CN110716573A - Intelligent tramcar over-bending system and control method thereof - Google Patents
Intelligent tramcar over-bending system and control method thereof Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention relates to an intelligent tramcar curve passing system and a control method, comprising a vehicle-mounted signal receiver which is communicated with a central control unit and used for transmitting curve information and vehicle positioning information; the vehicle-mounted radar is communicated with the central control unit and transmits the obstacle information around the tramcar; the displacement sensor is communicated with the central control unit and transmits the information of entering and exiting the curve; the passive transmitter is communicated with the vehicle-mounted signal receiver and internally provided with curve radius information and location positioning information; the central control unit sends a driving signal to the tramcar driving unit; the tramcar driving unit is used for receiving the control signal sent by the central control unit and controlling the speed of the tramcar. When the tramcar passes through a curve, the tramcar is intelligently controlled within a limited speed range; the dependence of the tramcar on manual driving of a driver is reduced, so that the tramcar is controlled to safely pass through a curve, and the safety and the reliability of the tramcar are greatly improved.
Description
Technical Field
The invention relates to the technical field of tramcar over-bending control, in particular to an intelligent tramcar over-bending system and a control method thereof.
Background
The tramcar is gradually accepted by people due to the advantages of low manufacturing cost, short construction period, low energy consumption, environmental protection and the like, becomes an effective means for solving the problem of urban traffic congestion, and is a main public transportation mode in medium and small cities. With the rapid development of economy, more and more cities are planning tramway lines.
However, the tramcar is often collided with other tramcars and social vehicles and pedestrians in europe and china due to the non-closed road right, especially the shared road right at the public intersection, the passenger vehicles and the pedestrians, and the probability is the greatest particularly when the tramcar passes through a curve and a level intersection, but the speed of the tramcar passing through the curve is mostly controlled manually at present, so that the speed of the tramcar passing through the curve is difficult to control and accidents are easy to happen.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent tramcar curve passing system and a control method thereof, wherein the tramcar can safely pass through a curve when the speed of the tramcar is within a specified range during turning.
The technical scheme adopted by the invention for solving the technical problems is as follows: an intelligent tramcar over-bending system is based on communication between a tramcar and the ground and comprises a vehicle-mounted signal receiver, a central control unit, a vehicle-mounted radar, a passive transmitter, a displacement sensor and a tramcar driving unit;
the vehicle-mounted signal receiver is arranged on the tramcar, communicates with the central control unit and transmits curve information and vehicle positioning information;
the vehicle-mounted radar is arranged at the head and two sides of the tramcar, is communicated with the central control unit and transmits the obstacle information around the tramcar;
the displacement sensor is arranged at the connection part of the tramcar body, is communicated with the central control unit and transmits the information of driving in and driving out of the curve;
the passive transmitter is arranged at a ground track curve and is communicated with the vehicle-mounted signal receiver, and curve radius information and location positioning information are arranged in the passive transmitter;
the central control unit is arranged on the tramcar and sends a driving signal to the tramcar driving unit;
and the tramcar driving unit is arranged on the tramcar, receives the control signal sent by the central control unit and is used for controlling the speed of the tramcar.
More specifically, the displacement sensors are at least two and are respectively arranged on the left side and the right side of the joint of the same tramcar, and the driving-in curve and the driving-out curve are judged by comparing the distance deviation between the displacement sensors on the two sides of the joint of the cars.
Further specifically, curve radius information and location positioning information are preset in the central control unit, a curve radius information code and a location positioning information code are built in the passive transmitter, the vehicle-mounted signal receiver receives the curve radius information code and the location positioning information code transmitted by the passive transmitter and transmits the curve radius information code and the location positioning information code to the central control unit, and the central control unit matches the prestored information according to the curve radius information code and the location positioning information code.
More specifically, the vehicle-mounted radar is a millimeter wave radar.
More specifically, the passive radiators are provided with 4 passive radiators, two passive radiators are a group of the two passive radiators and correspond to the ascending track and the descending track of the tramcar respectively, the passive radiators are arranged at the inlet and the outlet of the curve of the ascending track, and the passive radiators are arranged at the inlet and the outlet of the curve of the descending track.
More specifically, different codes are respectively embedded in the four passive transmitters to match with preset curve radius information and location positioning information in the central control unit.
More specifically, the over-bending speed of the tramcar is less than
More specifically, the radius R of the curve is calculated by the variation of the displacement sensors on both sides.
A control method of an intelligent tramcar bending system comprises the following steps:
s1, presetting curve radius information and location positioning information of each curve on a driving route in a central control unit of the tramcar, and setting different codes for different curves; meanwhile, a curve threshold value is set for the distance difference of the displacement sensor;
s2, transmitting the distance signals detected by the displacement sensors on the two sides to a central control unit;
s3, the central control unit performs difference processing on the two distance signals, compares the difference with a curve threshold value, continues to drive according to the current state if the difference is smaller than the curve threshold value, and enters step S4 if the difference is larger than or equal to the curve threshold value;
s4, the vehicle-mounted signal receiver receives a code sent by the first passive transmitter and transmits the code to the central control unit, the central control unit performs information matching according to the obtained code to obtain curve radius information and location positioning information, and the curve passing speed is obtained through calculation;
s5, the central control unit controls the tramcar driving unit to limit the speed of the tramcar, drives into the curve and ensures that the speed is in the range
The content of the compound is less than the content of the compound;
s6, the vehicle-mounted signal receiver receives a code sent by the second passive transmitter and transmits the code to the central control unit, meanwhile, after the central control unit receives distance information of the displacement sensors on the two sides and carries out difference processing, the difference value is compared with the curve threshold value, if the difference value is larger than or equal to the curve threshold value, the step S5 is continuously executed, and if the difference value is smaller than the curve threshold value, manual control is resumed.
More specifically, in step S5, the vehicle-mounted radar scans to obtain speed information and position information of the obstacle, and transmits the speed information and position information to the central control unit, and the central control unit determines the obstacle, and if no influence is caused, the vehicle-mounted radar continues to pass through the curve at the current speed; and if the influence is caused by judgment, decelerating or stopping to avoid the barrier.
The invention has the beneficial effects that: by adopting the system and the control method, the tramcar can be intelligently controlled to safely pass through the curve within a limited speed range when passing through the curve; the dependence of the tramcar on manual driving of a driver is reduced, speed-limiting driving is intelligently achieved, accordingly, the tramcar is controlled to safely pass through a curve, safety and reliability of the tramcar are greatly improved, and further popularization of the tramcar is facilitated.
Drawings
FIG. 1 is a schematic block diagram of an intelligent bending system of a tramcar;
fig. 2 is a flow chart of the intelligent tramcar bending control method.
In the figure: 1. a tram; 2. a vehicle-mounted signal receiver; 3. a central control unit; 4. a vehicle-mounted radar; 5. a passive transmitter; 6. a displacement sensor; 7. the track is bent.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The intelligent tramcar bending system is based on the communication between a tramcar 1 and the ground, and comprises a vehicle-mounted signal receiver 2, a central control unit 3, a vehicle-mounted radar 4, a passive transmitter 5, a displacement sensor 6 and a tramcar driving unit, wherein the vehicle-mounted signal receiver 2 is connected with the central control unit 3;
the passive transmitter 5 is arranged at a ground track curve 7 and is communicated with the vehicle-mounted signal receiver 2, curve radius information and location positioning information are built in the passive transmitter 5, code information of the passive transmitter 5 can be built in the passive transmitter 5, and the passive transmitter 5 transmits codes.
The vehicle-mounted signal receiver 2 is arranged on the lower apron board of the tramcar 1, communicates with the central control unit 3, receives information transmitted by the passive transmitter 5, transmits curve radius information and location positioning information or codes by the passive transmitter 5, and receives the information or the codes and transmits the information or the codes to the central control unit 3.
The vehicle-mounted radars 4 are arranged at the head and two sides of the tramcar 1 and are communicated with the central control unit 3, millimeter wave radars are adopted, and the vehicle-mounted radars 4 scan obstacles near a curve, form obstacle information and transmit the obstacle information to the central control unit 3; the obstacles include social vehicles, pedestrians, and the like.
The displacement sensor 6 is arranged at the joint of the carriages of the tramcar 1 and is communicated with the central control unit 3, the displacement sensor 6 detects the change of the distance between the carriages and transmits the change of the distance to the central control unit 3, and the central control unit 3 judges whether to drive in or out of a curve.
A central control unit 3 which is arranged on the tramcar 1 and sends a driving signal to the tramcar driving unit, wherein the central control unit 3 can receive the curve radius information and the location positioning information sent by the vehicle-mounted signal receiver 2 for processing and can also receive a code; when receiving the code, the central control unit 3 needs to preset the curve radius information and the location positioning information, and match the code with the curve radius information and the location positioning information one to one, so that the central control unit 3 can directly retrieve the useful information from the storage after receiving the code.
And the tramcar driving unit is arranged on the tramcar 1, receives a control signal sent by the central control unit 3 and is used for controlling the speed of the tramcar 1.
In order to conveniently judge whether the tramcar enters a curve or exits the curve, at least two displacement sensors 6 are arranged on the left side and the right side of the joint of the carriages of the same tramcar 1 respectively, two displacement sensors 6, namely a first displacement sensor and a second displacement sensor, are adopted in the scheme, the first displacement sensor is arranged on the left side of the tramcar 1, the second displacement sensor is arranged on the right side of the tramcar 1, after the tramcar enters the curve, the distance between the two carriages of the tramcar close to the outer side (right side) is increased, the distance between the two carriages close to the inner side (left side) is decreased, the distance between the two carriages detected by the first displacement sensor is decreased, and the distance between the two carriages detected by the second displacement sensor is increased, so that the tramcar 1 starts to curve; when the distances detected by the first displacement sensor and the second displacement sensor are basically the same, the tramcar 1 is judged to be out of the curve, and the judgment process is carried out by the central control unit 3; meanwhile, the radius of the curve can be calculated through a corresponding formula by measuring the distance between the two displacement sensors 6, the calculated radius value can be compared and checked with the radius of the built-in curve, and the radius of the curve can be obtained through the method for use when the radius of the built-in curve is inaccurate or has errors.
The use of the passive transmitters 5 is confirmed according to the ascending track and the descending track of the tramcar 1, the passive transmitters 5 are 4, two passive transmitters 5 are arranged on the ascending track, two passive transmitters 5 are arranged on the descending track, the passive transmitters are arranged at the inlet and the outlet of the ascending track and the descending track, and data transmission is carried out in a code sending and receiving mode in the scheme based on the limitation of the passive transmitters 5 and the central control unit 3; the 4 passive transmitters 5 are respectively provided with different codes to match with the preset curve radius information and the location positioning information in the central control unit 3; 4 passive transmitters 5 are an upstream inlet transmitter, an upstream outlet transmitter, a downstream inlet transmitter and a downstream outlet transmitter, and the 4 passive transmitters 5 are code-coded, for example, with 7-bit binary code, the upstream inlet transmitter is 0000001, the upstream outlet transmitter is 0000010, and the radius information and the location positioning information of the upstream track at the corresponding bend in the central control unit 3 represent the start and the end of the upstream track; the descending inlet emitter is 0000011, the descending outlet emitter is 0000100, and the information and the location positioning information corresponding to the descending track of the curve represent the beginning and the end of the descending track.
Limiting the speed of the tramcar 1 passing through the curve, wherein the curve speed is determined according to the radius of the curve, and the speed of the tramcar 1 passing through the curve should be less than
Based on the above system, the central control unit 3 processes the signal and the tram driving unit limits the speed, and the control method comprises the following steps as shown in fig. 2:
s1, presetting curve radius information and location information of each curve on a driving route in the central control unit 3 of the tramcar 1, where the driving route includes an ascending track and a descending track, and setting a plurality of different codes for different curves, and setting 4 codes in the present scheme; meanwhile, a curve threshold value is set for the distance difference of the displacement sensors 6, and since the tramcar 1 is bent on a straight track in the running process, the distances detected by the two displacement sensors 6 are different, and the curve threshold value is set for reducing the judgment error.
S2, the two displacement sensors 6 transmit the distance signals detected by them to the central control unit 3.
S3, the central control unit 3 performs a difference processing on the two distance signals, compares the difference value with the curve threshold, if the difference value is smaller than the curve threshold, it indicates that the tramcar 1 does not enter the curve, the tramcar 1 can continue to drive according to the current state, and if the difference value is greater than or equal to the curve threshold, it indicates that the tramcar 1 has already started to enter the curve, and then the process goes to step S4.
S4, the vehicle-mounted signal receiver 2 receives the code sent by the first passive transmitter (the uplink inlet transmitter) and transmits the code to the central control unit 3, the central control unit 3 carries out information matching according to the obtained code, the curve radius information and the location positioning information of the uplink track inlet are matched, and the curve passing speed is obtained through the obtained curve radius calculation.
S5, the central control unit 3 controls the tramcar 1 driving unit to limit the speed of the tramcar, drives into the curve and ensures the speed of the tramcar to be within the range
Within, the speed can be according to the local timeDense population and on-and off-duty peak selection.
S6, the tramcar 1 enters a curve to continue driving, the vehicle-mounted signal receiver 2 receives codes sent by a second passive transmitter (an uplink outlet transmitter) and transmits the codes to the central control unit 3, meanwhile, after the central control unit 3 receives distance information of the two displacement sensors 6 and performs difference processing, the difference value is compared with a curve threshold value, if the difference value is larger than or equal to the curve threshold value, the tramcar 1 is still in the curve, the step S6 is continuously executed, if the difference value is smaller than the curve threshold value, the tramcar 1 is shown to have already driven out of the curve, and manual control can be resumed.
In step S5, the vehicle-mounted radar 4 scans the periphery of the curve, obtains the speed information and the position information of the obstacle around the curve, and transmits the speed information and the position information to the central control unit 3, the central control unit 3 comprehensively judges the obstacle, and if the obstacle does not affect the normal running of the tramcar 1, the tramcar continues to run through the curve at the current speed; and if the obstacle is judged to influence the normal running of the tramcar, decelerating or stopping the tramcar to avoid the obstacle.
And continuously judging on the downlink track by the system and the control method.
In conclusion, by adopting the system and the control method, the tramcar 1 can be intelligently controlled to safely pass through the curve within a limited speed range when the tramcar 1 passes through the curve; meanwhile, whether pedestrians and social vehicles exist in the curve is judged, prejudgment is carried out in advance, and the vehicle is stopped in time. Thereby ensuring the safety of the vehicles and the pedestrians during traveling; the dependence of the tramcar 1 on manual driving of a driver is reduced, speed-limiting driving is intelligently achieved, accordingly, vehicles are controlled to safely pass through a curve, the safety and the reliability of the tramcar 1 are greatly improved, and further popularization of the tramcar 1 is facilitated.
It is to be emphasized that: the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. An intelligent tramcar over-bending system is based on communication between a tramcar (1) and the ground and is characterized by comprising a vehicle-mounted signal receiver (2), a central control unit (3), a vehicle-mounted radar (4), a passive transmitter (5), a displacement sensor (6) and a tramcar driving unit;
the vehicle-mounted signal receiver (2) is arranged on the tramcar (1), is communicated with the central control unit (3), and transmits curve information and vehicle positioning information;
the vehicle-mounted radar (4) is arranged at the head and two sides of the tramcar (1), is communicated with the central control unit (3), and transmits the obstacle information around the tramcar (1);
the displacement sensor (6) is arranged at the joint of the carriages of the tramcar (1), is communicated with the central control unit (3), and transmits the information of driving in and out of the curve;
the passive transmitter (5) is arranged at a ground track curve (7), is communicated with the vehicle-mounted signal receiver (2), and internally contains curve radius information and location positioning information;
the central control unit (3) is arranged on the tramcar (1) and sends a driving signal to the tramcar driving unit;
the tramcar driving unit is arranged on the tramcar (1) and used for receiving a control signal sent by the central control unit (3) and controlling the speed of the tramcar (1).
2. The intelligent tram passing bending system according to claim 1, wherein at least two displacement sensors (6) are respectively arranged at the left side and the right side of the connection position of the carriages of the same tram (1), and the driving-in curve and the driving-out curve are judged by comparing the distance deviation between the displacement sensors (6) at the two sides of the connection position of the carriages.
3. The intelligent tram passing bend system according to claim 1, wherein the central control unit (3) is preset with curve radius information and location positioning information, the passive transmitter (5) is embedded with a curve radius information code and a location positioning information code, the vehicle-mounted signal receiver (2) receives the curve radius information code and the location positioning information code transmitted by the passive transmitter (5) and transmits the same to the central control unit (3), and the central control unit (3) matches the prestored information according to the curve radius information code and the location positioning information code.
4. The tram intelligent overbending system according to claim 1, characterized in that the vehicle-mounted radar (4) is a millimeter wave radar.
5. The intelligent tram curve passing system according to claim 1, wherein the passive transmitters (5) are provided with 4 passive transmitters (5), and the two passive transmitters are in a group and respectively correspond to the ascending rail and the descending rail of the tram (1), the passive transmitters (5) are respectively arranged at the entrance and the exit of the curve of the ascending rail, and the passive transmitters (5) are respectively arranged at the entrance and the exit of the curve of the descending rail.
6. The intelligent tram curve passing system according to claim 5, wherein the four passive transmitters (5) are respectively embedded with different codes to match with preset curve radius information and location positioning information in the central control unit (3).
7. Tram intelligent overbending system according to claim 1, characterized in that the tram (1) overbending speed is less than
8. The intelligent tram curve passing system according to claim 2, wherein the radius R of the curve is calculated by the distance change of the displacement sensors (6) on two sides.
9. A control method of an intelligent tramcar over-bending system is characterized by comprising the following steps:
s1, presetting curve radius information and location positioning information of each curve on a driving route in a central control unit (3) of the tramcar (1), and setting different codes for different curves; meanwhile, a curve threshold value is set for the distance difference of the displacement sensor (6);
s2, transmitting the distance signals detected by the displacement sensors (6) on the two sides to a central control unit (3);
s3, the central control unit (3) performs difference processing on the two distance signals, compares the difference value with a curve threshold value, continues to drive according to the current state if the difference value is smaller than the curve threshold value, and enters step S4 if the difference value is larger than or equal to the curve threshold value;
s4, the vehicle-mounted signal receiver (2) receives the code sent by the first passive transmitter and transmits the code to the central control unit (3), the central control unit (3) performs information matching according to the obtained code to obtain curve radius information and location positioning information, and the curve passing speed is obtained through calculation;
s5, the central control unit (3) controls the tramcar driving unit to limit the speed of the tramcar (1), and the tramcar drives into a curve to ensure that the speed is in the curve
The content of the compound is less than the content of the compound;
s6, the vehicle-mounted signal receiver (2) receives a code sent by the second passive transmitter and transmits the code to the central control unit (3), meanwhile, after the central control unit (3) receives distance information difference processing of the displacement sensors (6) on the two sides, the difference value is compared with a curve threshold value, if the difference value is larger than or equal to the curve threshold value, the step S6 is continuously executed, and if the difference value is smaller than the curve threshold value, manual control is resumed.
10. The control method of the intelligent tram curve passing system according to the claim 9, characterized in that, at the same time of step S5, the vehicle-mounted radar (4) scans to obtain the speed information and position information of the obstacle and transmits the information to the central control unit (3), the central control unit (3) judges the obstacle, if not affecting, the central control unit continues to pass through the curve at the current speed; and if the influence is caused by judgment, decelerating or stopping to avoid the barrier.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112037552A (en) * | 2020-08-10 | 2020-12-04 | 北京航空航天大学 | Marshalling cooperative operation method of 5G-based unmanned transportation system in mining area |
| CN113745797A (en) * | 2020-05-27 | 2021-12-03 | 比亚迪汽车工业有限公司 | Antenna height adjusting system and vehicle |
| CN113885530A (en) * | 2021-11-03 | 2022-01-04 | 杭州豪盛电动车辆有限公司 | Automatic control method and system for rail transport vehicle and storage medium |
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