CN106526595B - Anti-collision early warning radar system for rail transit vehicle - Google Patents
Anti-collision early warning radar system for rail transit vehicle Download PDFInfo
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- CN106526595B CN106526595B CN201610855149.7A CN201610855149A CN106526595B CN 106526595 B CN106526595 B CN 106526595B CN 201610855149 A CN201610855149 A CN 201610855149A CN 106526595 B CN106526595 B CN 106526595B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses an anti-collision early warning radar system for rail transit vehicles, which comprises: the first radar host is used for actively measuring distance and inquiring; the second radar host is connected with the first radar host and used for ranging response; when the first radar host fails, the second radar host takes over the active distance measurement inquiry function of the first radar host; when the second radar host machine breaks down, the first radar host machine takes over the ranging response function of the second radar host machine. The invention has a working mode that two machines monitor each other for redundancy, and improves the running safety and efficiency of rail transit.
Description
Technical Field
The invention relates to a rail transit vehicle operation safety guarantee technology, in particular to an anti-collision early warning radar system for rail transit vehicles.
Background
At present, the driving safety of high, large and medium traffic systems in rail transit mainly depends on an automatic train protection system (ATP) in an automatic train control system (ATC), and secondary medium and low traffic systems all depend on drivers to drive. For example, subways and light rails depend on an ATP system, and modern tramcars depend on drivers to drive. When the ATP system is in failure or degraded state, the vehicle is in abnormal working state, and the driving safety depends on telephone blocking measures. In this state, the driver manually drives the vehicle on a scheduled command. At the moment, if the driver meets special road sections such as curves, uphill and downhill, the sight line of the driver is limited, and the hidden danger of train rear-end collision exists, such as the rear-end collision accident of No. 10 line in 2011 in Shanghai.
For this reason, some train safety guaranteeing methods independent of the ATC system have appeared, such as train collision avoidance methods based on sound waves (publication No. CN 102765409A, publication No. CN 102756748A, publication No. CN 102756747 a, invention patent of publication No. CN 103847765A), lasers (publication No. CN 103847765A), infrared, video, GPS (publication No. CN 103101558A), guided waves of bridge and tunnel structure (publication No. CN 104149818A), positioning of RFID tags in combination with inertial navigation (publication No. CN 103192852A), tunnel piston wind (publication No. CN 102745211B), and radar (publication No. CN 103235310B, publication No. CN 103171596A). However, the acoustic detection method has acoustic pollution and limited propagation speed; the performance of laser, infrared and video is affected in rainy and foggy weather; the GPS cannot directly establish stable communication with the satellite in the tunnel environment; the train collision avoidance system of the bridge-tunnel structure guided wave needs to store corresponding characteristics of the traveling sound of the train in advance, and can obtain a detection conclusion by comparing the corresponding characteristics with the pre-stored characteristics, and the reliability is poor in remote detection; the method for jointly positioning the RFID tags and inertial navigation needs to arrange the RFID tags at intervals on the track, and determines the accurate position information of each trackside RFID tag by utilizing satellite positioning and an accurate map in advance, so that the workload is large, and the quantity of the arranged tags is large if high ranging accuracy is achieved; the train early warning method based on the tunnel piston wind is only suitable for the tunnel environment; the radar detection system has all-weather and all-day working capability and becomes an ideal choice.
Patent (CN 103235310B) granted in 11 months 2014, "a vehicle-mounted millimeter wave train anti-collision radar system", adopts phased array radar technique, detects the barrier in front of the train, but high frequency electromagnetic wave attenuation is great under the tunnel environment, the detection distance is limited, and the false alarm rate is very high under the complicated condition of the trackside environment, is not suitable for urban rail transit environment.
The patent (CN 103171596 a) published in the application of 6 months in 2013 is a collision avoidance early warning method for rail transit trains, wherein the uplink and the downlink adopt different frequency bands for ranging, and only different trains in the uplink and the downlink can be distinguished, so that the applicable working conditions are limited.
Disclosure of Invention
The invention aims to provide an anti-collision early warning radar system for rail transit vehicles, which has a working mode that two machines are mutually monitoring redundant and improves the running safety and efficiency of rail transit.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a be used for rail transit vehicle anticollision early warning radar system which characterized in that contains:
the first radar host is used for actively measuring distance and inquiring;
the second radar host is connected with the first radar host and used for ranging response;
when the first radar host fails, the second radar host takes over the active distance measurement and interrogation function of the first radar host;
and when the second radar host fails, the first radar host takes over the ranging response function of the second radar host.
The first radar host sends a ranging inquiry signal, and the second radar host returns a ranging response signal after receiving the ranging inquiry signal.
And the first radar host receives the returned ranging response signals and respectively ranges the range of the response address equipment except the second radar host.
The first radar host does not receive the returned ranging response signal and judges whether the self-detection of the first radar host is normal or not;
if not, the second radar host takes over the active distance measurement inquiry function of the first radar host;
if yes, respectively judging whether the transmission self-check and the receiving self-check of the second radar host are normal;
when the self-checking of the emission and the self-checking of the reception of the second radar host are both normal, the second radar host takes over the active distance measurement and inquiry function of the first radar host;
and when the transmission self-checking or the receiving self-checking of the second radar host is abnormal, the first radar host takes over the ranging response function of the second radar host.
The first radar host sends a ranging inquiry signal, the second radar host does not receive the ranging inquiry signal, and whether the self-detection of the first radar host is normal or not is judged;
when the first radar host transmits the self-checking normal, the first radar host takes over the ranging response function of the second radar host;
and when the first radar host machine emits the self-detection abnormality, the second radar host machine takes over the active distance measurement inquiry function of the first radar host machine.
When the first radar host fails, if the corresponding cab key signal is at a high level, the second radar host takes over the active distance measurement inquiry function of the first radar host; and if the corresponding cab key signal is at a low level, the second radar host executes the original function.
When the second radar host is in fault, if the corresponding cab key signal is in high level, the first radar host executes the original function; and if the corresponding cab key signal is at a low level, the first radar host takes over the ranging response function of the second radar host.
The first radar host comprises:
a first digital signal processing module;
the DDS frequency modulation signal generator comprises a first DDS frequency modulation signal generator, a first filter, a first up-converter, a first power amplifier, a first T/R switch, a first low noise amplifier, a first down-converter, a first AGC amplifier and a first A/D converter which are connected in sequence, wherein the input end of the first DDS frequency modulation signal generator is connected with the output end of a first digital signal processing module, and the output end of the first A/D converter is connected with the input end of the first digital signal processing module;
the first transceiving antenna is connected with the first T/R switch through the second filter.
The second radar host comprises:
the second digital signal processing module is connected with the first digital signal processing module;
the input end of the second DDS frequency modulation signal generator is connected with the output end of the second digital signal processing module, and the output end of the second A/D converter is connected with the input end of the second digital signal processing module;
the second transceiving antenna is connected with the second T/R switch through the fourth filter.
The first radar host and the second radar host are respectively connected with the RFID antenna and used for identifying the running state of the rail transit vehicle according to the RFID label information received by the RFID antenna.
Compared with the prior art, the invention has the following advantages:
the invention has a working mode that two radar systems monitor each other for redundancy, when one radar system fails, the other radar system can take over the function of the failed radar system, and the operation safety and efficiency of rail transit are improved.
The invention automatically identifies or manually sets the running states of the train such as up-down running, warehousing and ex-warehousing, temporary stop line and the like through the RFID tag.
Drawings
FIG. 1 is a schematic view of an installation of a pre-warning radar system for rail transit vehicle collision avoidance according to the present invention;
FIG. 2 is a system block diagram of a rail transit vehicle anti-collision warning radar system of the present invention;
FIG. 3 is a flowchart of the operation of a first radar mainframe;
fig. 4 is a flowchart of the operation of the second radar master.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1, a radar system for pre-warning collision of rail transit vehicles comprises: a first radar host 100 for active ranging interrogation; a second radar host 200 connected to the first radar host 100 through a CAN bus, for ranging response; the first radar host and the second radar host are respectively connected with the RFID antenna 300 and used for identifying running states of rail transit vehicles such as up and down, warehouse entry and exit, temporary stop lines and the like according to the RFID label information received by the RFID antenna, and on the other hand, the running states of trains can also be manually set. In the embodiment, the first radar host 100 and the second radar host 200 are respectively arranged at the head and the tail of the rail transit vehicle.
As shown in fig. 2, the first radar master 100 includes: a first digital signal processing module 101; the digital signal processing device comprises a first DDS frequency modulation signal generator 102, a first filter 103, a first up-converter 104, a first power amplifier 105, a first T/R switch 106, a first low noise amplifier 107, a first down-converter 108, a first AGC amplifier 109 and a first A/D converter 110 which are connected in sequence, wherein the input end of the first DDS frequency modulation signal generator 102 is connected with the output end of a first digital signal processing module 101, and the output end of the first A/D converter 110 is connected with the input end of the first digital signal processing module 101; a second filter 111 and a first transceiving antenna 112, wherein the first transceiving antenna 112 is connected to the first T/R switch 106 through the second filter 111. The first digital signal processing module controls the first DDS frequency modulation signal generator to generate a distance measurement inquiry signal, a Chirp coding signal with the bandwidth of 80MHz is radiated by the first transceiver antenna 112 after passing through the first filter 103, the first up-converter 104, the first power amplifier 105 and the second filter 111, a distance measurement response signal received by the first transceiver antenna 112 is subjected to low noise amplification, down-conversion, AGC amplification and A/D sampling by the second filter 111 to obtain a digital signal, and the digital signal is subjected to pulse compression, signal decoding and distance calculation by the first digital signal processing module 101.
The second radar main unit 200 includes: a second digital signal processing module 201 connected to the first digital signal processing module 101; a second DDS frequency modulated signal generator 202, a third filter 203, a second up-converter 204, a second power amplifier 205, a second T/R switch 206, a second low noise amplifier 207, a second down-converter 208, a second AGC amplifier 209, and a second a/D converter 210, which are connected in sequence, wherein the input end of the second DDS frequency modulated signal generator 202 is connected to the output end of the second digital signal processing module 201, and the output end of the second a/D converter is connected to the input end of the second digital signal processing module; a fourth filter 211 and a second transceiving antenna 212, wherein the second transceiving antenna 212 is connected to the second T/R switch 206 through the fourth filter 211. The operation principle of the second radar main unit 200 is the same as that of the first radar main unit 100, and thus, the detailed description thereof is omitted.
In the embodiment, the first and second digital signal processing modules are further respectively connected with a CAN communication module (113, 213) to provide a communication interface for communication between the radar system and external devices and circuits.
The invention adopts a Chirp signal with a bandwidth of 22MHz, which comprises an upper frequency modulation (Upchirp) and a lower frequency modulation (Down frequency), and when receiving, the echo signal is compressed by a matched filtering technology, so that the equivalent bandwidth B of the echo signal meets B ═ Deltaf > 1/tau, the distance resolution Deltar ═ c/2B, and c is the propagation speed of electromagnetic waves.
Using frequency modulation as an example, radar transmit signal expression
Where T is the pulse duration, f0As the center frequency, t is a time variable and K is a linear tuning frequency.
The intermediate frequency reception echo with time delay is:
tiis the delay time of the echo.
Matched filtering is the complex conjugate of the transmitted intermediate frequency signal:
h(t)＝rect(t/T)exp[-jKt2]
the time domain output after matched filtering is:
the output of the Chirp signal after matched filtering has the shape and the characteristics of a sinc function, and the pulse width becomes narrow after compression, so that the Chirp signal has high distance resolution.
Multiple trains and multiple devices may exist in the detection range during the operation of the train, and in order to ensure the normal distance measurement between the devices, the emission signals of different devices need to be identified, so that the train with potential danger can effectively perform distance detection. Each device is assigned with a unique address code, and the code content can include a line number, train uplink and downlink information, an A/B terminal and a device working mode (inquiry/response) according to needs, but is not limited to the above information.
As shown in fig. 3, the system is powered on, and after 3s of silence, the first radar host 100 initializes its state and enters a ranging inquiry mode. The first radar host 100 sends a ranging request signal, and the second radar host 200 returns a ranging response signal after receiving the ranging request signal. When receiving the returned ranging response signal, the first radar master 100 respectively ranges the range of the response address devices except the second radar master 200. The first radar host 100 does not receive the returned ranging response signal, and whether the self-test transmission of the first radar host 100 is normal is judged; if not, judging that the transmitting channel of the first radar host is in fault, giving an alarm when the fault occurs, and taking over the active distance measurement and inquiry function of the first radar host 100 by the second radar host 200; if yes, respectively judging whether the transmission self-check and the receiving self-check of the second radar host are normal; when the transmission self-test and the reception self-test of the second radar host are normal, judging that the receiving channel of the first radar host is in fault, giving an alarm when the fault occurs, and taking over the active distance measurement inquiry function of the first radar host 100 by the second radar host 200; when the transmission self-test or the reception self-test of the second radar host 200 is abnormal, the first radar host 100 takes over the ranging response function of the second radar host 200, that is, if the transmission self-test of the second radar host is abnormal, the failure of the transmission channel of the second radar host is judged, the failure alarm is given, and the first radar host 100 takes over the ranging response function of the second radar host 200; if the second radar host transmits the self-check normally, the receiving self-check of the second radar host is judged, if the receiving self-check of the second radar host fails, the fault of a receiving channel of the second radar host is judged, a fault alarm is given, and the first radar host 100 takes over the ranging response function of the second radar host 200.
As shown in fig. 4, after the system is powered on and silenced for 3s, the second radar host 200 initializes its state, and then enters a ranging response mode, the first radar host 100 sends a ranging query signal, when the second radar host 200 receives the ranging query signal, the first and second radar hosts operate normally, and the second radar host 200 responds normally. The second radar host 200 does not receive the ranging inquiry signal and judges whether the self-detection of the first radar host is normal or not; when the self-checking of the transmission of the first radar host 100 is normal, judging that the transmission channel of the second radar host is in fault, giving an alarm when the fault occurs, and taking over the ranging response function of the second radar host 200 by the first radar host 100; when the self-detection of the first radar host 100 is abnormal, it is determined that the first radar host has a failure in the receiving channel, and the second radar host 200 takes over the active distance measurement and query function of the first radar host 100.
When the first radar host 100 fails, if the corresponding cab key signal is at a high level, the second radar host 200 takes over the active distance measurement and interrogation function of the first radar host 100; if the corresponding cab key signal is at a low level, the second radar host 200 executes the original function. When the second radar host 200 fails, if the corresponding cab key signal is at a high level, the first radar host 100 executes the original function; if the corresponding cab key signal is at a low level, the first radar host 100 takes over the ranging response function of the second radar host 200.
In summary, the anti-collision early warning radar system for rail transit vehicles has a working mode that two machines are monitoring redundant mutually, and improves the operation safety and efficiency of rail transit.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (6)
1. A radar system for rail transit vehicle collision avoidance warning, comprising:
the first radar host is used for actively measuring distance and inquiring;
the second radar host is connected with the first radar host and used for ranging response;
when the first radar host fails, the second radar host takes over the active distance measurement and interrogation function of the first radar host;
when the second radar host fails, the first radar host takes over the ranging response function of the second radar host;
the first radar host sends a ranging inquiry signal, and the second radar host returns a ranging response signal after receiving the ranging inquiry signal;
the first radar host receives the returned ranging response signals, and respectively ranges the range of response address equipment except the second radar host;
the first radar host does not receive the returned ranging response signal and judges whether the self-detection of the first radar host is normal or not;
if not, the second radar host takes over the active distance measurement inquiry function of the first radar host;
if yes, respectively judging whether the transmission self-check and the receiving self-check of the second radar host are normal;
when the self-checking of the emission and the self-checking of the reception of the second radar host are both normal, the second radar host takes over the active distance measurement and inquiry function of the first radar host;
when the transmission self-checking or the receiving self-checking of the second radar host is abnormal, the first radar host takes over the ranging response function of the second radar host;
the first radar host sends a ranging inquiry signal, the second radar host does not receive the ranging inquiry signal, and whether the self-detection of the first radar host is normal or not is judged;
when the first radar host transmits the self-checking normal, the first radar host takes over the ranging response function of the second radar host;
and when the first radar host machine emits the self-detection abnormality, the second radar host machine takes over the active distance measurement inquiry function of the first radar host machine.
2. The radar system for rail transit vehicle anti-collision early warning as claimed in claim 1, wherein when the first radar host is in failure, if the corresponding cab key signal is at high level, the second radar host takes over the active ranging interrogation function of the first radar host; and if the corresponding cab key signal is at a low level, the second radar host executes the original function.
3. The radar system for rail transit vehicle anti-collision pre-warning of claim 1, wherein when the second radar host fails, if the corresponding cab key signal is at a high level, the first radar host performs an original function; and if the corresponding cab key signal is at a low level, the first radar host takes over the ranging response function of the second radar host.
4. The radar system for rail transit vehicle pre-crash warning of claim 1, wherein the first radar host comprises:
a first digital signal processing module;
the DDS frequency modulation signal generator comprises a first DDS frequency modulation signal generator, a first filter, a first up-converter, a first power amplifier, a first T/R switch, a first low noise amplifier, a first down-converter, a first AGC amplifier and a first A/D converter which are connected in sequence, wherein the input end of the first DDS frequency modulation signal generator is connected with the output end of a first digital signal processing module, and the output end of the first A/D converter is connected with the input end of the first digital signal processing module;
the first transceiving antenna is connected with the first T/R switch through the second filter.
5. The radar system for rail transit vehicle pre-crash warning of any one of claims 1 to 4 wherein the second radar mainframe comprises:
the second digital signal processing module is connected with the first digital signal processing module;
the input end of the second DDS frequency modulation signal generator is connected with the output end of the second digital signal processing module, and the output end of the second A/D converter is connected with the input end of the second digital signal processing module;
the second transceiving antenna is connected with the second T/R switch through the fourth filter.
6. The radar system for rail transit vehicle anti-collision early warning as claimed in claim 1, wherein the first radar host and the second radar host are respectively connected with an RFID antenna, and are used for identifying the running state of a rail transit vehicle according to the RFID tag information received by the RFID antenna.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610855149.7A CN106526595B (en) | 2016-09-27 | 2016-09-27 | Anti-collision early warning radar system for rail transit vehicle |
| PCT/CN2017/097307 WO2018059141A1 (en) | 2016-09-27 | 2017-08-14 | Early-warning radar system for preventing rail transit vehicle collision |
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| CN201610855149.7A CN106526595B (en) | 2016-09-27 | 2016-09-27 | Anti-collision early warning radar system for rail transit vehicle |
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| CN106526595B (en) * | 2016-09-27 | 2020-06-23 | 上海无线电设备研究所 | Anti-collision early warning radar system for rail transit vehicle |
| DE102018202296A1 (en) * | 2018-02-15 | 2019-08-22 | Robert Bosch Gmbh | Radar sensor system and method for operating a radar sensor system |
| CN112248987A (en) * | 2020-10-23 | 2021-01-22 | 华南蓝天航空油料有限公司南宁分公司 | Intelligent stopping system and method for special equipment |
| CN112406970B (en) * | 2020-11-27 | 2022-09-30 | 华晟（青岛）智能装备科技有限公司 | Annular rail guided vehicle anti-collision system and method |
| CN113702989A (en) * | 2021-09-03 | 2021-11-26 | 四川九洲电器集团有限责任公司 | Laser ranging and querying integrated target identification method and device |
| CN113643570B (en) * | 2021-09-22 | 2022-12-06 | 广东省内河港航产业研究有限公司 | Active and passive combined bridge collision avoidance system based on phased array radar |
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- 2016-09-27 CN CN201610855149.7A patent/CN106526595B/en active Active
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| CN103171595A (en) * | 2013-03-11 | 2013-06-26 | 同济大学 | Rail transit train rear-end prevention device based on pseudo-random code radio frequency distance measurement |
| CN104925092A (en) * | 2015-07-14 | 2015-09-23 | 上海无线电设备研究所 | Rail transit auxiliary tracking early-warning anti-collision system and tracking early-warning method thereof |
| CN105539519A (en) * | 2016-02-20 | 2016-05-04 | 上海果路交通科技有限公司 | City rail train radio frequency assistant anti-collision system |
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| WO2018059141A1 (en) | 2018-04-05 |
| CN106526595A (en) | 2017-03-22 |
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