CN109307861A - Vehicle, vehicle positioning method and mobile unit - Google Patents
Vehicle, vehicle positioning method and mobile unit Download PDFInfo
- Publication number
- CN109307861A CN109307861A CN201710633620.2A CN201710633620A CN109307861A CN 109307861 A CN109307861 A CN 109307861A CN 201710633620 A CN201710633620 A CN 201710633620A CN 109307861 A CN109307861 A CN 109307861A
- Authority
- CN
- China
- Prior art keywords
- time stamp
- transceiver module
- stamp signal
- vehicle
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
Abstract
The present invention proposes a kind of vehicle, vehicle positioning method and mobile unit, wherein vehicle includes: computing module and the first headstock transceiver module for being mounted on vehicle headstock position；First headstock transceiver module sends stamp signal at the first time, and the second time stamp signal that the second tailstock transceiver module for receiving front vehicles is sent；Computing module stabs the sending time of signal according to the sending time and first time of the second time stamp signal, calculates the first distance between the first headstock transceiver module and the second tailstock transceiver module, and as the distance between vehicle and front vehicles.Vehicle, vehicle positioning method and mobile unit proposed by the present invention, improve the positioning accuracy of the position between vehicle and vehicle, and then improve timeliness and whole efficiency of operation.
Description
Technical field
The present invention relates to Vehicle Engineering technical field more particularly to a kind of vehicles, vehicle positioning method and mobile unit.
Background technique
The location technology and the communication technology of vehicle are core key technologies in city rail traffic signal system, especially vehicle
Location technology be related to control vehicle driving safety and safe operation links.
In the prior art, more commonly used vehicle positioning technology is radio frequency identification (Radio Frequency
Identification Devices, abbreviation RFID) technology, it is specific: multiple transponders to be installed in track two sides, at vehicle bottom
Transponder transmission unit (Balise Transmission Module, abbreviation BTM) is installed in portion, when vehicle passes through, passes through installation
Transponder transmission unit on vehicle, read be mounted on the transponders of track two sides by prefab data that electromagnetic wave transmits come
Position the position of vehicle.The communication of vehicle is to utilize vehicle-mounted wireless access point (Access Point, the abbreviation being installed on vehicle
AP between multiple AP) and beside track, pass through WLAN (Wireless LAN, abbreviation WLAN) or long term evolution
The mode of (Long Term Evolution, abbreviation LTE) network establishes communication linkage, and multiple AP beside track are by optic communication
The network of cable composition trackside.The trackside of multiple AP composition beside track is connected to the network to control centre, control centre and vehicle
Establish communication linkage, unified and each vehicle interaction locations data, to realize the positioning of distance between vehicle and vehicle.
But the prior art at least has following defects that the positioning method of vehicle is confined to the transponder number installed beside track
It measures limited, is unable to the position of real-time perception vehicle, the in addition communication between vehicle is usually all after establishing the link with control centre,
By control centre and each vehicle interaction data, the section location information of front truck and rear car is informed, be easy to be prolonged by network communication
When influence, the position between vehicle and vehicle is unable to real-time update, causes positioning accuracy not high, and timeliness is bad, influences whole
The efficiency of operation of body.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of vehicle, to realize the position improved between vehicle and vehicle
The positioning accuracy set, and then improve timeliness and whole efficiency of operation.
Second object of the present invention is to propose a kind of vehicle positioning method.
Third object of the present invention is to propose a kind of mobile unit.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
5th purpose of the invention is to propose a kind of computer program product.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of vehicle, comprising: computing module and be mounted on
First headstock transceiver module of vehicle headstock position；
The first headstock transceiver module for sending stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving the first time stamp signal；Wherein, the first time stamp
Signal includes the sending time of the first time stamp signal and the mark of the first headstock transceiver module, second time
Stabbing signal includes the sending time of second time stamp signal and the mark of second tailstock transceiver module；
The computing module, for stabbing signal according to the sending time of second time stamp signal and the first time
Sending time, calculate the first distance between the first headstock transceiver module and second tailstock transceiver module, and will
The first distance is as the distance between the vehicle and the front vehicles.
The vehicle of the embodiment of the present invention sends according to the first headstock transceiver module for being mounted on headstock position and stabs at the first time
The time of signal and the second tailstock transceiver module of front vehicles sent for the second time after receiving first time stamp signal
It stabs the time of signal, i.e. the time of the second tailstock transceiver module of signal arrival front vehicles, the vehicle is calculated with before
The distance between square vehicle, enables position real-time update between vehicle and vehicle, improves between vehicle and vehicle
The positioning accuracy of position, and then improve timeliness and whole efficiency of operation.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of vehicle positioning method, comprising:
First headstock transceiver module of vehicle sends stamp signal at the first time, and receives second tailstock transmitting-receiving of front vehicles
The second time stamp signal that module is sent after receiving the first time stamp signal；Wherein, the first time stabs signal
The mark of sending time and the first headstock transceiver module including first time stamp signal, the second timestamp letter
Number include second time stamp signal sending time and second tailstock transceiver module mark；
When computing module stabs the transmission of signal according to the sending time of second time stamp signal and the first time
Between, calculate the first distance between the first headstock transceiver module and second tailstock transceiver module, and by described first
Distance is used as the distance between the vehicle and the front vehicles.
The vehicle positioning method of the embodiment of the present invention sends the according to the first headstock transceiver module for being mounted on headstock position
The time of one time stamp signal and the second tailstock transceiver module of front vehicles are sent after receiving first time stamp signal
The time of second time stamp signal, the i.e. signal reach the time of the second tailstock transceiver module of front vehicles, this is calculated
The distance between vehicle and front vehicles, enable position real-time update between vehicle and vehicle, improve vehicle and vehicle
The positioning accuracy of position between, and then improve timeliness and whole efficiency of operation.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of mobile unit, comprising: memory, processing
Device and it is stored in the computer program that can be run on the memory and on the processor, which is characterized in that the processing
Device executes described program, to be used for:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving the first time stamp signal；Wherein, the first time stamp
Signal includes the sending time of the first time stamp signal and the mark of the first headstock transceiver module, second time
Stabbing signal includes the sending time of second time stamp signal and the mark of second tailstock transceiver module；
Computing module is controlled according to the hair of the sending time of second time stamp signal and first time stamp signal
The time is sent, calculates the first distance between the first headstock transceiver module and second tailstock transceiver module, and will be described
First distance is as the distance between the vehicle and the front vehicles.
To achieve the goals above, fourth aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium is stored thereon with computer program, which is characterized in that the program is executed by processor, to be used for:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving the first time stamp signal；Wherein, the first time stamp
Signal includes the sending time of the first time stamp signal and the mark of the first headstock transceiver module, second time
Stabbing signal includes the sending time of second time stamp signal and the mark of second tailstock transceiver module；
Computing module is controlled according to the hair of the sending time of second time stamp signal and first time stamp signal
The time is sent, calculates the first distance between the first headstock transceiver module and second tailstock transceiver module, and will be described
First distance is as the distance between the vehicle and the front vehicles.
To achieve the goals above, fifth aspect present invention embodiment proposes a kind of computer program product, when described
When instruction in computer program product is executed by processor, following steps are executed:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving the first time stamp signal；Wherein, the first time stamp
Signal includes the sending time of the first time stamp signal and the mark of the first headstock transceiver module, second time
Stabbing signal includes the sending time of second time stamp signal and the mark of second tailstock transceiver module；
Computing module is controlled according to the hair of the sending time of second time stamp signal and first time stamp signal
The time is sent, calculates the first distance between the first headstock transceiver module and second tailstock transceiver module, and will be described
First distance is as the distance between the vehicle and the front vehicles.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram for the vehicle that one embodiment of the invention proposes；
Fig. 2 interacts schematic diagram with the time stamp signal between front vehicles, front vehicle for vehicle shown in FIG. 1；
Fig. 3 is 1 status diagram of logic sent and received signal；
Fig. 4 is the logical zero status diagram sent and received signal；
Fig. 5 is the structural schematic diagram of transceiver module；
Fig. 6 is the structural schematic diagram of trunk module；
Fig. 7 is traditional data note form schematic diagram；
Fig. 8, which interacts for the vehicle of another embodiment of the present invention with the time stamp signal between front vehicles, front vehicle, to be shown
It is intended to；And
Fig. 9 is the flow diagram for the vehicle positioning method that one embodiment of the invention proposes.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the vehicle, vehicle positioning method and mobile unit of the embodiment of the present invention are described.
Fig. 1 is the structural schematic diagram for the vehicle that one embodiment of the invention proposes.Fig. 2 is vehicle shown in FIG. 1 and front vehicle
, the time stamp signal interaction schematic diagram between front vehicle.As shown in Figure 1 and Figure 2, the vehicle 10 include:, computing module 11
(being not shown in Fig. 2) and the first headstock transceiver module 12 for being mounted on 10 headstock position of vehicle.
First headstock transceiver module 12 for sending stamp signal at the first time, and receives second tailstock of front vehicles 20
The second time stamp signal that transceiver module 22 is sent after receiving stamp signal at the first time；Wherein, signal packet is stabbed at the first time
The mark of the sending time T1 of stamp signal and the first headstock transceiver module 12 at the first time are included, the second time stamp signal includes second
The mark of the sending time T2 of time stamp signal and the second tailstock transceiver module 22.
Computing module 11, when for stabbing the transmission of signal according to the sending time T2 and first time of the second time stamp signal
Between T1, calculate the first distance S1 between the first headstock transceiver module 12 and the second tailstock transceiver module 22, and by first distance
S1 is as the distance between vehicle 10 and front vehicles 20 L1.
Further, vehicle 10 can also include the first tailstock transceiver module 13 for being mounted on 10 tailstock position of vehicle.The
One tailstock transceiver module 13, the third timestamp letter that the third headstock transceiver module 31 for square vehicle 30 upon receipt is sent
After number, the 4th time stamp signal is sent；Wherein, third time stamp signal includes the sending time T3 and of third time stamp signal
The mark of three headstock transceiver modules 31, the 4th time stamp signal include the sending time T4 and first tailstock of the 4th time stamp signal
The mark of transceiver module 13.
Specifically, vehicle 10 is used as current vehicle, the first headstock transceiver module 12 is installed in headstock position, in tailstock position
It sets and the first tailstock transceiver module 13 is installed.Likewise, the also structure having the same of front vehicles 20, is equipped in headstock position
Second headstock transceiver module 21 is equipped with the second tailstock transceiver module 22 in tailstock position.Front vehicle 30 is also having the same
Structure, is equipped with third headstock transceiver module 31 in headstock position, is equipped with third tailstock transceiver module 32 in tailstock position.
The position of headstock transceiver module can compare or be set as the position of headstock, and the position of tailstock transceiver module can compare
The distance between intend or be set as the position of the tailstock namely the relative position of headstock transceiver module and tailstock transceiver module or both
For long amount, it can compare or be set as the length of vehicle, such as the first headstock transceiver module 12 and the first tailstock transceiver module 13
The distance between can compare or be set as the length L of vehicle 10T。
The mark of transceiver module in each time stamp signal, which vehicle send the time stamp signal for unique identification is
, it is the transceiver module of headstock or the transceiver module of the tailstock, may be, for example, identity id information.Each transceiver module sending time stamp
When signal, time stamp signal can be generated by way of spectrum coding, after receiving time stamp signal, equally pass through frequency spectrum
The mode of coding calculate including time stamp signal sending time and transceiver module mark.
Spectrum coding is encoded according to the power grade of frequency spectrum, and setting background noise is initial value, is beyond background noise 3dB
Height, be quite labeled as H and background noise it is low, be labeled as L, 1 state of logic sent and received signal as shown in Figure 3 and
The logical zero state shown in Fig. 4 sent and received signal.The transmitting portion of each transceiver module is low frequency signal FLLTXAnd FLRTX,
FLLTXAnd FLRTXTransmission signal is left and right narrow-band impulse, which is the narrow-band ping of 10KHz, and left and right is separated by 1MHz.When
When the frequency spectrum for sending left and right narrow-band impulse is height (HL) logic, labeled as transmitting logic 1, on the contrary when transmitting narrow-band impulse frequency spectrum
When for low high (LH) logic, labeled as transmitting logical zero.The receiving portion of each transceiver module is high-frequency signal FHLRXAnd FHRRX,
FHLRXAnd FHRRXTransmission signal is left and right narrow-band impulse, which is the narrow-band ping of 10KHz, and left and right is separated by 1MHz.When
Receive left and right narrow-band impulse frequency spectrum be height (HL) logic when, labeled as receive logic 1, on the contrary when receive narrow-band impulse frequency spectrum
When for low high (LH) logic, labeled as receiving logical zero.High-frequency signal and low frequency signal need to be spaced 10MHz or more.This programme benefit
It with electromagnetic wave power spectrum coding mode, and uses than broad power bracket as logic coding mode, while sending and connecing
The pulse signal of different frequency is received as logical message, effectively avoids extraneous electromagnetic interference.
Further, as shown in Figure 1, each time stamp signal that each transceiver module of vehicle 10 is sent, can pass through track
The conductor cable 15 on side is transmitted in each transceiver module of front vehicles 20 and each transceiver module of front vehicle 30.Wherein,
Conductor cable 15 beside track is specifically as follows the existing conductor hard wired network such as existing power line, collector rail beside track,
Or the common conductor line being laid with.
Further, as shown in figure 5, each transceiver module 50, such as the first headstock transceiver module 12 and first of vehicle 10
Tailstock transceiver module 13 can specifically include Transmit-Receive Unit 51, low frequency transmission antenna 52 and high frequency receiving antenna 53, Transmit-Receive Unit
51 send each time stamp signal by low frequency transmission antenna 52, receive each time stamp signal by high frequency receiving antenna 53.Low frequency
Transmission antenna 52 and high frequency receiving antenna 53 are directional aerial, may be mounted at the bottom or side of vehicle 10, towards track
The conductor cable 15 on side, general vertical range are between 0.5 meter to 2 meters.
Further, as shown in Figure 1, each time stamp signal that each transceiver module of vehicle 10 is sent, can pass through track
The conductor cable 15 on side and the trunk module 16 being mounted in conductor cable, be transmitted to front vehicles 20 each transceiver module and
In each transceiver module of front vehicle 30.
Further, as shown in fig. 6, trunk module 16 can specifically include relay unit 161 and coupled antenna 162, in
It is coupled in the conductor cable 15 beside track after unit 161 by coupled antenna 162, to the signal transmitted in conductor cable 15
Amplify processing.For example, being arranged at 1km when station spacing is more than 1km or more, for being put when vehicle and too far vehicle distances
Big signal.Trunk module 16 can calculate the power of signal, the amplified signal in the case where signal is lower than threshold value, and be superimposed new
Range information, signal be higher than threshold value in the case where, into suspend mode, do not amplify and change signal power strength.In
It mainly uses coupled antenna 162 to couple access way after 16 amplified signal of module and measuring and calculating signal, does not destroy original route i.e. track
The connection and structure of the conductor cable 15 on side.
Further, between each transceiver module, it can be also used for data communication.Such as the first headstock of vehicle 10 receives and dispatches mould
Block 12 and the first tailstock transceiver module 13, can be also used for: sending the first signal of communication, and receive each transmitting-receiving of front vehicles 20
The second signal of communication that each transceiver module of module and front vehicle 30 is sent.Wherein, signal of communication is specifically as follows data note
Mode, such as traditional data note format shown in Fig. 7 (such as are described by note head, the mark ID of vehicle, data length, data
Operation and location information data), check bit sum stop bits composition.
Vehicle 10 in the process of moving, is mounted on the first headstock transceiver module 12 of headstock position, sends and stabs at the first time
Signal (mark of sending time T1 and the first headstock transceiver module 12 including first time stamp signal).The of front vehicles 20
Two tailstock transceiver modules 22 resolve first time stamp signal therein after receiving stamp signal at the first time, according to spectrum coding
Sending time T1, while send the second time stamp signal (sending time T2 and second tailstock including the second time stamp signal
The mark of transceiver module 22).First headstock transceiver module 12 resolves after receiving the second time stamp signal according to spectrum coding
The sending time T2 of second time stamp signal therein.Computing module 11 according to the sending time T2 of the second time stamp signal (i.e.
At the first time stamp signal reach front vehicles the second tailstock transceiver module 22 time), at the first time stamp signal transmission when
Between T1 and time stamp signal transmission rate (i.e. the transmission rate of electromagnetic wave), calculate the first headstock transceiver module 12 and the second vehicle
First distance S1 between tail transceiver module 22, and using first distance S1 as the distance between vehicle 10 and front vehicles 20
L1.Vehicle 10 can control the travel speed of itself according to the distance between itself and front vehicles 20 L1.
Similarly, the first tailstock transceiver module 13 in vehicle 10 has and the second tailstock transceiver module in front vehicles 20
22 similar functions, it is specific: the third headstock transceiver module of the first tailstock transceiver module 13 square vehicle 30 upon receipt
The 31 third time stamp signal (marks of sending time T3 and third headstock transceiver module 31 including third time stamp signal sent
Know) after, the sending time T3 of third time stamp signal therein is resolved according to spectrum coding, while sending the 4th time stamp signal
(mark of sending time T4 and the first tailstock transceiver module 13 including the 4th time stamp signal), for the of front vehicle 30
After three headstock transceiver modules 31 receive, the sending time T4 of the 4th time stamp signal therein is calculated, in front vehicle 30
Computing module is according to the sending time T4, the sending time T3 of third time stamp signal and the biography of electromagnetic wave of the 4th time stamp signal
Defeated rate, calculates the second distance S2 between third headstock transceiver module 32 and the first tailstock transceiver module 13, and by second away from
From S2 as the distance between vehicle 10 and front vehicle 30 L2.Front vehicle 30 can according to itself between vehicle 10 away from
From L2, the travel speed of itself is controlled.
In the present embodiment, according to be mounted on headstock position the first headstock transceiver module send at the first time stamp signal when
Between and front vehicles the second tailstock transceiver module receive the first time stamp signal after send the second time stamp signal
Time, the i.e. signal reach the time of the second tailstock transceiver module of front vehicles, be calculated the vehicle and front vehicles it
Between distance, enable position real-time update between vehicle and vehicle, improve determining for the position between vehicle and vehicle
Position precision, and then improve timeliness and whole efficiency of operation.
For an embodiment in clear explanation, another vehicle is present embodiments provided.Fig. 8 is another embodiment of the present invention
Vehicle interact schematic diagram with the time stamp signal between front vehicles, front vehicle.As shown in figure 8, in a upper embodiment
On the basis of, the first headstock transceiver module 12 can be also used for: after receiving the second time stamp signal, send the 5th timestamp letter
Number；Wherein, the 5th time stamp signal includes the sending time T5 of the 5th time stamp signal and the mark of the first headstock transceiver module 12
Know.
First tailstock transceiver module 13 can be also used for: receiving third headstock transceiver module 31 and is receiving the 4th timestamp
The 6th time stamp signal sent after signal；Wherein, the 6th time stamp signal includes the sending time T6 of the 6th time stamp signal
With the mark of third headstock transceiver module 31.
Computing module 11 is also used to: according to the transmission of the sending time T6 of the 6th time stamp signal and the 4th time stamp signal
Time T4, calculates the second distance S2 between the first tailstock transceiver module 13 and third headstock transceiver module 31, and by second away from
From S2 as the distance between vehicle and front vehicle L2.
Specifically, the third headstock transceiver module 31 of front vehicle 30 is receiving the transmission of the first tailstock transceiver module 13
After 4th time stamp signal (mark of sending time T4 and the first tailstock transceiver module 13 including the 4th time stamp signal), root
Calculate the sending time T4 of the 4th time stamp signal therein according to spectrum coding, at the same send the 6th time stamp signal (including
The sending time T6 of 6th time stamp signal and the mark of third headstock transceiver module 31).First tailstock of vehicle 10 receives and dispatches mould
Block 13 calculates the sending time of the 6th time stamp signal therein according to spectrum coding after receiving the 6th time stamp signal
T6.According to the sending time T6 of the 6th time stamp signal, (i.e. the 4th time stamp signal reaches the of front vehicle to computing module 11
The time of three headstock transceiver modules 31), the transmission rate of the sending time T4 of the 4th time stamp signal and time stamp signal it is (i.e. electric
The transmission rate of magnetic wave), the second distance S2 between the first tailstock transceiver module 13 and third headstock transceiver module 31 is calculated, and
Using second distance S2 as the distance between vehicle and front vehicle L2.Vehicle 10 can be according to itself between front vehicle 30
Distance L2, control the travel speed of itself.
Similarly, the first headstock transceiver module 12 in vehicle 10 has and the third headstock transceiver module in front vehicle 30
31 similar functions, specific: the first headstock transceiver module 12 is in the second tailstock sending module for receiving front vehicles 20
22 the second time stamp signal (marks of sending time T2 and the second tailstock transceiver module 22 including the second time stamp signal sent
Know) after, the sending time T2 of the second time stamp signal therein is resolved according to spectrum coding, while sending the 5th time stamp signal
(mark of sending time T5 and the first headstock transceiver module 12 including the 5th time stamp signal), for the of front vehicles 20
After two tailstock transceiver modules 22 receive, the sending time T5 of the 5th time stamp signal therein is calculated, in front vehicles 20
Computing module is according to the sending time T5, the sending time T2 of the second time stamp signal and the biography of electromagnetic wave of the 5th time stamp signal
Defeated rate, calculates the first distance S1 between the second tailstock transceiver module 32 and the first headstock transceiver module 12, and by first away from
From S1 as the distance between vehicle 10 and front vehicles 20 L1.Front vehicles 20 can according to itself between vehicle 10 away from
From L1, the travel speed of itself is controlled.
Further, it is contemplated that between calculated second tailstock transceiver module 32 and the first headstock transceiver module 12
One distance S1 is not accurate enough, therefore can be modified using following scheme to it: the first tailstock transceiver module 13 can also be used
In: the 7th time stamp signal is sent, and receives what the second tailstock transceiver module 22 was sent after receiving the 7th time stamp signal
8th time stamp signal；Wherein, the 7th time stamp signal includes that the sending time T7 of the 7th time stamp signal and first tailstock are received
The mark of module 13 is sent out, the 8th time stamp signal includes the sending time T8 and the second tailstock transceiver module of the 8th time stamp signal
22 mark.
And first tailstock transceiver module 13 can be also used for: the third tailstock transmitting-receiving mould of square vehicle 30 upon receipt
After the 9th time stamp signal that block 32 is sent, the tenth time stamp signal is sent；Wherein, the 9th time stamp signal included the 9th time
The sending time T9 of signal and the mark of third tailstock transceiver module 32 are stabbed, the tenth time stamp signal includes the tenth time stamp signal
Sending time T10 and the first tailstock transceiver module 13 mark.
Computing module 11 can be also used for: according to the sending time T8 of the 8th time stamp signal and the 7th time stamp signal
Sending time T7 calculates the third distance S3 between the first tailstock transceiver module 13 and the second tailstock transceiver module 32；According to
Three distance S3 and the difference of first distance S1 and the length L of vehicleT, first distance S1 is modified, and by revised
One distance S1 ' is used as the distance between vehicle 10 and front vehicles 20 L1.
Specifically, the first tailstock transceiver module 13 and the second tailstock transceiver module 32 is calculated according to same principle
Between third distance S3, ideally, the difference S3-S1 of third distance S3 and first distance S1 should be equal to vehicle 10
Length LT, but in practice, and it is unequal, therefore need to be according to the length L of vehicleTFirst distance S1 is modified.When third distance
The difference S3-S1 of S3 and first distance S1 is greater than the length L of vehicle 10TWhen, then revised first distance S1 ' is equal to S1-
(S3-S1-LT), i.e. S1 '=2S1-S3+LT.When the difference S3-S1 of third distance S3 and first distance S1 is less than the length of vehicle 10
Spend LTWhen, then revised first distance S1 ' is equal to S1+ (LT(S3-S1)), i.e. S1 '=2S1-S3+LT。
Further, it is contemplated that between calculated first tailstock transceiver module 13 and third headstock transceiver module 31
Two distance S2 are not accurate enough, therefore can be modified using following scheme to it: the first headstock transceiver module 12 can also be used
In: it sends eleventh time and stabs signal, and receive third headstock transceiver module 31 and sent out after receiving eleventh time stamp signal
The 12nd time stamp signal sent；Wherein, eleventh time stamp signal include eleventh time stamp signal sending time T11 and
The mark of first headstock transceiver module 12,12 time stamp signals include the sending time T12 and of the 12nd time stamp signal
The mark of three headstock transceiver modules 31.
And first headstock transceiver module 12 can be also used for: receive front vehicles 20 the second headstock receive and dispatch mould
After the 13rd time stamp signal that block 21 is sent, the 14th time stamp signal is sent；Wherein, the 13rd time stamp signal includes the
The mark of the sending time T13 of 13 time stamp signals and the second headstock transceiver module 21, the 14th time stamp signal include the
The mark of the sending time T14 of 14 time stamp signals and the first headstock transceiver module 12.
Computing module 11 can be also used for: be stabbed according to the sending time T12 of the 12nd time stamp signal and eleventh time
The sending time T11 of signal calculates the 4th distance S4 between the first headstock transceiver module 12 and third headstock transceiver module 31；
According to the 4th distance S4 and the difference of second distance S2 and the length L of vehicleT, second distance S2 is modified, and will amendment
Second distance S2 ' afterwards is used as the distance between vehicle 10 and front vehicle 30.
Specifically, the first headstock transceiver module 12 and third headstock transceiver module 31 is calculated according to same principle
Between the 4th distance S4, ideally, the difference S4-S2 of the 4th distance S4 and second distance S2 should be equal to vehicle 10
Length LT, but in practice, and it is unequal, therefore need to be according to the length L of vehicleTSecond distance S2 is modified.When the 4th distance
The difference S4-S2 of S4 and second distance S2 is greater than the length L of vehicle 10TWhen, then revised second distance S2 ' is equal to S2- (S-
S2-LT), i.e. S2 '=2S2-S4+LT.When the difference S4-S2 of the 4th distance S4 and second distance S2 is less than the length L of vehicle 10T
When, then revised second distance S2 ' is equal to S2+ (LT(S4-S2)), i.e. S2 '=2S2-S4+LT。
In the present embodiment, according to be mounted on headstock position the first headstock transceiver module send at the first time stamp signal when
Between and front vehicles the second tailstock transceiver module receive the first time stamp signal after send the second time stamp signal
Time, the i.e. signal reach the time of the second tailstock transceiver module of front vehicles, be calculated the vehicle and front vehicles it
Between distance, enable position real-time update between vehicle and vehicle, improve determining for the position between vehicle and vehicle
Position precision, and then improve timeliness and whole efficiency of operation.
Based on the above embodiment, the present invention also proposes a kind of vehicle positioning method.The vehicle location side of the embodiment of the present invention
Method can be realized based on the vehicle of previous embodiment.Fig. 9 is the process signal for the vehicle positioning method that one embodiment of the invention proposes
Figure.As shown in figure 9, the vehicle positioning method specifically includes:
S901, the first headstock transceiver module of vehicle sends stamp signal at the first time, and receives the second vehicle of front vehicles
The second time stamp signal that tail transceiver module is sent after receiving stamp signal at the first time.
Wherein, stamp signal includes the sending time for stabbing signal at the first time and the mark of the first headstock transceiver module at the first time
Know, the second time stamp signal includes the sending time of the second time stamp signal and the mark of the second tailstock transceiver module.
S902, computing module stab the sending time of signal according to the sending time and first time of the second time stamp signal,
The first distance between the first headstock transceiver module and the second tailstock transceiver module is calculated, and using first distance as vehicle with before
The distance between square vehicle.
Further, in a kind of possible implementation of the embodiment of the present invention, the first tailstock transceiver module of vehicle
After the third time stamp signal that the third headstock transceiver module of square vehicle is sent upon receipt, the 4th time stamp signal is sent.
Wherein, third time stamp signal includes the sending time of third time stamp signal and the mark of third headstock transceiver module, and the 4th
Time stamp signal includes the sending time of the 4th time stamp signal and the mark of the first tailstock transceiver module.
Further, in a kind of possible implementation of the embodiment of the present invention, what each transceiver module of vehicle was sent
Each time stamp signal is transmitted to each transceiver module of front vehicles and each receipts of front vehicle by the conductor cable beside track
It sends out in module.
Further, in a kind of possible implementation of the embodiment of the present invention, each transceiver module of vehicle includes: to receive
Bill member, low frequency transmission antenna and high frequency receiving antenna；Transmit-Receive Unit sends each time stamp signal by low frequency transmission antenna, leads to
It crosses high frequency receiving antenna and receives each time stamp signal.
Further, in a kind of possible implementation of the embodiment of the present invention, what each transceiver module of vehicle was sent
Each time stamp signal is transmitted to front vehicle by the conductor cable beside track and the trunk module being mounted in conductor cable
Each transceiver module and front vehicle each transceiver module in.
Further, in a kind of possible implementation of the embodiment of the present invention, trunk module include: relay unit and
Coupled antenna；Relay unit is coupled in conductor cable by coupled antenna, is amplified to the signal transmitted in conductor cable
Processing.
Further, in a kind of possible implementation of the embodiment of the present invention, each transceiver module of vehicle sends the
One signal of communication, and receive the second communication letter that each transceiver module of front vehicles and each transceiver module of front vehicle are sent
Number.
It should be noted that the aforementioned explanation to vehicle embodiments is also applied for the positioning side of the vehicle of the embodiment
Method, details are not described herein again.
In the present embodiment, according to be mounted on headstock position the first headstock transceiver module send at the first time stamp signal when
Between and front vehicles the second tailstock transceiver module receive the first time stamp signal after send the second time stamp signal
Time, the i.e. signal reach the time of the second tailstock transceiver module of front vehicles, be calculated the vehicle and front vehicles it
Between distance, enable position real-time update between vehicle and vehicle, improve determining for the position between vehicle and vehicle
Position precision, and then improve timeliness and whole efficiency of operation.
Based on the above embodiment, the embodiment of the invention also provides a kind of possible implementations of vehicle positioning method.
On the basis of a upper embodiment, which can also include:
First headstock transceiver module sends the 5th time stamp signal after receiving the second time stamp signal；Wherein, the 5th
Time stamp signal includes the sending time of the 5th time stamp signal and the mark of the first headstock transceiver module.
First tailstock transceiver module receives that third headstock transceiver module is sent after receiving the 4th time stamp signal
Six time stamp signals；Wherein, the 6th time stamp signal includes the sending time and third headstock transmitting-receiving mould of the 6th time stamp signal
The mark of block.
Computing module calculates the according to the sending time of the 6th time stamp signal and the sending time of the 4th time stamp signal
Second distance between one tailstock transceiver module and third headstock transceiver module, and using second distance as vehicle and front vehicle
The distance between.
Further, in a kind of possible implementation of the embodiment of the present invention, which can also be wrapped
It includes:
First tailstock transceiver module sends the 7th time stamp signal, and receives the second tailstock transceiver module and receiving the 7th
The 8th time stamp signal sent after time stamp signal；Wherein, the 7th time stamp signal includes the transmission of the 7th time stamp signal
The mark of time and the first tailstock transceiver module, the 8th time stamp signal include the sending time and second of the 8th time stamp signal
The mark of tailstock transceiver module；
And upon receipt after the 9th time stamp signal that the third tailstock transceiver module of square vehicle is sent, the is sent
Ten time stamp signals；Wherein, the 9th time stamp signal includes the sending time and third tailstock transmitting-receiving mould of the 9th time stamp signal
The mark of block, the tenth time stamp signal include the sending time of the tenth time stamp signal and the mark of the first tailstock transceiver module；
Computing module calculates the according to the sending time of the 8th time stamp signal and the sending time of the 7th time stamp signal
Third distance between one tailstock transceiver module and the second tailstock transceiver module；According to the difference of third distance and first distance and
The length of vehicle, is modified first distance, and using revised first distance as between vehicle and front vehicles away from
From.
Further, in a kind of possible implementation of the embodiment of the present invention, which can also be wrapped
It includes:
First headstock transceiver module sends eleventh time and stabs signal, and receives third headstock transceiver module and receiving the
The 12nd time stamp signal sent after 11 time stamp signals；Wherein, eleventh time stamp signal includes eleventh time stamp
The mark of the sending time of signal and the first headstock transceiver module, 12 time stamp signals include the hair of the 12nd time stamp signal
Send the mark of time and third headstock transceiver module；
And after the 13rd time stamp signal that the second headstock transceiver module for receiving front vehicles is sent, send
14th time stamp signal；Wherein, the 13rd time stamp signal includes the sending time and the second vehicle of the 13rd time stamp signal
The mark of head transceiver module, the 14th time stamp signal include the sending time and the transmitting-receiving of the first headstock of the 14th time stamp signal
The mark of module；
Computing module stabs the sending time of signal, meter according to the sending time and eleventh time of the 12nd time stamp signal
Calculate the 4th distance between the first headstock transceiver module and third headstock transceiver module；According to the difference of the 4th distance and second distance
The length of value and vehicle, is modified second distance, and using revised second distance as between vehicle and front vehicle
Distance.
It should be noted that the aforementioned explanation to vehicle embodiments is also applied for the positioning side of the vehicle of the embodiment
Method, details are not described herein again.
In the present embodiment, according to be mounted on headstock position the first headstock transceiver module send at the first time stamp signal when
Between and front vehicles the second tailstock transceiver module receive the first time stamp signal after send the second time stamp signal
Time, the i.e. signal reach the time of the second tailstock transceiver module of front vehicles, be calculated the vehicle and front vehicles it
Between distance, enable position real-time update between vehicle and vehicle, improve determining for the position between vehicle and vehicle
Position precision, and then improve timeliness and whole efficiency of operation.
In order to realize above-described embodiment, the present invention also proposes a kind of mobile unit, including memory, processor and is stored in
On memory and the computer program that can run on a processor, processor executes program, to be used for:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving stamp signal at the first time；Wherein, stamp signal includes at the first time
The mark of the sending time of stamp signal and the first headstock transceiver module at the first time, the second time stamp signal include the second timestamp
The mark of the sending time of signal and the second tailstock transceiver module；
Control the sending time that computing module stabs signal according to the sending time of the second time stamp signal and at the first time, meter
The first distance between the first headstock transceiver module and the second tailstock transceiver module is calculated, and using first distance as vehicle and front
The distance between vehicle.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Contain computer program, which is characterized in that the program is executed by processor, to be used for:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving stamp signal at the first time；Wherein, stamp signal includes at the first time
The mark of the sending time of stamp signal and the first headstock transceiver module at the first time, the second time stamp signal include the second timestamp
The mark of the sending time of signal and the second tailstock transceiver module；
Control the sending time that computing module stabs signal according to the sending time of the second time stamp signal and at the first time, meter
The first distance between the first headstock transceiver module and the second tailstock transceiver module is calculated, and using first distance as vehicle and front
The distance between vehicle.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when in computer program product
Instruction when being executed by processor, execute following steps:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock of front vehicles
The second time stamp signal that transceiver module is sent after receiving stamp signal at the first time；Wherein, stamp signal includes at the first time
The mark of the sending time of stamp signal and the first headstock transceiver module at the first time, the second time stamp signal include the second timestamp
The mark of the sending time of signal and the second tailstock transceiver module；
Control the sending time that computing module stabs signal according to the sending time of the second time stamp signal and at the first time, meter
The first distance between the first headstock transceiver module and the second tailstock transceiver module is calculated, and using first distance as vehicle and front
The distance between vehicle.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (23)
1. a kind of vehicle characterized by comprising computing module and the first headstock transmitting-receiving mould for being mounted on vehicle headstock position
Block；
The first headstock transceiver module for sending stamp signal at the first time, and receives second tailstock transmitting-receiving of front vehicles
The second time stamp signal that module is sent after receiving the first time stamp signal；Wherein, the first time stabs signal
The mark of sending time and the first headstock transceiver module including first time stamp signal, the second timestamp letter
Number include second time stamp signal sending time and second tailstock transceiver module mark；
The computing module, for the hair according to the sending time of second time stamp signal and first time stamp signal
The time is sent, calculates the first distance between the first headstock transceiver module and second tailstock transceiver module, and will be described
First distance is as the distance between the vehicle and the front vehicles.
2. vehicle according to claim 1, which is characterized in that further include: it is mounted on the first of vehicle tailstock position
Tailstock transceiver module；
First tailstock transceiver module, the third time that the third headstock transceiver module for square vehicle upon receipt is sent
After stabbing signal, the 4th time stamp signal is sent；Wherein, the third time stamp signal includes the hair of the third time stamp signal
The mark of time and the third headstock transceiver module are sent, the 4th time stamp signal includes the 4th time stamp signal
The mark of sending time and first tailstock transceiver module.
3. vehicle according to claim 2, which is characterized in that the first headstock transceiver module is also used to: being received
After second time stamp signal, the 5th time stamp signal is sent；Wherein, when the 5th time stamp signal includes the described 5th
Between stab signal sending time and the first headstock transceiver module mark；
First tailstock transceiver module is also used to: being received the third headstock transceiver module and is being received the 4th timestamp
The 6th time stamp signal sent after signal；Wherein, the 6th time stamp signal includes the hair of the 6th time stamp signal
Send the mark of time and the third headstock transceiver module；
The computing module is also used to: according to the sending time of the 6th time stamp signal and the 4th time stamp signal
Sending time, calculates the second distance between first tailstock transceiver module and the third headstock transceiver module, and by institute
Second distance is stated as the distance between the vehicle and the front vehicle.
4. vehicle according to claim 2, which is characterized in that first tailstock transceiver module is also used to: sending the 7th
Time stamp signal, and second tailstock transceiver module is received in the 8th sent after receiving the 7th time stamp signal
Between stab signal；Wherein, the 7th time stamp signal include the 7th time stamp signal sending time and first vehicle
The mark of tail transceiver module, the 8th time stamp signal include the sending time and described second of the 8th time stamp signal
The mark of tailstock transceiver module；
And it is also used to: after the 9th time stamp signal that the third tailstock transceiver module for receiving the front vehicle is sent,
Send the tenth time stamp signal；Wherein, the 9th time stamp signal include the 9th time stamp signal sending time and
The mark of the third tailstock transceiver module, the tenth time stamp signal include the sending time of the tenth time stamp signal
With the mark of first tailstock transceiver module；
The computing module is also used to: according to the sending time of the 8th time stamp signal and the 7th time stamp signal
Sending time calculates the third distance between first tailstock transceiver module and second tailstock transceiver module；According to institute
The difference of third distance and the first distance and the length of the vehicle are stated, the first distance is modified, and will be repaired
The first distance after just is as the distance between the vehicle and the front vehicles.
5. vehicle according to claim 3, which is characterized in that the first headstock transceiver module is also used to: sending the tenth
One time stamp signal, and receive that the third headstock transceiver module sends after receiving eleventh time stamp signal the
12 time stamp signals；Wherein, eleventh time stamp signal include the eleventh time stamp signal sending time and
The mark of the first headstock transceiver module, when 12 time stamp signal includes the transmission of the 12nd time stamp signal
Between and the third headstock transceiver module mark；
And it is also used to: in the 13rd time stamp signal that the second headstock transceiver module for receiving the front vehicles is sent
Afterwards, the 14th time stamp signal is sent；Wherein, the 13rd time stamp signal includes the hair of the 13rd time stamp signal
The mark of time and the second headstock transceiver module are sent, the 14th time stamp signal includes the 14th timestamp letter
Number sending time and the first headstock transceiver module mark；
The computing module is also used to: according to the sending time of the 12nd time stamp signal and eleventh time stamp letter
Number sending time, calculate the 4th distance between the first headstock transceiver module and the third headstock transceiver module；Root
According to the 4th distance and the difference of the second distance and the length of the vehicle, the second distance is modified, and
Using the revised second distance as the distance between the vehicle and the front vehicle.
6. according to any vehicle of claim 2-5, which is characterized in that each transceiver module of the vehicle send it is each when
Between stab signal, by the conductor cable beside track be transmitted to the front vehicles each transceiver module and the front vehicle
In each transceiver module.
7. vehicle according to claim 6, which is characterized in that each transceiver module of the vehicle includes: Transmit-Receive Unit, low
Take place frequently antennas and high frequency receiving antenna；
The Transmit-Receive Unit passes through the high-frequency reception day for sending each time stamp signal by the low frequency transmission antenna
Line receives each time stamp signal.
8. any vehicle of 2-5 according to claim 1, which is characterized in that each transceiver module of the vehicle is sent each
Time stamp signal is transmitted to described by the conductor cable beside track and the trunk module being mounted in the conductor cable
In each transceiver module of front vehicles and each transceiver module of the front vehicle.
9. vehicle according to claim 8, which is characterized in that the trunk module includes: relay unit and coupled antenna；
The relay unit is coupled in the conductor cable by the coupled antenna, for passing in the conductor cable
Defeated signal amplifies processing.
10. according to any vehicle of claim 2-5, which is characterized in that each transceiver module of the vehicle is also used to: hair
The first signal of communication is sent, and receives each transceiver module of the front vehicles and each transceiver module of front vehicle are sent second
Signal of communication.
11. a kind of vehicle positioning method characterized by comprising
First headstock transceiver module of vehicle sends stamp signal at the first time, and receives the second tailstock transceiver module of front vehicles
The second time stamp signal sent after receiving the first time stamp signal；Wherein, the first time stamp signal includes
The sending time of the first time stamp signal and the mark of the first headstock transceiver module, the second time stamp signal packet
Include the sending time of second time stamp signal and the mark of second tailstock transceiver module；
Sending time of the computing module according to the sending time of second time stamp signal and first time stamp signal, meter
The first distance between the first headstock transceiver module and second tailstock transceiver module is calculated, and the first distance is made
For the distance between the vehicle and the front vehicles.
12. vehicle positioning method according to claim 11, which is characterized in that further include:
When the third that the third headstock transceiver module of the first tailstock transceiver module of the vehicle square vehicle upon receipt is sent
Between stab signal after, send the 4th time stamp signal；Wherein, the third time stamp signal includes the third time stamp signal
The mark of sending time and the third headstock transceiver module, the 4th time stamp signal include the 4th time stamp signal
Sending time and first tailstock transceiver module mark.
13. vehicle positioning method according to claim 12, which is characterized in that further include:
The first headstock transceiver module sends the 5th time stamp signal after receiving second time stamp signal；Wherein,
5th time stamp signal includes the sending time of the 5th time stamp signal and the mark of the first headstock transceiver module
Know；
First tailstock transceiver module receives the third headstock transceiver module after receiving the 4th time stamp signal
The 6th time stamp signal sent；Wherein, the 6th time stamp signal includes the sending time of the 6th time stamp signal
With the mark of the third headstock transceiver module；
When the computing module is according to the transmission of the sending time of the 6th time stamp signal and the 4th time stamp signal
Between, calculate the second distance between first tailstock transceiver module and the third headstock transceiver module, and by described second
Distance is used as the distance between the vehicle and the front vehicle.
14. vehicle positioning method according to claim 12, which is characterized in that further include:
First tailstock transceiver module sends the 7th time stamp signal, and receive second tailstock transceiver module receive it is described
The 8th time stamp signal sent after 7th time stamp signal；Wherein, the 7th time stamp signal includes the 7th time
The sending time of signal and the mark of first tailstock transceiver module are stabbed, when the 8th time stamp signal includes the described 8th
Between stab signal sending time and second tailstock transceiver module mark；
And after the 9th time stamp signal that the third tailstock transceiver module for receiving the front vehicle is sent, the is sent
Ten time stamp signals；Wherein, the 9th time stamp signal includes the sending time and described of the 9th time stamp signal
The mark of three tailstock transceiver modules, the tenth time stamp signal include the sending time of the tenth time stamp signal and described
The mark of first tailstock transceiver module；
When the computing module is according to the transmission of the sending time of the 8th time stamp signal and the 7th time stamp signal
Between, calculate the third distance between first tailstock transceiver module and second tailstock transceiver module；According to the third
Distance is modified the first distance with the difference of the first distance and the length of the vehicle, and will be revised
The first distance is as the distance between the vehicle and the front vehicles.
15. vehicle positioning method according to claim 13, which is characterized in that further include:
The first headstock transceiver module sends eleventh time and stabs signal, and receives the third headstock transceiver module and receiving
The 12nd time stamp signal sent after signal is stabbed to the eleventh time；Wherein, the eleventh time stamp signal includes
The sending time of the eleventh time stamp signal and the mark of the first headstock transceiver module, 12 time stamp signal
The mark of sending time and the third headstock transceiver module including the 12nd time stamp signal；
And after the 13rd time stamp signal that the second headstock transceiver module for receiving the front vehicles is sent, send
14th time stamp signal；Wherein, the 13rd time stamp signal includes the sending time of the 13rd time stamp signal
With the mark of the second headstock transceiver module, the 14th time stamp signal includes the hair of the 14th time stamp signal
Send the mark of time and the first headstock transceiver module；
The computing module stabs the hair of signal according to the sending time of the 12nd time stamp signal and the eleventh time
The time is sent, the 4th distance between the first headstock transceiver module and the third headstock transceiver module is calculated；According to described
4th distance and the difference of the second distance and the length of the vehicle, are modified the second distance, and will amendment
The second distance afterwards is as the distance between the vehicle and the front vehicle.
16. any vehicle positioning method of 2-15 according to claim 1, which is characterized in that each transmitting-receiving mould of the vehicle
Each time stamp signal that block is sent, each transceiver module and the institute of the front vehicles are transmitted to by the conductor cable beside track
It states in each transceiver module of front vehicle.
17. vehicle positioning method according to claim 16, which is characterized in that each transceiver module of the vehicle includes:
Transmit-Receive Unit, low frequency transmission antenna and high frequency receiving antenna；
The Transmit-Receive Unit sends each time stamp signal by the low frequency transmission antenna, is received by the high frequency receiving antenna
Each time stamp signal.
18. any vehicle positioning method of 2-15 according to claim 1, which is characterized in that each transmitting-receiving mould of the vehicle
Each time stamp signal that block is sent, by conductor cable beside track and the trunk module being mounted in the conductor cable,
It is transmitted in each transceiver module of the front vehicles and each transceiver module of the front vehicle.
19. vehicle positioning method according to claim 18, which is characterized in that the trunk module includes: relay unit
And coupled antenna；
The relay unit is coupled in the conductor cable by the coupled antenna, to what is transmitted in the conductor cable
Signal amplifies processing.
20. any vehicle positioning method of 2-15 according to claim 1, which is characterized in that each transmitting-receiving mould of the vehicle
Block sends the first signal of communication, and receives each transceiver module of the front vehicles and each transceiver module hair of the front vehicle
The second signal of communication sent.
21. a kind of mobile unit characterized by comprising memory, processor and be stored on the memory and can be in institute
State the computer program run on processor, which is characterized in that the processor executes described program, to be used for:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock transmitting-receiving of front vehicles
The second time stamp signal that module is sent after receiving the first time stamp signal；Wherein, the first time stabs signal
The mark of sending time and the first headstock transceiver module including first time stamp signal, the second timestamp letter
Number include second time stamp signal sending time and second tailstock transceiver module mark；
When controlling transmission of the computing module according to the sending time of second time stamp signal and first time stamp signal
Between, calculate the first distance between the first headstock transceiver module and second tailstock transceiver module, and by described first
Distance is used as the distance between the vehicle and the front vehicles.
22. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
It is executed by processor, to be used for:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock transmitting-receiving of front vehicles
The second time stamp signal that module is sent after receiving the first time stamp signal；Wherein, the first time stabs signal
The mark of sending time and the first headstock transceiver module including first time stamp signal, the second timestamp letter
Number include second time stamp signal sending time and second tailstock transceiver module mark；
When controlling transmission of the computing module according to the sending time of second time stamp signal and first time stamp signal
Between, calculate the first distance between the first headstock transceiver module and second tailstock transceiver module, and by described first
Distance is used as the distance between the vehicle and the front vehicles.
23. a kind of computer program product, which is characterized in that when the instruction in the computer program product is executed by processor
When, execute following steps:
The the first headstock transceiver module for controlling vehicle sends stamp signal at the first time, and receives second tailstock transmitting-receiving of front vehicles
The second time stamp signal that module is sent after receiving the first time stamp signal；Wherein, the first time stabs signal
The mark of sending time and the first headstock transceiver module including first time stamp signal, the second timestamp letter
Number include second time stamp signal sending time and second tailstock transceiver module mark；
When controlling transmission of the computing module according to the sending time of second time stamp signal and first time stamp signal
Between, calculate the first distance between the first headstock transceiver module and second tailstock transceiver module, and by described first
Distance is used as the distance between the vehicle and the front vehicles.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633620.2A CN109307861B (en) | 2017-07-28 | 2017-07-28 | Vehicle, vehicle positioning method and vehicle-mounted equipment |
| PCT/CN2018/097079 WO2019020058A1 (en) | 2017-07-28 | 2018-07-25 | Vehicle, vehicle positioning method and vehicle-mounted device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633620.2A CN109307861B (en) | 2017-07-28 | 2017-07-28 | Vehicle, vehicle positioning method and vehicle-mounted equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109307861A true CN109307861A (en) | 2019-02-05 |
| CN109307861B CN109307861B (en) | 2021-09-03 |
Family
ID=65039413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710633620.2A Active CN109307861B (en) | 2017-07-28 | 2017-07-28 | Vehicle, vehicle positioning method and vehicle-mounted equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109307861B (en) |
| WO (1) | WO2019020058A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111880142A (en) * | 2020-08-10 | 2020-11-03 | 北京天润海图科技有限公司 | Vehicle positioning method and device |
| WO2021136445A1 (en) * | 2020-01-02 | 2021-07-08 | 京东方科技集团股份有限公司 | Vehicle positioning method and apparatus, and vehicle |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0510363B1 (en) * | 1991-03-20 | 1996-06-05 | Mitsubishi Denki Kabushiki Kaisha | Distance measuring device |
| CN1166420A (en) * | 1996-03-08 | 1997-12-03 | 日产柴油机工业株式会社 | Vehicle longitudinal spacing controller |
| US20020198632A1 (en) * | 1997-10-22 | 2002-12-26 | Breed David S. | Method and arrangement for communicating between vehicles |
| CN1536775A (en) * | 2003-04-08 | 2004-10-13 | ������������ʽ���� | Installation outside vehicle, communication device between vehicles, installation outside vehicle, communication method between vehicles |
| CN2906786Y (en) * | 2006-05-09 | 2007-05-30 | 林贵生 | Interactive intelligent spike and its road net information system |
| CN101645821A (en) * | 2008-08-05 | 2010-02-10 | 株式会社东芝 | Rail vehicle internal information network device |
| CN102963397A (en) * | 2011-08-31 | 2013-03-13 | 周颖平 | Anti-tailgating monitoring system and method |
| CN103048980A (en) * | 2013-01-09 | 2013-04-17 | 南车株洲电力机车研究所有限公司 | Wireless reconnection automatic parameter configuration method and system for locomotives |
| CN103123394A (en) * | 2011-11-21 | 2013-05-29 | 比亚迪股份有限公司 | Method and system for setting threshold value of proximity sensor |
| CN104169738A (en) * | 2012-04-26 | 2014-11-26 | 英特尔公司 | Determining relative positioning information |
| CN104199016A (en) * | 2014-09-12 | 2014-12-10 | 四川九洲电器集团有限责任公司 | Wireless ranging method based on CSS (chirp spread spectrum sequence) technology and CSS wireless terminal |
| CN104237872A (en) * | 2014-09-02 | 2014-12-24 | 中国矿业大学 | Mine locomotive anticollision method and device based on segmented hybrid distance measurement |
| CN104459675A (en) * | 2014-12-03 | 2015-03-25 | 吕云亭 | Ranging-based object positioning and tracking method and positioning equipment using method |
| CN104504902A (en) * | 2014-12-29 | 2015-04-08 | 李德毅 | Road right for vehicle to use, road right calculation method and road right-based road charging method |
| CN105116404A (en) * | 2015-06-26 | 2015-12-02 | 深圳市元征科技股份有限公司 | Measuring method for distance between vehicles and vehicle-mounted terminal |
| CN105291965A (en) * | 2015-11-04 | 2016-02-03 | 石海水 | Automobile anti-collision method and device |
| CN205098042U (en) * | 2015-08-27 | 2016-03-23 | 苏州经贸职业技术学院 | A car that is used for ranging system of automobile and is loaded with this system |
| CN105891811A (en) * | 2015-10-16 | 2016-08-24 | 乐卡汽车智能科技（北京）有限公司 | Method and device for determining distance between vehicles in Internet of Vehicles |
| CN205524233U (en) * | 2016-01-21 | 2016-08-31 | 安徽理工大学 | Car obstacle detection early warning system based on infrared detection technology |
| CN106503698A (en) * | 2016-12-07 | 2017-03-15 | 哈尔滨工业大学 | A kind of signalized intersections queuing vehicle static state spacing method for rapidly estimating |
| DE102006003625B4 (en) * | 2006-01-26 | 2017-06-08 | Maik Ziegler | Method for regulating the distance of a vehicle to a leading vehicle ahead |
| CN106842269A (en) * | 2017-01-25 | 2017-06-13 | 北京经纬恒润科技有限公司 | Localization method and system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102854500A (en) * | 2012-08-20 | 2013-01-02 | 郭晓鹏 | Unidirectional wireless ranging method and unidirectional wireless ranging device for vehicles |
| CN104973051B (en) * | 2015-06-11 | 2018-10-26 | 奇瑞汽车股份有限公司 | Adjust the methods, devices and systems of Vehicle Speed |
-
2017
- 2017-07-28 CN CN201710633620.2A patent/CN109307861B/en active Active
-
2018
- 2018-07-25 WO PCT/CN2018/097079 patent/WO2019020058A1/en active Application Filing
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0510363B1 (en) * | 1991-03-20 | 1996-06-05 | Mitsubishi Denki Kabushiki Kaisha | Distance measuring device |
| CN1166420A (en) * | 1996-03-08 | 1997-12-03 | 日产柴油机工业株式会社 | Vehicle longitudinal spacing controller |
| US20020198632A1 (en) * | 1997-10-22 | 2002-12-26 | Breed David S. | Method and arrangement for communicating between vehicles |
| CN1536775A (en) * | 2003-04-08 | 2004-10-13 | ������������ʽ���� | Installation outside vehicle, communication device between vehicles, installation outside vehicle, communication method between vehicles |
| DE102006003625B4 (en) * | 2006-01-26 | 2017-06-08 | Maik Ziegler | Method for regulating the distance of a vehicle to a leading vehicle ahead |
| CN2906786Y (en) * | 2006-05-09 | 2007-05-30 | 林贵生 | Interactive intelligent spike and its road net information system |
| CN101645821A (en) * | 2008-08-05 | 2010-02-10 | 株式会社东芝 | Rail vehicle internal information network device |
| CN102963397A (en) * | 2011-08-31 | 2013-03-13 | 周颖平 | Anti-tailgating monitoring system and method |
| CN103123394A (en) * | 2011-11-21 | 2013-05-29 | 比亚迪股份有限公司 | Method and system for setting threshold value of proximity sensor |
| CN104169738A (en) * | 2012-04-26 | 2014-11-26 | 英特尔公司 | Determining relative positioning information |
| CN103048980A (en) * | 2013-01-09 | 2013-04-17 | 南车株洲电力机车研究所有限公司 | Wireless reconnection automatic parameter configuration method and system for locomotives |
| CN104237872A (en) * | 2014-09-02 | 2014-12-24 | 中国矿业大学 | Mine locomotive anticollision method and device based on segmented hybrid distance measurement |
| CN104199016A (en) * | 2014-09-12 | 2014-12-10 | 四川九洲电器集团有限责任公司 | Wireless ranging method based on CSS (chirp spread spectrum sequence) technology and CSS wireless terminal |
| CN104459675A (en) * | 2014-12-03 | 2015-03-25 | 吕云亭 | Ranging-based object positioning and tracking method and positioning equipment using method |
| CN104504902A (en) * | 2014-12-29 | 2015-04-08 | 李德毅 | Road right for vehicle to use, road right calculation method and road right-based road charging method |
| CN105116404A (en) * | 2015-06-26 | 2015-12-02 | 深圳市元征科技股份有限公司 | Measuring method for distance between vehicles and vehicle-mounted terminal |
| CN205098042U (en) * | 2015-08-27 | 2016-03-23 | 苏州经贸职业技术学院 | A car that is used for ranging system of automobile and is loaded with this system |
| CN105891811A (en) * | 2015-10-16 | 2016-08-24 | 乐卡汽车智能科技（北京）有限公司 | Method and device for determining distance between vehicles in Internet of Vehicles |
| CN105291965A (en) * | 2015-11-04 | 2016-02-03 | 石海水 | Automobile anti-collision method and device |
| CN205524233U (en) * | 2016-01-21 | 2016-08-31 | 安徽理工大学 | Car obstacle detection early warning system based on infrared detection technology |
| CN106503698A (en) * | 2016-12-07 | 2017-03-15 | 哈尔滨工业大学 | A kind of signalized intersections queuing vehicle static state spacing method for rapidly estimating |
| CN106842269A (en) * | 2017-01-25 | 2017-06-13 | 北京经纬恒润科技有限公司 | Localization method and system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021136445A1 (en) * | 2020-01-02 | 2021-07-08 | 京东方科技集团股份有限公司 | Vehicle positioning method and apparatus, and vehicle |
| US11747431B2 (en) | 2020-01-02 | 2023-09-05 | Boe Technology Group Co., Ltd. | Vehicle positioning method and apparatus, and vehicle |
| CN111880142A (en) * | 2020-08-10 | 2020-11-03 | 北京天润海图科技有限公司 | Vehicle positioning method and device |
| CN111880142B (en) * | 2020-08-10 | 2023-05-09 | 北京天润海图科技有限公司 | Vehicle positioning method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109307861B (en) | 2021-09-03 |
| WO2019020058A1 (en) | 2019-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2850488C (en) | Ground device for train control system | |
| CN107161178B (en) | A kind of automatic tracking system and method for suspension train position in rolling stock section | |
| TWI313235B (en) | A method and apparatus for controlling trains, in particular a method and apparatus of the ertms type | |
| CN100414913C (en) | Serial data bus, motion system and method for the event-driven transmission of messages | |
| WO2020248410A1 (en) | Electronic beacon-based automatic train operation system | |
| EP0257909A2 (en) | Communicating vital control signals | |
| CN101186216B (en) | Switching locomotive operation safety monitoring apparatus | |
| EP2754583A1 (en) | On-vehicle device for train control system | |
| CN103048980B (en) | A kind of wireless heavy Automatic parameter collocation method of locomotive and system | |
| KR101361563B1 (en) | System and method for radiobased information interchange between trackside devices and vehicles moving along a track section, in particular of a railway system | |
| CN106515790B (en) | A kind of auxiliary anti-collision early warning method based on bilateral round trip ranging | |
| CN104684785B (en) | Method for positioning track vehicle | |
| EP2676860B1 (en) | Methods and Systems for Signal Fingerprinting | |
| EP2792573B1 (en) | Train control system | |
| CN104925090B (en) | A kind of detection method of integrity of train | |
| CN110730742B (en) | Method for operating a rail-bound transport system | |
| JP2019508996A (en) | Heavy freight train grouping device and grouping method, and electronically controlled pneumatic brake system | |
| CN104002834A (en) | Loop induction based tram main track switch control system and method | |
| CN109307861A (en) | Vehicle, vehicle positioning method and mobile unit | |
| Liu et al. | A novel train-to-train communication model design based on multihop in high-speed railway | |
| CN205186187U (en) | Accuse switch device electrical system of department | |
| Soliman et al. | Automatic train coupling: Challenges and key enablers | |
| CN109774738B (en) | Virtual-real combined safe train line module and electric coupler | |
| KR101607958B1 (en) | relay system between cab of ERTMS applied railway vehicle and the signal processing method | |
| US20200300600A1 (en) | Train control network, method for communication and method for controlling train integrity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |