CN112277787A - Virtual track self-adaptive lighting device and method of intelligent rail electric car - Google Patents

Virtual track self-adaptive lighting device and method of intelligent rail electric car Download PDF

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Publication number
CN112277787A
CN112277787A CN201910667320.5A CN201910667320A CN112277787A CN 112277787 A CN112277787 A CN 112277787A CN 201910667320 A CN201910667320 A CN 201910667320A CN 112277787 A CN112277787 A CN 112277787A
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China
Prior art keywords
headlamp
control unit
steering control
vehicle
virtual
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CN201910667320.5A
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Inventor
张新锐
袁希文
胡云卿
龙腾蛟
王斌
李晓光
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CRRC Zhuzhou Institute Co Ltd
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CRRC Zhuzhou Institute Co Ltd
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Priority to CN201910667320.5A priority Critical patent/CN112277787A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/12—Steering parameters
    • B60Q2300/122—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/13—Attitude of the vehicle body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/322—Road curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/324—Road inclination, e.g. uphill or downhill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/20—Multi-color single source or LED matrix, e.g. yellow blinker and red brake lamp generated by single lamp

Abstract

The invention provides a virtual track self-adaptive lighting device of an intelligent rail electric car, wherein the intelligent rail electric car runs along the virtual track, and the intelligent rail electric car comprises: the virtual track self-adaptive lighting device is also provided with a vehicle-mounted virtual track circuit diagram storage unit connected with the headlamp steering control unit, the vehicle-mounted virtual track circuit diagram storage unit is connected with an external operation management center through a vehicle-ground wireless private network and can receive and store real-time virtual track circuit data sent by the operation management center for the headlamp steering control unit to read and search, and the headlamp steering control unit outputs a steering instruction to the steer-by-wire headlamp according to the data of the visual perception module, the inertial satellite combined navigation system and the vehicle-mounted virtual track circuit diagram storage unit.

Description

Virtual track self-adaptive lighting device and method of intelligent rail electric car
Technical Field
The invention relates to the field of lighting systems, in particular to a headlamp adaptive lighting system of a vehicle.
Background
The intelligent rail electric car is a new type urban public passenger train, and is characterized by that it uses rubber-tyred trackless car, shares the right of way with traditional car and can not run along fixed track any more. The special electric power system has the advantages of flexible bus running and low construction and maintenance cost, has the advantage of high transportation capacity, and overcomes the defects that infrastructure construction and vehicle acquisition cost are high for subways, light rails, trams and the like, and special electric power system and rail matching design are needed.
The intelligent rail electric car cancels the steel rail, takes the place of the steel rail and runs along the ground virtual track in a mode of rubber wheel bearing and steering wheel steering, the ground virtual track is flexibly arranged, the car does not need to run along the fixed track, the capital construction cost is greatly reduced, and the intelligent rail electric car has greater operation advantages compared with the tramcar. Meanwhile, the traffic system has the running characteristics of road right sharing and mixed traffic, so that the traffic system has the advantage of flexible organization in the aspect of line arrangement. At present, automatic tracking based on vision is realized on the smart track electric car, and the intelligent level of the smart track electric car is further improved.
However, some unsafe factors may still exist in the actual operation process. When the train runs at night, if the traditional fixed head lamp is adopted, the head lamp can only irradiate the road surface right ahead the train, when the curve is touched, the light can not change the direction, and the curve section can form partial blind areas. On the one hand, a driver cannot see pedestrians and vehicles on the road surface of the curve, and on the other hand, the intelligent rail electric car cannot identify the virtual track on the curve, so that the following precision is influenced, and the vehicles run and have potential safety hazards.
Disclosure of Invention
The invention aims to solve the technical problem that aiming at the defects of the prior art, the invention provides the virtual track self-adaptive lighting device of the intelligent rail electric car, which can adjust the turning angle of the head lamp of the car in real time, eliminate blind areas, improve the driving safety of the car and protect pedestrians.
In order to solve the above problems, according to a first aspect of the present invention, there is provided a virtual rail adaptive lighting device of a smart rail electric car that travels along a virtual rail, including:
the drive-by-wire steering headlamp can be an LED headlamp;
a visual perception module for identifying the virtual track;
the inertial satellite integrated navigation system is used for receiving satellite positioning data, vehicle attitude and speed data;
the headlamp steering control unit is connected with the steering-by-wire headlamp, the vision perception module and the inertial satellite integrated navigation system and can perform data interaction with the vision perception module, the inertial satellite integrated navigation system and the steering-by-wire headlamp;
the virtual track self-adaptive lighting device is also provided with a vehicle-mounted virtual track circuit diagram storage unit connected with the headlamp steering control unit, and the vehicle-mounted virtual track circuit diagram storage unit is connected with an external operation management center through a vehicle-ground wireless private network and can receive and store real-time virtual track circuit data sent by the operation management center for the headlamp steering control unit to read and search;
and the headlamp steering control unit outputs a steering instruction to the steer-by-wire headlamp according to the data of the visual perception module, the inertial satellite integrated navigation system and the vehicle-mounted virtual orbit circuit diagram storage unit.
Preferably, the headlamp steering control unit is connected with the steer-by-wire headlamp and the vision perception module through a CAN bus.
Preferably, the vision perception module is connected with the headlamp steering control unit through a whole vehicle CAN bus.
Preferably, the headlamp steering control unit is connected with the inertial satellite integrated navigation system and the vehicle-mounted virtual orbit roadmap storage unit through ethernet or RS 232.
Preferably, the vehicle-mounted virtual track road map storage unit can receive and store data including set traveling track, heading angle, road gradient and road curvature information sent by the operation management center.
Preferably, the headlight steering control unit is capable of receiving data of the inertial satellite integrated navigation system, including real-time positioning, attitude and speed information.
Preferably, the operation management center can send the initial setting and the instant intervention data of the virtual track to a vehicle-mounted virtual track layout storage unit.
Preferably, the visual perception module can collect front image data of the smart rail electric car, and the virtual track is identified through feature extraction.
Preferably, the virtual track adaptive lighting device performs the following steps in adaptive lighting:
step 1: the vision perception module sends the recognized front virtual track information to the headlamp steering control unit;
step 2: the inertial satellite integrated navigation system sends real-time satellite positioning, vehicle attitude and vehicle speed data to the headlamp steering control unit;
and step 3: the headlamp steering control unit acquires real-time vehicle speed and calculates to obtain the position of a vehicle preview point P;
and 4, step 4: the headlamp steering control unit reads data in the vehicle-mounted virtual track circuit diagram storage unit and searches GPS track data of the preview point P;
and 5: the headlamp steering control unit reads the virtual orbit data of the pre-aiming point P identified by the visual perception module;
step 6: the headlamp steering control unit extracts the course angle theta of the preview point PpCalculating a real-time vehicle heading angle θ0Obtaining a course angle difference delta theta;
and 7: the headlamp steering control unit calculates an expected headlamp turning angle
Figure BDA0002140539430000031
And 8: the headlight steering control unit is used for controlling the turning of the headlightThe desired headlamp angle
Figure BDA0002140539430000032
And sending the signal to the steer-by-wire headlamp to control the steering of the headlamp.
Preferably, in the step 3, the position of the preview point P is calculated according to a formula L ═ v × T, where v is a real-time vehicle speed, L is a look-ahead distance, and T is a fixed coefficient.
Preferably, in step 7, the desired headlamp turning angle
Figure BDA0002140539430000033
According to the formula
Figure BDA0002140539430000034
Is calculated to obtain, wherein KθIs a compensation factor.
According to a second aspect of the present invention, a virtual track adaptive lighting method for a smart rail electric car is provided, the smart rail electric car comprises a headlight steering control unit, a steer-by-wire headlight, a vision sensing module, an inertial satellite integrated navigation system and a vehicle-mounted virtual track layout storage unit, wherein the headlight steering control unit is connected with the steer-by-wire headlight, the vision sensing module, the inertial satellite integrated navigation system and the vehicle-mounted virtual track layout storage unit for data interaction,
the virtual track self-adaptive lighting method comprises the following steps:
step 1: the vision perception module sends the recognized front virtual track information to the headlamp steering control unit;
step 2: the inertial satellite integrated navigation system sends real-time satellite positioning, vehicle attitude and vehicle speed data to the headlamp steering control unit;
and step 3: the headlamp steering control unit acquires real-time vehicle speed and calculates to obtain the position of a vehicle preview point P;
and 4, step 4: the headlamp steering control unit reads data in the vehicle-mounted virtual track circuit diagram storage unit and searches GPS track data of the preview point P;
and 5: the headlamp steering control unit reads the virtual orbit data of the pre-aiming point P identified by the visual perception module;
step 6: the headlamp steering control unit extracts the course angle theta of the preview point PpCalculating a real-time vehicle heading angle θ0Obtaining a course angle difference delta theta;
and 7: the headlamp steering control unit calculates an expected headlamp turning angle
Figure BDA0002140539430000041
And 8: the headlight steering control unit steers the desired headlight angle
Figure BDA0002140539430000042
And sending the signal to the steer-by-wire headlamp to control the steering of the headlamp.
Preferably, in step 1, the visual perception module may collect front image data of the smart rail car, and identify the virtual rail by feature extraction.
Preferably, in the step 3, the position of the preview point P is calculated according to a formula L ═ v × T, where v is a real-time vehicle speed, L is a look-ahead distance, and T is a fixed coefficient.
Preferably, in step 7, the desired headlamp turning angle
Figure BDA0002140539430000043
According to the formula
Figure BDA0002140539430000044
Is calculated to obtain, wherein KθIs a compensation factor.
Preferably, the headlamp steering control unit performs data interaction with the steer-by-wire LED headlamp and the vision perception module through a CAN bus.
Preferably, the headlamp steering control unit performs data interaction with the visual perception module through a whole vehicle CAN bus.
Preferably, the headlight steering control unit performs data interaction with the inertial satellite integrated navigation system and the vehicle-mounted virtual orbit roadmap storage unit through ethernet or RS 232.
Preferably, the vehicle-mounted virtual track road map storage unit can interact data including set driving track, course angle, road gradient and road curvature information with the operation management center through a vehicle-to-ground wireless private network.
Preferably, the operation management center can send the initial setting and the instant intervention data of the virtual track to a vehicle-mounted virtual track layout storage unit.
Preferably, the headlight steering control unit can interact with the inertial satellite integrated navigation system to obtain data including real-time positioning, attitude and speed information.
Compared with the prior art, the intelligent track trolley bus can drive the LED headlights of the intelligent track trolley bus head to actively follow the front virtual track to illuminate, so that a driver can clearly observe the actual situation on the virtual track of the front curve road section at night, the visual field blind area and the virtual track recognition blind area of the intelligent track trolley bus driver at night are eliminated, the vehicle running safety is improved, meanwhile, the intelligent track trolley bus can accurately recognize the virtual track of the front curve road section at night, the virtual track line data updating frequency can be fixed, the data accuracy is improved, the input resources are reduced, and the requirements of all-day intelligent driving and all-weather operation are met.
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The foregoing summary, as well as the following detailed description of the invention, will be better understood when read in conjunction with the appended drawings. It is to be noted that the appended drawings are intended as examples of the claimed invention. In the drawings, like reference characters designate the same or similar elements.
Fig. 1 is a schematic view of a virtual track adaptive lighting device of a smart rail electric vehicle according to an embodiment of the invention;
fig. 2 is a schematic diagram of a virtual track adaptive lighting method of a smart rail electric vehicle according to an embodiment of the invention; and
FIG. 3 is a schematic diagram of a home position location in accordance with an embodiment of the invention.
Detailed Description
The detailed features and advantages of the present invention are described in detail in the detailed description which follows, and will be sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention will be easily understood by those skilled in the art from the description, claims and drawings disclosed in the present specification.
Referring to fig. 1, as a first aspect of the present invention, there is provided a virtual rail adaptive lighting apparatus of a smart rail electric car, the smart rail electric car traveling along a virtual rail, including:
a steer-by-wire headlamp;
a visual perception module for identifying the virtual track;
the inertial satellite integrated navigation system is used for receiving satellite positioning data, vehicle attitude and speed data;
the headlamp steering control unit is connected with the steering-by-wire headlamp, the vision perception module and the inertial satellite integrated navigation system and can perform data interaction with the vision perception module, the inertial satellite integrated navigation system and the steering-by-wire headlamp;
the virtual track self-adaptive lighting device is also provided with a vehicle-mounted virtual track circuit diagram storage unit connected with the headlamp steering control unit, and the vehicle-mounted virtual track circuit diagram storage unit is connected with an external operation management center through a vehicle-ground wireless private network and can receive and store real-time virtual track circuit data sent by the operation management center for the headlamp steering control unit to read and search;
and the headlamp steering control unit outputs a steering instruction to the steer-by-wire headlamp according to the data of the visual perception module, the inertial satellite integrated navigation system and the vehicle-mounted virtual orbit circuit diagram storage unit.
The invention has the functions of real-time positioning, virtual track line data receiving, virtual track line information query, decision driving of turning of headlights of the locomotive and the like.
Furthermore, the headlight steering control unit is connected with the steer-by-wire LED headlight and the vision perception module through a CAN bus (or other suitable modes).
Furthermore, the vision perception module is connected with the headlamp steering control unit through a whole vehicle CAN bus.
Further, the headlight steering control unit is connected with the inertial satellite integrated navigation system and the vehicle-mounted virtual orbit diagram storage unit through Ethernet or RS232 (or other suitable modes).
Furthermore, the vehicle-mounted virtual track road map storage unit can receive and store data which are sent by the management center and contain set running track, course angle, road gradient and road curvature information.
Furthermore, the headlight steering control unit can receive data containing real-time positioning, attitude and speed information of the inertial satellite integrated navigation system.
Furthermore, the operation management center can send the initial setting and the instant intervention data of the virtual track to the vehicle-mounted virtual track circuit diagram storage unit, which is mainly realized by sending the GPS track data of the initial or target running circuit to the vehicle-mounted virtual track circuit diagram storage unit.
Furthermore, the vision perception module can gather the place ahead image data of smart rail trolley bus, through the virtual track of feature extraction discernment.
The invention provides a virtual track self-adaptive lighting method of an intelligent rail electric car, the intelligent rail electric car comprises a headlight steering control unit, a steer-by-wire headlight, a vision perception module, an inertial satellite combined navigation system and a vehicle-mounted virtual track circuit diagram storage unit, the headlight steering control unit, the steer-by-wire LED headlight and the vision perception module are connected through a CAN bus (or other suitable modes), the headlight steering control unit and the inertial satellite combined navigation system are connected through an Ethernet or RS232 (or other suitable modes), so that the data interaction CAN be carried out on the headlight steering control unit, the steer-by-wire headlight, the vision perception module, the inertial satellite combined navigation system and the vehicle-mounted virtual track circuit diagram storage,
referring to fig. 2, the virtual rail adaptive illumination method includes the steps of:
step 1: the visual perception module sends the recognized front virtual track information to the headlamp steering control unit;
step 2: the inertial satellite integrated navigation system sends real-time satellite positioning, vehicle attitude and vehicle speed data to the headlamp steering control unit;
and step 3: the headlamp steering control unit acquires real-time vehicle speed and calculates to obtain the position of a vehicle preview point P;
and 4, step 4: the headlamp steering control unit reads data in the vehicle-mounted virtual track circuit diagram storage unit and searches GPS track data of a preview point P;
and 5: the headlamp steering control unit reads the virtual orbit data of the preview point P identified by the visual perception module;
step 6: the headlight steering control unit extracts the course angle theta of the pre-aiming point PpCalculating a real-time vehicle heading angle θ0Obtaining a course angle difference delta theta;
and 7: the headlight steering control unit calculates the expected headlight turning angle
Figure BDA0002140539430000061
And 8: the headlight steering control unit will expect the headlight turning angle
Figure BDA0002140539430000073
And sending the signal to the steer-by-wire headlamp to control the steering of the headlamp.
Further, in step 1, the vision perception module can collect the front image data of the intelligent tramcar, and the virtual track is identified through feature extraction.
Further, referring to fig. 3, in step 3, the position of the preview point P is calculated according to the formula L ═ v × T, where v is the real-time vehicle speed, L is the look-ahead distance, and T is a fixed coefficient, that is, a proportional value for predicting the future position of the vehicle according to the real-time vehicle speed.
Further, in step 7, a desired headlamp angle is obtained
Figure BDA0002140539430000071
According to the formula
Figure BDA0002140539430000072
Calculated to obtain, wherein, KθThe proportional compensation is performed on the expected headlamp rotation angle for the compensation coefficient, namely after the execution delay of the steer-by-wire headlamp is considered.
Since the execution time is affected by the vehicle speed, the compensation factor should be adjusted accordingly according to the vehicle speed. Compensation factor KθThe correspondence with the vehicle speed v is shown in the following table:
vehicle speed v (km/h) Kθ
v≤10 K1
10＜v≤25 K2
25＜v≤40 K3
40＜v≤55 K4
55＜v≤70 K5
The terms and expressions which have been employed herein are used as terms of description and not of limitation. The use of such terms and expressions is not intended to exclude any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications may be made within the scope of the claims. Other modifications, variations, and alternatives, such as the replacement of components of different specifications, may also exist. Accordingly, the claims should be looked to in order to cover all such equivalents.
Also, it should be noted that although the present invention has been described with reference to the current specific embodiments, it should be understood by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes or substitutions may be made without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments be included within the scope of the claims of the present application.

Claims (21)

1. A virtual track adaptive lighting device of a smart rail electric car, the smart rail electric car running along a virtual track, comprising:
a steer-by-wire headlamp;
a visual perception module for identifying the virtual track;
the inertial satellite integrated navigation system is used for receiving satellite positioning data, vehicle attitude and speed data;
the headlamp steering control unit is connected with the steering-by-wire headlamp, the vision perception module and the inertial satellite integrated navigation system and can perform data interaction with the vision perception module, the inertial satellite integrated navigation system and the steering-by-wire headlamp;
the virtual track self-adaptive lighting device is characterized by further comprising a vehicle-mounted virtual track circuit diagram storage unit connected with the headlamp steering control unit, wherein the vehicle-mounted virtual track circuit diagram storage unit is connected with an external operation management center through a vehicle-ground wireless private network and can receive and store real-time virtual track circuit data sent by the operation management center for the headlamp steering control unit to read and search;
and the headlamp steering control unit outputs a steering instruction to the steer-by-wire headlamp according to the data of the visual perception module, the inertial satellite integrated navigation system and the vehicle-mounted virtual orbit circuit diagram storage unit.
2. The virtual rail adaptive lighting device according to claim 1, wherein the headlight steering control unit is connected to the steer-by-wire headlight and the vision sensing module through a CAN bus.
3. The virtual rail adaptive lighting device according to claim 2, wherein the visual perception module is connected to the headlight steering control unit through a vehicle CAN bus.
4. The virtual rail adaptive lighting device as claimed in claim 1, wherein the headlight steering control unit is connected with the inertial satellite integrated navigation system and the vehicle-mounted virtual rail road map storage unit through ethernet or RS 232.
5. The virtual rail adaptive lighting device according to claim 1, wherein the vehicle-mounted virtual rail road map storage unit is capable of receiving and storing data including set travel track, heading angle, road gradient, and road curvature information transmitted from the operation management center.
6. The virtual rail adaptive lighting device as claimed in claim 1, wherein the headlight steering control unit is capable of receiving data of the inertial satellite integrated navigation system including real-time positioning, attitude and speed information.
7. The virtual track adaptive lighting device according to claim 1, wherein the operation management center is capable of transmitting initial setting and instant intervention data of the virtual track to an on-board virtual track layout storage unit.
8. The virtual rail adaptive lighting device according to claim 1, wherein the vision perception module is capable of collecting front image data of the smart rail car, and the virtual rail is identified by feature extraction.
9. The virtual rail adaptive lighting device according to claim 1, wherein the virtual rail adaptive lighting device performs the following steps when performing adaptive lighting:
step 1: the vision perception module sends the recognized front virtual track information to the headlamp steering control unit;
step 2: the inertial satellite integrated navigation system sends real-time satellite positioning, vehicle attitude and vehicle speed data to the headlamp steering control unit;
and step 3: the headlamp steering control unit acquires real-time vehicle speed and calculates to obtain the position of a vehicle preview point P;
and 4, step 4: the headlamp steering control unit reads data in the vehicle-mounted virtual track circuit diagram storage unit and searches GPS track data of the preview point P;
and 5: the headlamp steering control unit reads the virtual orbit data of the pre-aiming point P identified by the visual perception module;
step 6: the headlamp steering control unit extracts the course angle theta of the preview point PpCalculating a real-time vehicle heading angle θ0Obtaining a course angle difference delta theta;
and 7: the headlamp steering control unit calculates an expected headlamp turning angle
Figure FDA0002140539420000021
And 8: the headlight steering control unit steers the desired headlight angle
Figure FDA0002140539420000022
Is sent to the stationThe steer-by-wire headlamp controls the steering of the headlamp.
10. The virtual rail adaptive lighting device according to claim 9, wherein in the step 3, the position of the preview point P is calculated according to a formula L ═ v × T, where v is a real-time vehicle speed, L is a look-ahead distance, and T is a fixed coefficient.
11. The virtual rail adaptive lighting device according to claim 9, wherein in step 7, the desired headlight rotation angle
Figure FDA0002140539420000031
According to the formula
Figure FDA0002140539420000032
Is calculated to obtain, wherein KθIs a compensation factor.
12. A virtual track self-adaptive lighting method of an intelligent track electric car comprises a headlamp steering control unit, a steer-by-wire headlamp, a visual perception module, an inertial satellite combined navigation system and a vehicle-mounted virtual track circuit diagram storage unit, wherein the headlamp steering control unit is connected with the steer-by-wire headlamp, the visual perception module, the inertial satellite combined navigation system and the vehicle-mounted virtual track circuit diagram for data interaction,
the virtual track self-adaptive lighting method is characterized by comprising the following steps:
step 1: the vision perception module sends the recognized front virtual track information to the headlamp steering control unit;
step 2: the inertial satellite integrated navigation system sends real-time satellite positioning, vehicle attitude and vehicle speed data to the headlamp steering control unit;
and step 3: the headlamp steering control unit acquires real-time vehicle speed and calculates to obtain the position of a vehicle preview point P;
and 4, step 4: the headlamp steering control unit reads data in the vehicle-mounted virtual track circuit diagram storage unit and searches GPS track data of the preview point P;
and 5: the headlamp steering control unit reads the virtual orbit data of the pre-aiming point P identified by the visual perception module;
step 6: the headlamp steering control unit extracts the course angle theta of the preview point PpCalculating a real-time vehicle heading angle θ0Obtaining a course angle difference delta theta;
and 7: the headlamp steering control unit calculates an expected headlamp turning angle
Figure FDA0002140539420000033
And 8: the headlight steering control unit steers the desired headlight angle
Figure FDA0002140539420000034
And sending the signal to the steer-by-wire headlamp to control the steering of the headlamp.
13. The adaptive lighting method for virtual track according to claim 12, wherein in step 1, the vision perception module is capable of acquiring front image data of the smart rail car, and the virtual track is identified by feature extraction.
14. The method as claimed in claim 12, wherein in step 3, the location of the preview point P is calculated according to the formula L ═ v × T, where v is the real-time vehicle speed, L is the look-ahead distance, and T is a fixed coefficient.
15. The virtual rail adaptive lighting method according to claim 12, wherein in step 7, the desired headlamp rotation angle
Figure FDA0002140539420000041
According to the formula
Figure FDA0002140539420000042
Is calculated to obtain, wherein KθIs a compensation factor.
16. The virtual rail adaptive lighting method as claimed in claim 12, wherein the headlight steering control unit performs data interaction with the steer-by-wire headlight and the vision perception module through a CAN bus.
17. The virtual rail adaptive lighting method according to claim 16, wherein the headlight steering control unit performs data interaction with the visual perception module through a vehicle CAN bus.
18. The virtual rail adaptive lighting method as claimed in claim 12, wherein the headlight steering control unit performs data interaction with the inertial satellite integrated navigation system and the vehicle-mounted virtual rail road map storage unit through ethernet or RS 232.
19. The virtual rail adaptive lighting method according to claim 12, wherein the vehicle-mounted virtual rail road map storage unit is capable of interacting with the operation management center through a vehicle-to-ground wireless private network with data including setting of a travel track, a heading angle, a road grade, and road curvature information.
20. The virtual track adaptive lighting method according to claim 19, wherein the operations management center is capable of transmitting initial settings and instant intervention data of the virtual track to an on-board virtual track layout storage unit.
21. The virtual rail adaptive lighting method as claimed in claim 12, wherein the headlight steering control unit is capable of interacting with the inertial satellite integrated navigation system with data including real-time positioning, attitude, and speed information.
CN201910667320.5A 2019-07-23 2019-07-23 Virtual track self-adaptive lighting device and method of intelligent rail electric car Pending CN112277787A (en)

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