CN105867392B - Highway virtual rail system based on intelligent road button - Google Patents
Highway virtual rail system based on intelligent road button Download PDFInfo
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- CN105867392B CN105867392B CN201610442463.2A CN201610442463A CN105867392B CN 105867392 B CN105867392 B CN 105867392B CN 201610442463 A CN201610442463 A CN 201610442463A CN 105867392 B CN105867392 B CN 105867392B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention patent relates to a kind of highway virtual rail system based on intelligent road button, which is made of road surface subsystem, onboard subsystem and service center subsystem.Road surface subsystem is made of write-in road button, label road button；Onboard subsystem is made of reader, display, front wheel slip angle detector, data processing module and steering motor；Service centre's subsystem is made of server and handheld terminal.Virtual rail system is activated when the close write-in road button of the vehicle for installing onboard system, the position coordinates and road alignment information at this that reader reads label road button, data processing module, which reads linear parameter and handles, simultaneously obtains road tangent line and vehicle body angle [alpha], read front wheel slip angle β, read the distance between adjacent 2 label roads button L, car speed V is read, is utilized formula ω=3.6V (β-α)] γmax/(Lnβmax), vehicle rotational angular velocity ω of steering wheel when driving between the button of adjacent 2 label roads is obtained, and these control parameters are sent to steering motor.
Description
Technical field
The present invention relates to a kind of highway virtual rail system, which can be such that automobile is formed along intelligent road button system
Virtual rail run at high speed.
Background technique
China express railway operating speed is generally in 200km/h-300km/h at present, and has grasped detection completely
500 kilometers of speed per hour of high-speed rail technology, the high iron tests speed per hour of South China vehicle CIT500 type are even more than 605km, have broken French height
World's high-speed rail that fast train TGV was created in 2007 most notes down 574.8km/h fastly.Why bullet train being capable of high speed, safety
Traveling, be because there is the constraint of rail.
Highway in China highest design speed 120km/h appears in version " highway technical standard (examination in 1972 earliest
Row) " in, until highest today design speed is still 120km/h.Automotive engineering and road construction technology have very big over more than 40 years
Progress, but highway speed-raising or it is not within the foreseeable future, main cause is that safety problem does not solve very well.If vehicle can be limited
It is travelled in virtual rail, vehicle safety will greatly improve, and " superhighway " of the design speed higher than 120km/h will
It is possibly realized.
The patent of invention of Publication No. 105564447A discloses a kind of control system of virtual rail truck combination, packet
Include: headstock state-detection component, carriage status detection components, tailstock state-detection component and track following controller, track with
Steering order is sent to the steering-by-wire device of each vehicle bridge by communication network with controller, realizes the track of rear wheel and front-wheel
It follows, realizes that front and back wheel track is completely coincident, be mainly used for truck combination.
The patent of invention of Publication No. 103863334A discloses a kind of having based on rubber wheel and virtual rail technology
Rail electric car is made of car body, control system and vehicle wheel component, detects terrestrial virtual track identities by the detector of vehicle bottom
Sensor or satellite locator control vehicle driving trace, to realize that electric car travels on virtual rail.
The patent of invention of Publication No. 103832435A discloses a kind of lane holding control device, is a kind of in inclination road
The lane of road driving vehicle keeps control device.
The patent of invention for being disclosed as 103287429A discloses a kind of Lane Keeping System and lane keeps control method, vehicle
Lane keeping system is analyzed and processed the operation from driver during the direction of travel to vehicle is adjusted,
Respective handling can be made to the different operation movement of vehicle according to driver.
The above patent utilizes video identification divided lane line, or utilizes GPS positioning, or detect vehicle shape using detector
State allows vehicle to travel according to both fixed tracks or travel in lane.
This patent is the virtual rail system based on a kind of intelligent road button system.Application No. is 201610421239.5 hairs
Bright patent and application No. is 201620571739.2 utility model patents, protects a kind of express highway intelligent road button system,
The system is made of road surface subsystem, subsystems and service center subsystem.Express highway intelligent road button system is in tradition
On the basis of luminous road button, increase reading and writing and memory module, make it have storage and read the function of data, and by vehicle-mounted
The display at end shows vehicle location, the flat, vertical, horizontal linear parameter of road, to instruct the driving behavior of driver.This patent will
Onboard subsystem is improved, data processing and steering control device are increased, the void for forming vehicle along label road button automatically
Quasi- rail running.
Summary of the invention
(1) technical problems to be solved
The invention patent technical problems to be solved are, on express highway intelligent road on the basis of button system, increase data
Processing module and steering control device make it have course changing control function, the virtual rail for forming vehicle along label road button automatically
Road traveling.
(2) technical solution
The invention patent relates to the highway virtual rail system based on intelligent road button by road surface subsystem, vehicle-mounted son
System and service center subsystem composition.Road surface subsystem is made of write-in road button, label road button；Onboard subsystem is by reading
Device, display, front wheel slip angle detector, data processing module and steering motor composition；Service centre's subsystem by server and
Handheld terminal composition；In addition, each subsystem further includes power supply and connection line.Intelligent road button system reader and label road button are logical
Superfrequency (902-928MHz) RFID Radio Frequency Identification Technology is crossed to be communicated.
Road surface subsystem is made of write-in road button and label road button and its wiring.Road surface subsystem is when road surfacing is constructed
It is embedded in road surface structare layer, top is concordant with road surface, and avoidable vehicle jolts when rolling.Write-in road button and label road button bury
If position is located at the underface of running car driver at lane center, such running car is in lane centre, hair
The sight line inducing lines that optical path button is formed are located at the front of driver.Write-in road button is mounted on the road for needing good sight line inducing
Road starting point or lane inlet are written road button in addition to the light emitting structure having with Conventional luminescent road button, are also equipped with write-in and connect
Mouth and memory space can pass through the server of handheld terminal or service centre's subsystem and road button position and place section are written
The flat, vertical, horizontal linear parameter of road.Label road button is connected with write-in road button by conducting wire, and label road button, which removes, has Conventional luminescent road
Outside the light emitting structure that button has, it is also equipped with radio-frequency transmissions structure.When vehicle crosses label road button position, RFID standard can be passed through
The flat, vertical, horizontal linear parameter of road stored in write-in road button is really read, while reading the location parameter of label road button, Ye Jiche
Accurate location where.Compared with GPS positioning system and cellular base station position, intelligent road button system positioning accuracy is high, prolongs
It is short between mistaking, strong real-time.
Onboard subsystem is made of reader, display, front wheel slip angle detector, data processing module and steering motor.
The reader of composition onboard subsystem is mounted on vehicle bottom, immediately below driver, when vehicle lane centre when driving, read
It reads device and is located at the surface of label road button, reader and label road button distance are from nearest at this time, for vehicle minimum ground clearance.Composition
The display of onboard subsystem is compatible with onboard navigation system, flat, vertical, horizontal when onboard navigation system map is using highway layout
Parameter.The coordinate information read from label road button can be replaced GPS coordinate information by onboard subsystem display, so as to more
Realization positioning accurately and fast, and be shown in from the map that the flat, vertical, horizontal parameter that label road button is read is drawn.It is vehicle-mounted
The steering motor of subsystem can be shared with vehicle electric boosting steering system motor itself.Data processing module can read vehicle
Speed V when (n-1)th label road button is crossed in ECU (Electronic Control Unit electronic control unit)n-1(km),
Data processing module can also be handled the line type parameters that reader is read, and obtain each point tangential equation.At (n-1)th
At the button of label road, tangent line and vehicle body angle are αn-1(rad):
When vehicle crosses (n-1)th label road button, front wheel slip angle detector detects to obtain front wheel slip angle βn-1(rad):
In the process of moving, vehicle front drift angle should be parallel with road tangent line, i.e. θ for automobilen=αn-βn=0.When vehicle is sailed
When crossing (n-1)th label road button, if θn-1=αn-1-βn-1≠ 0, then front wheel is needed, makes vehicle by n-th of label road button
When θn=αn-βn=0, then rotational angle △ θ=θn-θn-1=(αn-βn)-(αn-1)=βn-1-αn-1。
If certain vehicle front wheel slip angle β changes to β by 0max, steering wheel rotational angle is γmax, then steering wheel angle and front-wheel are inclined
The transmission ratio I=γ at anglemax/βmax；Steering wheel rotation angular velocity omega (rad/s) and vehicle travelled between two labels when
Between t (s) it is related with required rotational angle, ω=I △ θ/t；And t is by length L between two labelsn(m can be read by reader)
It is determined with Vehicle Speed V (km), t=Ln/ 3.6V (1m/s=3.6km/h).
Then, ω=I △ θ/t=3.6V △ θ γmax/(Lnβmax)=3.6V (βn-1-αn-1)γmax/(Lnβmax)。
Therefore, vehicle on different linear roads when driving, the rotational angular velocity (ω) of steering wheel just can determine, then count
Steering motor steering wheel rotation can be controlled according to processing module, the virtual rail traveling for forming vehicle along label road button.
Service centre's subsystem, is made of server and handheld terminal.The management of service centre's subsystem server is a plurality of to be set
Have intelligent road button road and numerous onboard subsystems.Service centre's subsystem have road surface subsystem information write-in and it is vehicle-mounted
The function that subsystem map generates.Service centre's subsystem server can be connect by conducting wire with road surface subsystem, to realize
The write-in of label road button location information and road alignment information, it is also possible to which handheld terminal realizes no wired connection more from far-off regions
The write-in of road surface subsystem information.Onboard subsystem completes onboard subsystem map by service centre's subsystem handheld terminal
It generates.
(3) beneficial effect
Highway virtual rail system based on intelligent road button, onboard subsystem data processing module can utilize intelligence
The line type parameters of energy circuit button storage and the data of front wheel slip angle detector acquisition and the speed ginseng read from vehicle ECU
Number generates front-wheel steer control parameter, controls steering motor, the virtual rail traveling for forming vehicle along label road button automatically, by
It is greatly improved in the constraint vehicle safety of virtual rail.
Since quasi- rail system does not need construction entity track, newly-built road is not needed, it only need to be on original road surface increase road
Button system, therefore cost substantially reduces.User also only need to install onboard subsystem on vehicle, and use cost is lower,
For having the automobile of onboard navigation system and electric boosting steering system, it is only necessary to which installation has reader and data processing mould
The onboard subsystem of block, therefore use cost is cheaper.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is the highway virtual rail system global structure figure based on intelligent road button；
Fig. 2 is road surface subsystem and onboard subsystem installation diagram；
Fig. 3 is write-in road button structure and installation diagram；
Fig. 4 is label road button structure and installation diagram
Fig. 5 is front wheel slip angle and vehicle body angle figure；
Fig. 6 is body center line and lane center tangent line angle figure.
1. service centre's subsystem of Tu Zhong；2. onboard subsystem；3. road surface subsystem；4. reflecting sign；5. label road button；6.
Electric power data line；7. road button is written；8. server；9. handheld terminal；10. display；11. reader；12. road surface structare layer；
13. spool；14. automobile chassis；15.LED lamp bead；16.RFID label；17. sealing glue；18. nail pin；19. memory module；20.
Front wheel slip angle detector；21. data processing module；22. steering motor；23. body center line；24. deflecting roller center line；25.
Lane center tangent line；26. lane center.
Specific embodiment
Highway virtual rail system based on intelligent road button is by service centre's subsystem 1, onboard subsystem 2 and road surface
Subsystem 3 forms.Service centre's subsystem 1 is made of server 8 and handheld terminal 9；Road surface subsystem 2 is by write-in road button 7, mark
Road button 5 is signed to form；Onboard subsystem 2 is by reader 11,10 front wheel slip angle detector 20 of display, data processing module 21 and turns
It is formed to motor 22；In addition, each subsystem further includes electric power data line 6.Intelligent road button system reader 11 and label road button 5 are logical
Superfrequency (902-928MHz) RFID Radio Frequency Identification Technology is crossed to be communicated.
The road surface subsystem 3 of highway virtual rail system based on intelligent road button is by write-in road button 7 and label road button 5
And electric power data line 6 forms.Road surface subsystem 3 is embedded in road surface structare layer 12 when road surfacing is constructed, and road button 7 and mark is written
5 top of label road button is concordant with road surface, and 5 nail pin 18 of label road button is fixed with sealing glue 17 in bottom, and electric power data line 6 is located at road
In the spool 13 of face structure sheaf 12.Burial place is located at the underface of running car driver at lane center.Road is written
Button 7 is mounted on the road starting point for needing good sight line inducing or lane inlet, can pass through handheld terminal 9 or service centre's
Road button position and the flat, vertical, horizontal linear parameter of place section road is written in the server 8 of system 1.Label road button 5 is removed not have and be write
Enter outside storage organization, other structures, function and installation method are identical as write-in road button 7.Label road button 5 passes through with write-in road button 7
Electric power data line 6 is connected, and label road button 5 is also equipped in addition to the light emitting structure LED lamp bead 15 having with Conventional luminescent road button
16 structure of radio-frequency transmissions RFID label tag.When vehicle crosses label road 5 position of button, write-in road can be accurately read by reader 11
The flat, vertical, horizontal linear parameter of road stored in button 7, while reading the location parameter of label road button namely accurate where vehicle
Position.
The onboard subsystem 2 of highway virtual rail system based on intelligent road button is by reader 11, display 10, preceding
Drift angle detector 20, steering motor 22 and data processing module 21 is taken turns to form.The reader 11 of composition onboard subsystem 2 is mounted on
On vehicle chassis 14, immediately below driver.The display 10 for forming onboard subsystem is compatible with onboard navigation system, vehicle mounted guidance
System map uses flat, vertical, horizontal parameter when highway layout.The display 10 of onboard subsystem 2 can will be read from label road button 5
The coordinate information taken is shown in from the map that the flat, vertical, horizontal parameter that label road button 5 is read is drawn.Before onboard subsystem 2
Wheel drift angle detector 20 is mounted at steering shaft swing arm, acquires front wheel slip angle parameter beta, and β is in body center line 23 and deflecting roller
The angle that heart line 24 is constituted.Data processing module 21 is mounted on the fixed bracket of automobile ECU, facilitates line arrangement, data processing
The distance between the line type parameters that module 21 can read reader 11, including adjacent label road button 5 L, and handled
Angle [alpha] is obtained, α is the angle of body center line 23 and lane center tangent line 25；Data processing module 21 can read front-wheel
Drift angle detector 20 detects obtained front wheel slip angle β, can read Vehicle Speed V (km) from ECU, additionally it is possible in vehicle-mounted son
When system installation and debugging, it is manually entered the β determined according to steering wheel and front-wheel hard-overmaxAnd γmax.Data processing module 21
Utilize above data and formula ω=3.6V (βn-1-αn-1)γmax/(Lnβmax), obtain vehicle row between two label road buttons
When sailing, the rotational angular velocity (ω) of steering wheel, and these control parameters are sent to steering motor 22.Steering motor 22 can be with electricity
Dynamic servo steering system motor shares.
Service centre's subsystem 1 of highway virtual rail system based on intelligent road button by server 8 and is held eventually
9 composition of end.The server 8 of service centre's subsystem 1 manages a plurality of road for being equipped with intelligent road button and numerous onboard subsystems
2.The module that there is service centre's subsystem 1 write-in of 3 information of road surface subsystem and 2 map of onboard subsystem to generate.Service centre
1 server 8 of subsystem can be connect by electric power data line 6 with road surface subsystem 3, thus realize 5 location information of label road button and
The write-in of road alignment information, it is also possible to which handheld terminal 9 realizes 3 information of road surface subsystem of no wired connection more from far-off regions
Write-in.Onboard subsystem 2 completes 2 ground map generalization of onboard subsystem by 1 handheld terminal 9 of service centre's subsystem.
The virtual rail of highway based on intelligent road button is activated when the close write-in road button 7 of the vehicle for installing onboard system 2
Road system, reader 11 start to work, by label road button 5 read write-in road button 7 store label road button 5 position coordinates and
Road alignment information at this, and shown by display 10.Data processing module 21 is started to work simultaneously, reads linear parameter simultaneously
It is α that processing, which obtains road tangent line and vehicle body angle at (n-1)th label road button 5,n-1, read front wheel slip angle βn-1, read n-th
The distance between label road button and (n-1)th label road button Ln, read speed V when vehicle crosses (n-1)th label road buttonn-1,
Read direction disk and front-wheel hard-over βmaxAnd γmax, utilize formula ωn=3.6Vn-1(βn-1-αn-1)]γmax/(Lnβmax),
Vehicle is obtained between n-th of label road button and (n-1)th label road button when driving, the rotational angular velocity (ω of steering wheeln), and
These control parameters are sent to steering motor 22.
Claims (3)
1. a kind of highway virtual rail system based on intelligent road button, specific features are: the system is by service centre's subsystem
System 1, onboard subsystem 2 and road surface subsystem 3 form；Wherein onboard subsystem 2 is examined by reader 11,10 front wheel slip angle of display
Device 20, data processing module 21 and steering motor 22 is surveyed to form；
The distance between line type parameters that data processing module 21 can read reader 11, including adjacent label road button 5
L, and handled to obtain angle [alpha], α is the angle of body center line 23 and lane center tangent line 25；Data processing module 21
Front wheel slip angle detector 20 can be read and detect obtained front wheel slip angle β, Vehicle Speed V can be read from ECU, additionally it is possible to
In onboard subsystem installation and debugging, it is manually entered the β determined according to steering wheel and front-wheel hard-overmaxAnd γmax；At data
It manages module 21 and utilizes above data and formula ω=3.6V (βn-1-αn-1)γmax/(Lnβmax), vehicle is obtained on two label roads
Between button when driving, the rotational angular velocity ω of steering wheel, and these control parameters are sent to steering motor 22.
2. a kind of highway virtual rail system based on intelligent road button according to claim 1, specific features are: vehicle
The front wheel slip angle detector 20 of subsystems 2 is mounted at steering shaft swing arm, acquires front wheel slip angle parameter beta, β is body center line
23 and deflecting roller center line 24 constitute angle；Data processing module 21 is mounted on the fixed bracket of automobile ECU, onboard subsystem
2 steering motor 22 can be shared with electric boosting steering system motor.
3. a kind of highway virtual rail system based on intelligent road button according to claim 1, specific features are: vehicle
The data processing module of subsystems can read speed V when crossing (n-1)th label road button in vehicle ECUn-1, at data
Reason module can also be handled the line type parameters that reader is read, and obtain each point tangential equation and tangential angle；
At (n-1)th label road button, tangent line and vehicle body angle are αn-1(rad):
When vehicle crosses (n-1)th label road button, front wheel slip angle detector detects to obtain front wheel slip angle βn-1(rad):
In the process of moving, vehicle front drift angle should be parallel with road tangent line, i.e. θ for automobilen=αn-βn=0；When vehicle crosses
When n-1 label road button, if θn-1=αn-1-βn-1≠ 0, then front wheel is needed, makes vehicle by θ when n-th of label road buttonn
=αn-βn=0,
Then rotational angle △ θ=θn-θn-1=(αn-βn)-(αn-1-βn-1)=βn-1-αn-1；
If certain vehicle front wheel slip angle β changes to β by 0max, steering wheel rotational angle is γmax, then steering wheel angle and front wheel slip angle
Transmission ratio I=γmax/βmax；The time t that the angular velocity omega (rad/s) and vehicle of steering wheel rotation travel between two labels
(s) related with required rotational angle, ω=I △ θ/t；
Then, ω=I △ θ/t=3.6V △ θ γmax/(Lnβmax)=3.6V (βn-1-αn-1)γmax/(Lnβmax)
Therefore, vehicle on different linear roads when driving, the rotational angular velocity ω of steering wheel just can determine, then data processing
Module can control steering motor steering wheel rotation, the virtual rail traveling for forming vehicle along label road button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610442463.2A CN105867392B (en) | 2016-06-20 | 2016-06-20 | Highway virtual rail system based on intelligent road button |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610442463.2A CN105867392B (en) | 2016-06-20 | 2016-06-20 | Highway virtual rail system based on intelligent road button |
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| Publication Number | Publication Date |
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| CN105867392A CN105867392A (en) | 2016-08-17 |
| CN105867392B true CN105867392B (en) | 2019-04-16 |
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| CN201610442463.2A Expired - Fee Related CN105867392B (en) | 2016-06-20 | 2016-06-20 | Highway virtual rail system based on intelligent road button |
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Citations (4)
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|---|---|---|---|---|
| CN1092488A (en) * | 1993-03-15 | 1994-09-21 | 郭振郎 | Road lane dividing sign button and method for making thereof |
| CN103150907A (en) * | 2013-02-06 | 2013-06-12 | 郭忠印 | Highway operation safety-based mobile monitoring and early warning system and method |
| CN103714705A (en) * | 2012-10-09 | 2014-04-09 | 东北林业大学 | Expressway vehicle speed guidance system |
| CN103823382A (en) * | 2014-02-27 | 2014-05-28 | 浙江省科威工程咨询有限公司 | Lane change track optimization and visualization achievement method based on vehicle models and vehicle speeds |
-
2016
- 2016-06-20 CN CN201610442463.2A patent/CN105867392B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1092488A (en) * | 1993-03-15 | 1994-09-21 | 郭振郎 | Road lane dividing sign button and method for making thereof |
| CN103714705A (en) * | 2012-10-09 | 2014-04-09 | 东北林业大学 | Expressway vehicle speed guidance system |
| CN103150907A (en) * | 2013-02-06 | 2013-06-12 | 郭忠印 | Highway operation safety-based mobile monitoring and early warning system and method |
| CN103823382A (en) * | 2014-02-27 | 2014-05-28 | 浙江省科威工程咨询有限公司 | Lane change track optimization and visualization achievement method based on vehicle models and vehicle speeds |
Non-Patent Citations (1)
| Title |
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| 《基于RFID的车辆自动驾驶模拟试验装置研制》;张良力 等;《武汉理工大学学报》;20091031;第33卷(第5期);第852-855页 |
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| CN105867392A (en) | 2016-08-17 |
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Effective date of registration: 20200921 Address after: Room E403, No. 13-2, henggangtou, Tianhe District, Guangzhou City, Guangdong Province Patentee after: Guangzhou star start Intelligent Technology Co.,Ltd. Address before: 150040 No. 26 Hexing Road, Xiangfang District, Heilongjiang, Harbin Patentee before: NORTHEAST FORESTRY University |
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