CN110716573B - Intelligent bending system of tramcar and control method thereof - Google Patents
Intelligent bending system of tramcar and control method thereof Download PDFInfo
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- CN110716573B CN110716573B CN201911057589.8A CN201911057589A CN110716573B CN 110716573 B CN110716573 B CN 110716573B CN 201911057589 A CN201911057589 A CN 201911057589A CN 110716573 B CN110716573 B CN 110716573B
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- 238000005452 bending Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims 2
- 230000004888 barrier function Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The invention relates to an intelligent bending system and a control method of a tramcar, wherein the intelligent bending system comprises a vehicle-mounted signal receiver which is communicated with a central control unit and used for transmitting bend information and vehicle positioning information; the vehicle-mounted radar is communicated with the central control unit and transmits barrier information around the tramcar; the displacement sensor is communicated with the central control unit and is used for transmitting information of entering and exiting the curve; a passive transmitter which communicates with the vehicle-mounted signal receiver and embeds curve radius information and location positioning information; a central control unit which sends a driving signal to a tram driving unit; and the tramcar driving unit is provided for receiving the control signal sent by the central control unit and used for controlling the speed of the tramcar. When the tramcar passes through a curve, the intelligent control of the tramcar is realized in a limited speed range; the dependence of the tramcar on manual driving of a driver is reduced, so that the vehicle is controlled to safely pass through a curve, and the safety and reliability of the tramcar are greatly improved.
Description
Technical Field
The invention relates to the technical field of tram bending control, in particular to an intelligent tram bending system and a control method thereof.
Background
The tramcar has the advantages of low cost, short construction period, low energy consumption, environmental protection and the like, is gradually accepted by people, becomes an effective means for solving urban traffic congestion, and is a main public traffic mode of small and medium-sized cities. With the rapid development of economies, more and more cities are planning tramlines.
However, the tramcar frequently has the event of collision between the tramcar and the social vehicle and pedestrians in europe and China due to the non-closed road rights, particularly the shared road rights of public intersections, passenger cars and pedestrians, particularly the maximum probability of collision when passing through curves and crossing flat roads, and the current speed of passing through the curves is mostly controlled manually, so that the speed of passing through the curves is not easy to control and accidents are easy to occur.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent tramcar bending system and a control method thereof, wherein the speed of the tramcar can be within a specified range when the tramcar turns, and the tramcar can safely pass through a bend.
The technical scheme adopted for solving the technical problems is as follows: the intelligent tramcar bending system is based on the 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 and is communicated with the central control unit, and bend information and vehicle positioning information are transmitted;
the vehicle-mounted radars are arranged on the head and two sides of the tramcar and are communicated with the central control unit to transmit barrier information around the tramcar;
the displacement sensor is arranged at the junction of the tramcar carriage and is communicated with the central control unit, and the displacement sensor is used for transmitting the information of entering and exiting the curve;
the passive transmitter is arranged at the curve of the ground track and is communicated with the vehicle-mounted signal receiver, and curve radius information and place positioning information are built in the passive transmitter;
the central control unit is arranged on the tram and sends a driving signal to the tram driving unit;
and the tramcar driving unit is arranged on the tramcar and is used for receiving the control signal sent by the central control unit and controlling the speed of the tramcar.
Further specifically, the displacement sensors are at least two and are respectively arranged at the left side and the right side of the joint of the same tramcar carriage, and the distance deviation between the displacement sensors at the two sides of the joint of the carriage is compared to judge the entering curve and the exiting curve.
Further specifically, curve radius information and location positioning information are preset in the central control unit, the passive transmitter is built in to form curve radius information codes and location positioning information codes, the vehicle-mounted signal receiver receives the curve radius information codes and the location positioning information codes transmitted by the passive transmitter and transmits the curve radius information codes and the location positioning information codes to the central control unit, and the central control unit is matched with pre-stored information according to the curve radius information codes and the location positioning information codes.
Further specifically, the vehicle-mounted radar is a millimeter wave radar.
Further, the passive transmitters are provided with 4 and two up-going tracks and down-going tracks which are respectively corresponding to the tramcar, the inlet and the outlet of the bend of the up-going track are provided with the passive transmitters, and the inlet and the outlet of the bend of the down-going track are provided with the passive transmitters.
Further, the four passive transmitters are respectively internally provided with different codes and match with preset curve radius information and preset place positioning information in the central control unit.
More specifically, the over-bending speed of the tram is less than
Further specifically, the radius R of the curve is calculated by the displacement sensor variation amounts described on both sides.
A control method of an intelligent bending system of a tram comprises the following steps:
s1, presetting curve radius information and place positioning information of each curve on a driving route in a central control unit of a tramcar, and setting different codes for different curves; setting a curve threshold value for the distance difference of the displacement sensor;
s2, the displacement sensors on the two sides transmit the detected distance signals to a central control unit;
s3, after the central control unit performs difference processing on the two distance signals, comparing the difference with a curve threshold, if the difference is smaller than the curve threshold, continuing to run according to the current state, and if the difference is greater than or equal to the curve threshold, entering a step S4;
s4, the vehicle-mounted signal receiver receives the 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 place positioning information, and the speed of passing through the curve is calculated;
s5, the central control unit controls the tramcar driving unit to limit the speed of the tramcar, and the tramcar is driven into a curve to ensure that the speed is within the range of the speed
Is within;
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 the difference processing of the distance information of the displacement sensors at 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 S5 is continuously executed, and if the difference value is smaller than the curve threshold value, the manual control is restored.
Further specifically, in step S5, the vehicle radar scans at the same time, acquires speed information and position information of the obstacle, and transmits the speed information and the position information to the central control unit, and the central control unit judges the obstacle, and if the obstacle is not affected, the vehicle radar continues to pass through the curve at the current speed; if the influence is judged, the vehicle is decelerated or stopped to avoid the obstacle.
The beneficial effects of the invention are as follows: 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 the tramcar passes through the curve; the dependence of the tramcar on manual driving of a driver is reduced, speed-limiting driving is intelligently achieved, so that the safety of the vehicle passing through a curve is controlled, the 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 tram;
fig. 2 is a flowchart of the intelligent over-bending control method of the tram of the present invention.
In the figure: 1. tram car; 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. a track curve.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The intelligent tram bending system shown in fig. 1 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 tram driving unit based on the communication between a tram 1 and the ground;
the passive transmitter 5 is disposed at the ground track curve 7 and communicates with the vehicle-mounted signal receiver 2, and the curve radius information and the location positioning information are built in, or the code information of the passive transmitter 5 can be built in, and the passive transmitter 5 transmits the code.
And a vehicle-mounted signal receiver 2 which is arranged on the lower skirt board of the tram 1 and is communicated with the central control unit 3, receives information transmitted by the passive transmitter 5, and transmits curve radius information and place positioning information or codes to the passive transmitter 5, wherein the vehicle-mounted signal receiver 2 receives the information or codes and transmits the information or codes to the central control unit 3.
The vehicle-mounted radar 4 is arranged on the head and two sides of the tramcar 1 and is communicated with the central control unit 3, and the vehicle-mounted radar 4 scans obstacles near a curve to form obstacle information and transmits the obstacle information to the central control unit 3 by adopting a millimeter wave radar; obstacles include social vehicles, pedestrians, and the like.
The displacement sensor 6 is arranged at the junction of the carriages of the tram 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 drive out of a curve.
The central control unit 3 is arranged on the tram 1 and sends a driving signal to the tram driving unit, and the central control unit 3 can receive and process the curve radius information and the place positioning information sent by the vehicle-mounted signal receiver 2 and can also receive codes; when receiving the codes, the central control unit 3 needs to preset curve radius information and location positioning information, and match the codes with the curve radius information and the location positioning information one by one, so that the central control unit 3 can conveniently and directly call the useful information from the storage library after receiving the codes.
The tram driving unit is arranged on the tram 1 and receives a control signal sent by the central control unit 3 and is used for controlling the speed of the tram 1.
In order to facilitate the judgment of the entering curve and the exiting curve, the displacement sensors 6 are at least two and are respectively arranged at the left side and the right side of the joint of the carriages of the same tram 1, in the scheme, two displacement sensors 6 are adopted, namely a first displacement sensor and a second displacement sensor, the first displacement sensor is arranged at the left side of the tram 1, the second displacement sensor is arranged at the right side of the tram 1, when the tram enters the curve, the distance between the two carriages of the tram, which is close to the outer side (right side), is increased, the distance between the two carriages, which is 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 is increased, so that the tram 1 starts to perform the curve; when the distance detected by the first displacement sensor is substantially the same as that detected by the second displacement sensor, the tram 1 is illustrated as being driven out of the curve, and the above-mentioned judging processes are all performed by the central control unit 3; meanwhile, the radius of the curve at the position can be calculated through a corresponding formula through the measurement of 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 for use through the method when the called radius of the built-in curve is inaccurate or has errors.
The use of the passive transmitters 5 is confirmed according to the uplink track and the downlink track of the tramcar 1, the passive transmitters 5 are arranged in 4 pairs and are respectively corresponding to the uplink track and the downlink track, namely, two passive transmitters 5 are arranged on the uplink track, two passive transmitters 5 are arranged on the downlink track, and are arranged at the inlet and the outlet of the uplink track and the downlink track, and based on the limitation of the passive transmitters 5 and the central control unit 3, the scheme adopts the mode of sending and receiving codes to transfer data; 4 passive transmitters 5 are respectively internally provided with different codes and are matched with preset curve radius information and place positioning information in the central control unit 3; the 4 passive transmitters 5 are an upward going port transmitter, a downward going port transmitter and a downward going port transmitter, the 4 passive transmitters 5 are coded, for example, a 7-bit binary code is used, the upward going port transmitter is 0000001, the upward going port transmitter is 0000010, and the upward going port transmitter corresponds to the upward going track radius information and the position positioning information at the corresponding curve position in the central control unit 3 and represents the beginning and the ending of the upward going track; the down-going port emitter is 0000011, the down-going outlet emitter is 0000100, and the information and the place positioning information of the down-going track of the curve at the position are corresponding, and meanwhile, the start and the end of the down-going track are represented.
The speed of the tram 1 passing through the curve is limited, the curve speed is determined according to the radius of the curve, and the speed of the tram 1 passing through the curve is smaller than
Based on the above system, the signal is processed by the central control unit 3 and the speed is limited by the tram drive unit, as shown in fig. 2, the control method comprises the steps of:
s1, curve radius information and place positioning information of each curve on a driving route are preset in a central control unit 3 of a tramcar 1, the driving route comprises an uplink track and a downlink track, a plurality of different codes are set for different curves, and 4 codes are set in the scheme; meanwhile, a curve threshold is set for the distance difference of the displacement sensors 6, and the tramcar 1 is bent on a straight track in the running process, so that the distances detected by the two displacement sensors 6 are different, and the curve threshold is set for reducing judgment errors.
S2, the two displacement sensors 6 transmit the distance signals detected by the two displacement sensors to the central control unit 3.
And S3, after the central control unit 3 performs difference processing on the two distance signals, comparing the difference with a curve threshold, if the difference is smaller than the curve threshold, the tram 1 is indicated to not enter the curve, the tram 1 can continue to run according to the current state, and if the difference is greater than or equal to the curve threshold, the tram 1 is indicated to start entering the curve, and at the moment, the step S4 is entered.
S4, the vehicle-mounted signal receiver 2 receives the code sent by the first passive transmitter (the upward travel port transmitter) and transmits the code to the central control unit 3, the central control unit 3 performs information matching according to the obtained code, the information is matched with curve radius information and place positioning information of an upward track inlet, and the passing curve speed is obtained through calculation of the obtained curve radius.
S5, the central control unit 3 controls the drive unit of the tram 1 to limit the speed of the tram, and the tram enters a curve to ensure that the speed is within the range of
The speed can be selected according to local time, population density and rush hour.
S6, the tramcar 1 enters a curve to continue running, the vehicle-mounted signal receiver 2 receives a code sent by a second passive transmitter (an uplink outlet transmitter) and transmits the code to the central control unit 3, meanwhile, the central control unit 3 receives the difference processing of the distance information of the two displacement sensors 6, 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 to continue to execute the step S6, if the difference value is smaller than the curve threshold value, the tramcar 1 is stopped from the curve, and manual control can be restored at the moment.
In step S5, the vehicle radar 4 scans around the curve to acquire speed information and position information of obstacles 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 obstacles, and if the obstacles are judged not to influence the normal running of the tramcar 1, the vehicle continues to run through the curve at the current speed; if the obstacle is judged to influence the normal running of the tramcar, the vehicle is decelerated or stopped to avoid the obstacle.
And continuing to judge on the downlink track through the system and the control method.
In sum, by adopting the system and the control method, the tram 1 can be intelligently controlled to safely pass through the curve within a limited speed range when the tram 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 travel safety of vehicles and pedestrians; the dependence of the tram 1 on manual driving of a driver is reduced, speed-limiting driving is intelligently achieved, so that the safety of a vehicle passing through a curve is controlled, the safety and reliability of the tram 1 are greatly improved, and further popularization of the tram 1 is facilitated.
It is emphasized that: the above embodiments are merely preferred embodiments of the present invention, and the present invention is not limited in any way, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (8)
1. The intelligent tramcar 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) and is communicated with the central control unit (3) to transmit curve information and vehicle positioning information;
the vehicle-mounted radars (4) are arranged on the head and two sides of the tramcar (1) and are communicated with the central control unit (3) to transmit obstacle information around the tramcar (1);
the displacement sensor (6) is arranged at the carriage connecting position of the tramcar (1) and is communicated with the central control unit (3) to transmit the information of entering and exiting the curve;
the passive transmitter (5) is arranged at a ground track curve (7) and is communicated with the vehicle-mounted signal receiver (2), and curve radius information and place positioning information are built in;
a central control unit (3) which is arranged on the tram (1) and sends a driving signal to the tram driving unit;
the tram driving unit is arranged on the tram (1) and is used for receiving a control signal sent by the central control unit (3) and controlling the speed of the tram (1);
the displacement sensors (6) are at least two and are respectively arranged at the left side and the right side of the joint of the carriages of the same tramcar (1), and the entering curve and the exiting curve are judged by comparing the distance deviation between the displacement sensors (6) at the two sides of the joint of the carriages; the radius R of the curve is calculated by the distance variation of the displacement sensors (6) on both sides.
2. The intelligent bending system of the tramcar according to claim 1, wherein the curve radius information and the location positioning information are preset in the central control unit (3), the passive transmitter (5) is built into the curve radius information code and the 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 curve radius information code and the location positioning information code to the central control unit (3), and the central control unit (3) matches pre-stored information according to the curve radius information code and the location positioning information code.
3. The intelligent bending system of the tram according to claim 1, wherein the vehicle-mounted radar (4) is a millimeter wave radar.
4. The intelligent bending system of the tram according to claim 1, wherein the passive transmitters (5) are provided with 4 ascending tracks and two descending tracks which are respectively corresponding to the tram (1), the passive transmitters (5) are arranged at the inlet and the outlet of the bend of the ascending track, and the passive transmitters (5) are arranged at the inlet and the outlet of the bend of the descending track.
5. The intelligent bending system of the tramcar according to claim 4, wherein the four passive transmitters (5) are respectively internally provided with different codes and match with preset curve radius information and preset location positioning information in the central control unit (3).
6. The intelligent bending system of the tram according to claim 1, wherein the bending speed of the tram (1) is smaller than
7. The control method of the intelligent bending system of the tram is characterized by comprising the following steps of:
s1, presetting curve radius information and place positioning information of each curve on a driving route in a central control unit (3) of a tramcar (1), and setting different codes for different curves; setting a curve threshold value for the distance difference of the displacement sensor (6);
s2, the displacement sensors (6) on the two sides transmit the detected distance signals to the central control unit (3);
s3, after the central control unit (3) performs difference processing on the two distance signals, comparing the difference with a curve threshold, if the difference is smaller than the curve threshold, continuing to run according to the current state, and if the difference is greater than or equal to the curve threshold, entering a step S4;
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 place positioning information, and the speed of passing through the curve is calculated;
s5, the central control unit (3) controls the tramcar driving unit to limit the speed of the tramcar (1), and the tramcar is driven into a curve to ensure that the speed is within the range of the speed
Is within;
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, the central control unit (3) compares the difference value of the distance information received by the displacement sensors (6) at the two sides with a curve threshold value after the distance information is subjected to difference processing, 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 restored.
8. The method for controlling the intelligent bending system of the tram according to claim 7, wherein the step S5 is performed while the vehicle-mounted radar (4) scans, the speed information and the position information of the obstacle are acquired and transmitted to the central control unit (3), the central control unit (3) judges the obstacle, and if the obstacle is not affected, the vehicle-mounted radar (4) continues to pass through the curve at the current speed; if the influence is judged, the vehicle is decelerated or stopped to avoid the obstacle.
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| CN113745797B (en) * | 2020-05-27 | 2024-01-05 | 比亚迪汽车工业有限公司 | Antenna height adjustment system and vehicle |
| CN112037552B (en) * | 2020-08-10 | 2021-06-25 | 北京航空航天大学 | Marshalling cooperative operation method of 5G-based unmanned transportation system in mining area |
| CN113885530B (en) * | 2021-11-03 | 2024-02-09 | 杭州豪盛电动车辆有限公司 | Automatic control method, system and storage medium for rail transport vehicle |
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| CN105667509A (en) * | 2015-12-30 | 2016-06-15 | 苏州安智汽车零部件有限公司 | Curve control system and method applied to automobile adaptive cruise control (ACC) system |
| CN106627670B (en) * | 2016-12-19 | 2018-06-15 | 交控科技股份有限公司 | A kind of train protection system and method based on laser detection |
| CN107170291B (en) * | 2017-06-28 | 2020-03-24 | 北京新能源汽车股份有限公司 | Driving prompting method and system, vehicle-mounted terminal and automobile |
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