of the inner circular road (2), start the inter-vehicle communication module, send a help signal, and judge whether the response of the nearby vehicle is obtained, if yes, then execute step 105, if If not, execute step 106; 105: Transmit current vehicle fault information and location information to nearby vehicles that have received a response, and wait for them to come to rescue; 106: The current vehicle communicates with the communication base station (3) through the WIFI network, and sends the fault information and location information of the current vehicle to the communication base station (3), and the communication base station (3) promptly feeds back the received information to the remote monitoring server, thereby remotely monitoring the server Output the decision to configure rescue resources, the current vehicle is waiting for rescue; 107: The current vehicle sends the travel destination information to the communication base station (3), and the communication base station (3) outputs the target exit serial number according to the current vehicle travel destination information, and sends it to the current vehicle, and executes step 108; 108: The current vehicle reads the track spike code of the outer circular road (1), and when the track spike code matches the target exit serial number, that is, the current position is at the target exit, step 109 is executed; 109: The current vehicle drives out of the intersection and continues along the target path. 6. The intersection passing method of a kind of magnetic navigation smart car according to claim 5, it is characterized in that, the magnetic track stud coding before described entering intersection comprises traffic direction of lane, there is the type of intersection nearby, and intersection distance information. 7. The intersection passing method of a kind of magnetic navigation smart car according to claim 5, is characterized in that, the magnetic track spike code of described outer circular road (1) comprises the curvature radius of lane, the sequence number of corresponding entrance and exit and the location information. 8 . The intersection passing method of a magnetic navigation intelligent vehicle according to claim 5 , wherein the magnetic track spike code of the inner ring road ( 2 ) contains position information. 9 .