CN104153267B - A kind of intersection of magnetic navigation intelligent vehicle and passing method - Google Patents
A kind of intersection of magnetic navigation intelligent vehicle and passing method Download PDFInfo
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- CN104153267B CN104153267B CN201410374310.XA CN201410374310A CN104153267B CN 104153267 B CN104153267 B CN 104153267B CN 201410374310 A CN201410374310 A CN 201410374310A CN 104153267 B CN104153267 B CN 104153267B
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Abstract
The present invention relates to a kind of intersection and passing method of magnetic navigation intelligent vehicle, intersection is built in the intersection of many cross ways, comprise circular orbit, communication base station and magnetic markers, 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, and connect remote monitoring server, described magnetic markers is layed on the road surface of cross way and circular orbit; Passing method adopts magnetic markers coding to realize the accurate location of vehicle at crossedpath place, carries out the situation that vehicle scheduling and solution stop in emergency, make magnetic navigation intelligent vehicle complete through running smoothly by communication base station.Compared with prior art, versatility of the present invention and favorable expandability, effectively evade the start-stop of vehicle and the complexity scheduling of remote monitoring center, significantly promote the operational efficiency of intelligent transportation system while energy conservation.
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 magnetic navigation intelligent vehicle is studied deeply and the development of technology, the function of each car individuality becomes better and approaching perfection day by day, the rationalization thus improving road design and the comprehensive meaning to promoting whole traffic system strengthening bus or train route mutual more and more outstanding.The form of cross or T word is generally adopted when running into crossedpath in conventional road design, vehicle is through such crossing inevitably start-stop, not only can increase the energy consumption of magnetic navigation intelligent vehicle, and acceleration and deceleration, brakes frequent response can accelerate 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 markers code Design.
Summary of the invention
Object of the present invention is exactly provide a kind of intersection and passing method of magnetic navigation intelligent vehicle to overcome defect that above-mentioned prior art exists, versatility and favorable expandability, effectively evade the start-stop of vehicle and the complexity scheduling of remote monitoring center, while 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 markers, 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, and connect remote monitoring server, described magnetic markers is layed on the road surface of cross way and circular orbit;
The outer ring road of circular orbit is as normal pass road, interior circumferential road is as emergency stopping lane only, the laying of magnetic markers is as the mark of road information, guided vehicle passes through, carrying out road conditions at vehicle selects with when breaking down, communicate between communication base station with vehicle, guide vehicle to select entrance, vehicle trouble messages and positional information are sent to remote monitoring server simultaneously.
Described communication base station is communicated by WIFI network with vehicle.
The paving mode of described magnetic markers be N pole upwards or S pole upwards.
Described magnetic markers is laid from distance 50m place, circular orbit access.
An intersection passing method for magnetic navigation intelligent vehicle, comprises the following steps:
101: Current vehicle normally travels to intersection, constantly read the coding of road surface magnetic markers, perform step 102;
102: identify the magnetic markers coding before entering crossing, calculate the distance of Current vehicle and intersection, when distance is zero, Current vehicle is turned right and sailed outer ring road into, advances along outer ring road, performs step 103;
Described enter crossing before magnetic markers encoded packets containing track be open to traffic direction, near there is type and the intersection range information of intersection;
103: the self diagnosis carrying out each module of Current vehicle, judge whether Current vehicle breaks down, if so, perform step 104, if not, perform step 107;
104: sail interior circumferential road into, be decelerated to zero, in reading, the magnetic markers coding of circumferential road, starts inter-vehicle communication module, sends help signal, judge whether the response obtaining neighbouring vehicle, if so, then perform step 105, if not, then performs step 106;
The magnetic markers encoded packets of described interior circumferential road is containing positional information;
105: Current vehicle fault message and positional information are sent to vehicle near meeting with a response, wait for that it comes to the rescue;
106: Current vehicle is communicated with communication base station by WIFI network, fault message and the positional information of Current vehicle is sent to communication base station, communication base station will receive information feed back in time to remote monitoring server, thus remote monitoring server exports the decision-making configuring resource of suing and labouring, Current vehicle waits for rescue;
107: Current vehicle sends to communication base station and travels destination information, and communication base station travels destination information according to Current vehicle, exports target outlet sequence number, and sends to Current vehicle, performs step 108;
108: Current vehicle reads the magnetic markers coding of outer ring road, and when magnetic markers coding and target outlet order number matches, namely current location is in target outlet place, performs step 109;
The magnetic markers encoded packets of described outer ring road is containing the radius of curvature in track, the sequence number of corresponding access and present position information;
109: Current vehicle rolls intersection away from, continue to move ahead along destination path.
Compared with prior art, the present invention has the following advantages:
1) magnetic markers coding realizes the accurate location of vehicle at crossedpath place, makes magnetic navigation intelligent vehicle complete through running smoothly;
2) independently pass through crossedpath by bus or train route interactive vehicle height, be mainly that crossing is selected, with when breaking down, to reduce the communication pressure of WIFI network with the communication of communication base station;
3) based on annular track, build the efficient current hinge that the commutation of magnetic navigation intelligent vehicle intersection travels, the intellectuality of vehicle intersection path selection is realized alternately by bus or train route, circular ring type crossedpath versatility and favorable expandability, better can adapt to three tunnels, four tunnels and more multichannel situation about crossing, greatly reduce the development cost of magnetic navigation intelligent transportation system;
4) magnetic navigation intelligent vehicle by do not need during crossedpath stop, effectively evade the start-stop of vehicle and the complexity scheduling of remote monitoring center, significantly promote the operational efficiency of intelligent transportation system, vehicle average speed can also be improved simultaneously, reduce the minimizing of energy consumption of vehicles, the components and parts wearing and tearing caused when reducing vehicle start and stop, extend vehicle service life.
Accompanying drawing explanation
Fig. 1 is the present invention four tunnel crossedpath schematic diagram when 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 markers.
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 premised on technical solution of the present invention, give 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 markers to guide vehicle to travel as inducement signal, utilizes the code attribute tags of magnetic markers to go out the feature of crossedpath, makes vehicle can when smooth and easy passing through crossing without the need to stopping with when remote scheduling.
As shown in Figure 1, in four tunnel intersections, adopt the intersection of magnetic navigation intelligent vehicle, comprise circular orbit, communication base station 3 and magnetic markers 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 markers 5 is layed on the road surface of cross way and circular orbit, and vehicle 4 is the magnetic navigation intelligent vehicle run;
The core element of crossedpath is circular orbit, the outer ring road 1 of circular orbit is as normal pass road, travel when entering intersection for vehicle, interior circumferential road 2 is as emergency stopping lane only, for vehicle parking when breaking down in intersection, the laying of magnetic markers 5 is as the mark of road information, guided vehicle 4 passes through, the core that track surrounds is the communication base station 3 of intelligent automobile traffic system, the access that communication base station 3 should be selected according to vehicle 4 through running route determination crossing intersection part also sends to the magnetic navigation intelligent vehicle 4 travelled by WIFI network, vehicle 4 sails interior circumferential road 2 into when breaking down, seek neighbouring vehicle 4 by inter-vehicle communication to help, vehicle 4 fault message and positional information is sent by WIFI network to communication base station 3 when vehicle 4 near cannot obtaining helps, communication base station 3 is responsible for vehicle 4 fault message and positional information to feed back to remote monitoring center, to implement rescue in time.
Communication base station 3 is communicated by WIFI network with vehicle 4.
Magnetic markers 5 is laid from distance 50m place, circular orbit access.The paving mode of magnetic markers 5 be N pole upwards or S pole upwards, the N pole of magnetic markers 5 is labeled as " 1 " upward, and S pole is labeled as " 0 " upward, by N pole upward or S pole realize coding upward, the polarity mark value composition of continuous six magnetic markers 5 of a set of coding.
Enter the front three representative of straight way coding before intersection and the distance of intersection, 0B000 identifies vehicle and is about to or has entered endless track, can by formulae discovery when not being 0 entirely: distance=6*0Bxxx (m); Road element information near two indicating positions in the middle of coding, 0B00 represents front without crossedpath, and it is that three tunnels cross crossing that 0B01 represents front, and it is that four tunnels cross crossing that 0B10 represents front, and it is that five tunnels cross crossing that 0B11 represents front; Last bit representation lane direction of coding, 0B0 representative trend intersection, 0B1 representative is away from intersection.After sailing circumferential road into, coding front three is 0 entirely, rear three marks radius of curvature, the sequence number of access, correspondence position information, can be defined as: it is 8m that 0B000 represents radius of curvature, No. 1 access, Due South, it is 9m that 0B001 represents radius of curvature, without access, the southeast, it is 8m that 0B010 represents radius of curvature, No. 2 access, positive east, like this.
As shown in Figure 2, magnetic navigation intelligent vehicle, at the passing method of intersection, comprises the following steps:
101: when Current vehicle normally travels to intersection, constantly read the coding of road surface magnetic markers 5, perform step 102;
102: Current vehicle detects that magnetic markers coding meets the feature that there is intersection near position, namely the coding of the magnetic markers before crossing is entered, and Current vehicle is on the track of trend intersection, then do not stop the distance calculating Current vehicle and intersection, when distance is zero, Current vehicle is turned right and is sailed outer ring road 1 into, keeps right counterclockwise advance, perform step 103 along outer ring road; Enter the magnetic markers encoded packets before crossing containing track be open to traffic direction, near there is the information such as the type of intersection and intersection distance;
103: the self diagnosis carrying out each module of Current vehicle, judge whether Current vehicle breaks down, if so, perform step 104, if not, perform step 107;
104: Current vehicle sails interior circumferential road 2 immediately into, is decelerated to zero, in reading, the magnetic markers coding of circumferential road 2, starts inter-vehicle communication module, send help signal, judge whether the response obtaining neighbouring vehicle, if, then perform step 105, if not, then perform step 106; The magnetic markers encoded packets of interior circumferential road 2 is containing information such as positions;
105: Current vehicle fault message and positional information are sent to vehicle near meeting with a response, wait for that it comes to the rescue;
106: Current vehicle is communicated with communication base station 3 by WIFI network, fault message and the positional information of Current vehicle is sent to communication base station 3, communication base station 3 will receive information feed back in time to remote monitoring server, thus remote monitoring server exports the decision-making configuring resource of suing and labouring, Current vehicle waits for rescue;
107: Current vehicle sends to communication base station 3 and travels destination information, and communication base station 3 travels destination information according to Current vehicle, exports target outlet sequence number, and sends to Current vehicle, performs step 108;
108: Current vehicle reads the magnetic markers coding of outer ring road 1, and when magnetic markers coding and target outlet order number matches, namely current location is in target outlet place, performs step 109; The magnetic markers encoded packets of outer ring road 1 is containing information such as the radius of curvature in track, the sequence number of corresponding access and present positions;
109: Current vehicle rolls 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 markers (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 markers (5) is layed on the road surface of cross way and circular orbit;
The outer ring road (1) of circular orbit is as normal pass road, interior circumferential road (2) is as emergency stopping lane only, the laying of magnetic markers (5) is as the mark of road information, guided vehicle (4) passes through, carrying out road conditions at vehicle (4) selects with when breaking down, communicate between communication base station (3) with vehicle (4), 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) is communicated 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 markers (5) be N pole upwards or S pole upwards.
4. the intersection of a kind of magnetic navigation intelligent vehicle according to claim 1, is characterized in that, described magnetic markers (5) is laid from distance 50m place, circular orbit access.
5. an intersection passing method for magnetic navigation intelligent vehicle, is characterized in that, comprise the following steps:
101: Current vehicle normally travels to intersection, constantly read the coding on road surface magnetic markers (5), perform step 102;
102: identify the magnetic markers coding before entering crossing, calculate the distance of Current vehicle and intersection, when distance is zero, Current vehicle is turned right and sailed outer ring road (1) into, advances along outer ring road (1), performs step 103;
103: the self diagnosis carrying out each module of Current vehicle, judge whether Current vehicle breaks down, if so, perform step 104, if not, perform step 107;
104: sail interior circumferential road (2) into, be decelerated to zero, in reading, the magnetic markers coding of circumferential road (2), starts inter-vehicle communication module, send help signal, judge whether the response obtaining neighbouring vehicle, if, then perform step 105, if not, then perform step 106;
105: Current vehicle fault message and positional information are sent to vehicle near meeting with a response, wait for that it comes to the rescue;
106: Current vehicle is communicated with communication base station (3) by WIFI network, fault message and the positional information of Current vehicle is sent to communication base station (3), communication base station (3) will receive information feed back in time to remote monitoring server, thus remote monitoring server exports the decision-making configuring resource of suing and labouring, Current vehicle waits for rescue;
107: Current vehicle sends to communication base station (3) and travels destination information, and communication base station (3) travels destination information according to Current vehicle, exports target outlet sequence number, and sends to Current vehicle, performs step 108;
108: Current vehicle reads the magnetic markers coding of outer ring road (1), and when magnetic markers coding and target outlet order number matches, namely current location is in target outlet place, performs step 109;
109: Current vehicle rolls 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 crossing before magnetic markers encoded packets 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 markers encoded packets of described outer ring road (1) is containing the radius of curvature in track, the sequence number of corresponding access and present position information.
8. the intersection passing method of a kind of magnetic navigation intelligent vehicle according to claim 5, is characterized in that, the magnetic markers encoded packets of described interior circumferential road (2) is containing positional information.
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| JP6172237B2 (en) * | 2015-10-23 | 2017-08-02 | 愛知製鋼株式会社 | Magnetic marker detection method and magnetic marker detection apparatus |
| JP6544486B2 (en) * | 2016-04-28 | 2019-07-17 | 愛知製鋼株式会社 | Magnetic marker and driving support system |
| CN107704964A (en) * | 2017-10-13 | 2018-02-16 | 刘鹏 | Ultra-large antiblocking personalization high-speed traffic system and its operation method |
| CN109492763B (en) * | 2018-09-17 | 2021-09-03 | 同济大学 | Automatic parking method based on reinforcement learning network training |
| CN109624933B (en) * | 2018-12-18 | 2021-01-01 | 广东天骄智能制造要素配置有限公司 | Car washing device |
| 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 |
| 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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