CN112537343A - PRT vehicle and positioning method thereof - Google Patents
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- CN112537343A CN112537343A CN202011465329.7A CN202011465329A CN112537343A CN 112537343 A CN112537343 A CN 112537343A CN 202011465329 A CN202011465329 A CN 202011465329A CN 112537343 A CN112537343 A CN 112537343A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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Abstract
The embodiment of the application provides a PRT vehicle and a positioning method thereof, relates to the PRT vehicle technology, and is used for overcoming the problem of poor positioning accuracy caused by positioning the PRT vehicle based on a speed sensor in the related technology. The method comprises the following steps: the identification module of the PRT vehicle identifies a current graphic label arranged on a rail upright post; wherein, in the operation line of the PRT vehicle, every two adjacent graphic labels have different identifiers; when the current graphic label is identified, the vehicle-mounted equipment of the PRT vehicle determines the label position of the current graphic label according to the identifier of the current graphic label and the label position corresponding to each graphic label in the pre-acquired running line; and the vehicle-mounted equipment corrects the current position of the PRT vehicle according to the label position of the current graphic label.
Description
Technical Field
The application relates to a PRT vehicle technology, in particular to a PRT vehicle and a positioning method thereof.
Background
The PRT (Personal Rapid Transit) vehicle is a personalized vehicle which is intelligently controlled by a computer, is unmanned and runs on a special closed track network, and is a novel vehicle for urban light tracks. The PRT traffic system consists of PRT vehicles, tracks, track supports, turnouts, a communication and control system, a power supply system, a platform and the like. The operation of the PRT traffic system is in a 'vehicle-like-person' mode, namely, the PRT vehicle stops at a platform to wait for passengers to use; the PRT traffic system may dispatch vehicles for passenger use from nearby stations if the stations that the passenger arrives at do not have available vehicles. The PRT traffic system gets rid of the schedule limitation of the traditional public traffic, is convenient for passengers to use and is beneficial to shortening the waiting time of the passengers.
In the related art, a PRT vehicle is provided with a speed sensor for detecting a running speed of the PRT vehicle, the PRT vehicle can integrate the speed detected by the speed sensor to obtain a running distance of the PRT vehicle, the PRT vehicle determines a current position according to the running distance, and the current position of the PRT vehicle can provide a reliable basis for distance protection and speed protection. However, since the speed sensor has a certain detection error, the position information obtained based on the speed information detected by the speed sensor also has a certain error, which results in poor positioning accuracy for the PRT vehicle and is not beneficial to the operation protection of the PRT vehicle.
Disclosure of Invention
The embodiment of the application provides a PRT vehicle and a positioning method thereof, which are used for solving the problem of poor positioning accuracy caused by positioning the PRT vehicle based on a speed sensor in the related technology.
The first aspect of the embodiments of the present application provides a method for positioning a personal public transport rapid transit (PRT) vehicle, including:
the identification module of the PRT vehicle identifies a current graphic label arranged on a rail upright post;
when the current graphic label is identified, the vehicle-mounted equipment of the PRT vehicle determines the label position of the current graphic label according to the identifier of the current graphic label and the label position corresponding to each graphic label in the pre-acquired running line;
and the vehicle-mounted equipment corrects the current position of the PRT vehicle according to the label position of the current graphic label.
A second aspect of the embodiments of the present application provides a personal public transport PRT vehicle, including:
the identification module is used for identifying a current graphic label arranged on the rail upright post;
the vehicle-mounted equipment is used for determining the label position of the current graphic label according to the identifier of the current graphic label and the label position corresponding to each graphic label in the pre-acquired running line when the current graphic label is determined to be identified; and the system is also used for correcting the current position of the PRT vehicle according to the label position of the current graphic label.
The embodiment of the application provides a PRT vehicle and a positioning method thereof, and the position of the PRT vehicle is corrected according to the label position corresponding to the identified graphic label by identifying the graphic label arranged on a rail upright post, so that the improvement of the positioning accuracy of the PRT vehicle in the running process is facilitated, a reliable basis can be provided for the interval protection and the speed protection of the PRT vehicle, and the improvement of the running safety of the PRT vehicle is facilitated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart of a method provided in an exemplary embodiment;
FIG. 2 is a block diagram of a PRT vehicle provided in an exemplary embodiment;
fig. 3 is a schematic structural diagram of a PRT vehicle and a control center according to an exemplary embodiment.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The PRT (Personal Rapid Transit) vehicle is a personalized vehicle which is intelligently controlled by a computer, is unmanned and runs on a special closed track network, and is a novel vehicle for urban light tracks.
The PRT traffic system consists of PRT vehicles, tracks, track supports, turnouts, a communication and control system, a power supply system, a platform and the like. Through reasonable design of the tracks, the track supports, the turnouts and the like, the PRT vehicles can avoid crowded ground roads, stop of the stations can be avoided, and the PRT vehicles can reach between any two stations quickly in the same track network without speed reduction and transfer.
The operation of the PRT traffic system is in a 'vehicle-like-person' mode, namely, the PRT vehicle stops at a platform to wait for passengers to use; the PRT traffic system may dispatch vehicles for passenger use from nearby stations if the stations that the passenger arrives at do not have available vehicles. The PRT traffic system gets rid of the schedule limitation of the traditional public traffic, is convenient for passengers to use and is beneficial to shortening the waiting time of the passengers.
In the related art, a PRT vehicle is provided with a speed sensor for detecting a running speed of the PRT vehicle, the PRT vehicle can integrate the speed detected by the speed sensor to obtain a running distance of the PRT vehicle, the PRT vehicle determines a current position according to the running distance, and the current position of the PRT vehicle can provide a reliable basis for distance protection and speed protection. However, since the speed sensor itself has a certain detection error, the position information obtained based on the speed information detected by the speed sensor also has a certain error, which results in the positioning accuracy of the PRT vehicle being poor, and is not favorable for the operation protection of the PRT vehicle.
For vehicles running on a ground track, active tags are generally distributed, the active tags cover the whole wire network, the active tags are connected through communication cables, and the active tags are used for realizing space protection of the vehicles. However, the introduction of active tags can lead to the increase of trackside equipment, and since PRTs generally adopt small-sized vehicles, the track size is small, and the arrangement of a large number of active tags and communication lines is not only difficult to install, but also high in later maintenance and use cost.
In order to overcome the above problems, the embodiment provides a PRT vehicle and a positioning method thereof, where the position of the PRT vehicle is corrected according to the position of the tag corresponding to the identified graphic tag by identifying the graphic tag arranged on the rail pillar, so that the improvement of the positioning accuracy of the PRT vehicle during the operation process is facilitated, and a reliable basis can be provided for the interval protection and the speed protection of the PRT vehicle, thereby facilitating the improvement of the operation safety of the PRT vehicle, having a small influence on equipment beside the rail, and having a lower cost compared with the arrangement of active tags.
The following describes functions and specific implementation processes of the personal bus rapid transit PRT vehicle positioning method provided in this embodiment with reference to the accompanying drawings.
FIG. 1 is a flow chart illustrating a method provided by an exemplary embodiment.
As shown in fig. 1, the method for locating a personal bus rapid transit PRT vehicle provided by this embodiment includes:
s101, a recognition module of the PRT vehicle recognizes a current graphic label arranged on a rail upright post;
s102, when the current graphic label is confirmed to be identified, the vehicle-mounted equipment of the PRT vehicle confirms the label position of the current graphic label according to the current graphic label and the label position corresponding to each graphic label in the pre-acquired operation line;
s103, the vehicle-mounted equipment corrects the current position of the PRT vehicle according to the label position of the current graphic label.
In step S101, in the travel route of the PRT vehicle, there are a plurality of track posts, and this example does not need to add other trackside equipment by disposing graphic tags on the track posts. In addition, in an example, the interval between two adjacent rail columns may be greater than or equal to 10 meters and less than or equal to 20 meters; the area between two adjacent upright posts can be a blocking area, and the space between the front vehicle and the rear vehicle can be set to comprise one or more blocking areas so as to carry out space protection of the PRT vehicle.
In the operation line of the PRT vehicle, at least every two adjacent graphic labels have different identifiers, so that the PRT vehicle can distinguish the graphic labels. In some examples, the identifiers of the various graphical tags in the route of travel of the PRT vehicle are different when the route of travel of the PRT vehicle is relatively short. In other examples, the travel route of the PRT vehicle includes a plurality of sections; each section is provided with a plurality of graphic labels, and identifiers of the graphic labels in the same section are different.
In a specific implementation, the graphic label may be a structure with a specific pattern disposed on the rail pillar. Wherein, through setting up the graphic label in the track stand, needn't increase extra trackside equipment. For example, the graphic label is a recessed structure disposed on the rail pillar, and the recessed structure may be in the shape of an identifier. Or, the graphic label is a raised structure arranged on the rail upright post, and the shape presented by the raised structure can be an identifier. The identifier of the graphic label may be an arabic numeral, a letter, a roman numeral, a two-dimensional code, or the like. And when the identifier is a two-dimensional code, the graphic label is a two-dimensional code label.
Illustratively, the graphic label is a layer structure formed by spraying radar absorbing materials on the rail upright posts. Corresponding grooves can be arranged on the rail upright columns in advance, and the radar absorbing material is sprayed in the grooves. Or the radar absorbing material is directly sprayed on the surface of the rail upright post. Accordingly, the identification module is a radar. In this way, the detection radar of the PRT vehicle itself or the backup radar can be used, which is advantageous for cost reduction.
In this example, the graphic tag made of the radar absorbing material has a lower failure rate than an active tag connected by a wire. Compared with a passive tag, the passive tag cannot amplify signals, the signals returned by the passive tag are likely to be missed or cannot be identified, and the identification accuracy of the passive tag is higher.
The identification module can identify the current graphic label arranged on the rail upright post in real time or periodically.
Or the identification module identifies the current graphic label arranged on the rail upright post when the PRT vehicle enters a certain range. Illustratively, identifying a current graphic tag provided to a rail stud includes:
the vehicle-mounted equipment determines the running distance of the PRT vehicle according to the speed information of the PRT vehicle;
and when the vehicle-mounted equipment determines that the PRT vehicle enters the identification range of the current graphic label according to the running distance and the label position, the vehicle-mounted equipment triggers an identification module to identify the current graphic label.
In step S102, the in-vehicle apparatus may acquire and store the correspondence relationship of each identifier and the tag position in advance. When the identification module identifies the current graphic label, the identification module converts the identifier of the identified current graphic label into a corresponding electric signal and sends the electric signal to the vehicle-mounted equipment. And when the vehicle-mounted equipment determines that the identification module identifies the current graphic label according to the received electric signal, the label position of the current graphic label is quickly determined according to the identifier and the corresponding relation of the current graphic label.
In step S103, the in-vehicle apparatus corrects the current position of the PRT vehicle according to the tag position of the current graphic tag. Specifically, the tag position may be geographical position information such as latitude and longitude information, or the tag position may be coordinate information of the tag on a corresponding operation line, and the vehicle-mounted device may use the tag position of the current graphic tag as the current position of the PRT vehicle. Of course, the tag position may also be a distance from the previous graphic tag, and the vehicle-mounted device may superimpose the tag position of the current graphic tag on the position corresponding to the previous graphic tag.
The embodiment provides a positioning method of a PRT vehicle, which corrects the position of the PRT vehicle according to the tag position corresponding to the identified graphic tag by identifying the graphic tag arranged on the rail upright, so as to improve the positioning accuracy of the PRT vehicle in the operation process, provide reliable basis for the interval protection and the speed protection of the PRT vehicle, and improve the operation safety of the PRT vehicle.
Optionally, the method further comprises:
and when the graphic label is not identified in the identification range, the vehicle-mounted equipment corrects the current position of the PRT vehicle according to the label position of the last graphic label and the corresponding speed information.
Specifically, the running distance of the PRT vehicle from the last graphic label is obtained by integrating the speed of the PRT vehicle, that is, the running distance of the PRT vehicle from the position of the last graphic label to the current position of the PRT vehicle is obtained, and the running distance is superposed with the position corresponding to the last graphic label to obtain the current position of the PRT vehicle.
Optionally, the method further comprises:
when the number of the connected unidentified graphic tags is determined to reach a first threshold value, the vehicle-mounted equipment triggers the identification module to restart; and the vehicle-mounted equipment acquires the distance between the PRT vehicle and the front vehicle in front of the vehicle, and triggers the PRT vehicle to apply emergency braking when the acquired distance is less than the preset distance. The first threshold and the preset distance may be set according to actual needs, and this embodiment is not limited in this respect.
Illustratively, when the PRT vehicle passes through the identification range of two graphic labels continuously and does not identify the graphic label, the vehicle-mounted device triggers the identification module to restart so as to be beneficial to repairing the identification module through restarting. When the PRT vehicle continuously passes through the identification range of the two graphic tags and does not identify the graphic tags, the PRT vehicle can also run at a reduced speed until the identification module is restarted and identifies the next graphic tag. After the identification module is restarted and identifies the next graphic label, the vehicle-mounted equipment can be triggered to report the unrecognized abnormal graphic label to the control center. And when the control center continuously receives the graphic labels of which the abnormal condition is not identified by the plurality of vehicles, the control center confirms that the abnormal graphic labels have faults. The faulty graphic label can be checked by a worker.
In addition, the embodiment can control the PRT vehicle to run in the control center according to the control mode of the mobile block, and a resource controller can be arranged in the control center, the resource controller and the PRT vehicle carry out public network-based communication, and the resource controller authorizes line resources to the on-line PRT vehicle according to the mode of the quasi mobile block.
The resource manager divides the whole line into a plurality of virtual sections as a space for controlling the distance between PRT vehicles. The PRT vehicle reports the current position of the PRT vehicle to the resource controller in the running process, and applies for driving resources, namely whether a front line can be used or not; and the resource controller checks the current positions of the PRT vehicles before and after the current PRT vehicle according to the received current position of the current PRT vehicle, and determines whether the virtual sections before and after the current PRT vehicle are idle or not. And if no effective idle virtual section exists in front of or behind the current PRT vehicle, sending a resource application failure receipt to the current PRT vehicle. When the current PRT vehicle can not obtain the driving resources, the current PRT vehicle stops in front of the terminal point of the occupied resources and periodically applies for the resources from the resource controller until the resource authorization is obtained. After the line resources are obtained by the current PRT vehicle, the current PRT vehicle continues to move forwards. When the driving permission range of the current PRT vehicle is determined, speed measurement positioning errors, safety margins and the like are considered. When the vehicle leaves a certain virtual zone, a line resource releasing application is sent to the resource controller, the resource controller releases the used resources of the virtual block zone, and the margins such as speed measurement positioning error, vehicle length and the like are considered. The minimum interval of the running of the front vehicle and the rear vehicle during the tracking running depends on the length of the division of the virtual section, the speed measurement error of the two vehicles, the positioning error, the safety margin and other information; the concrete can be determined according to actual conditions.
When the PRT vehicle runs, the PRT vehicle needs to run according to the speed value authorized by the resource controller, and cannot overspeed. The resource grant sent by the resource controller to the PRT vehicle includes information such as the speed limit (maximum allowable speed) of the virtual block. The vehicle-mounted equipment of the PRT vehicle determines a movement authorization range and a speed target curve according to the acquired driving resources, the operation range of the PRT vehicle is limited to be before the end point of the movement authorization, and the operation speed of the PRT vehicle is limited to be below the highest allowable speed. And the vehicle-mounted equipment generates a speed control curve after obtaining the movement authorization, outputs a traction control command according to the control curve, monitors whether the running speed of the PRT vehicle exceeds the speed curve or not, and outputs emergency braking once the vehicle speed exceeds the upper limit of the speed curve. At the position of a turnout, PRT vehicles from two lines are respectively decelerated to the allowable speed of the turnout, and the control center issues driving resources for one vehicle to ensure that the front vehicle and the rear vehicle pass through at intervals.
In this example, the PRT vehicle is obtained by the safety positioning through the safety positioning, the interval protection, and the speed protection, the safety positioning determines the safety interval between the front vehicle and the rear vehicle based on the position, and the vehicle-mounted device calculates the speed curve of the vehicle. The safety positioning is the basis of interval protection and speed protection, and the three parts jointly ensure the automatic operation safety of the PRT vehicle.
The present embodiment further provides a personal rapid transit PRT vehicle, which is configured to perform at least some of the steps in the foregoing method embodiments, and details of the embodiment corresponding to the foregoing method embodiments are not repeated herein.
As shown in fig. 2 and fig. 3, the personal rapid transit PRT vehicle 1 provided in this embodiment can interact with the control center 2, and includes:
the identification module 11 is used for identifying a current graphic label arranged on a rail upright post;
the vehicle-mounted equipment 12 is used for determining the label position of the current graphic label according to the current graphic label and the label positions corresponding to the graphic labels in the pre-acquired operation line when the current graphic label is determined to be identified; and the system is also used for correcting the current position of the PRT vehicle according to the label position of the current graphic label.
In one possible implementation manner, the vehicle-mounted device 12 is further configured to:
determining the running distance of the PRT vehicle according to the speed information of the PRT vehicle;
when the PRT vehicle is determined to enter the identification range of the current graphic label according to the running distance and the label position, the identification module 11 is triggered to identify the current graphic label.
In one possible implementation manner, the vehicle-mounted device 12 is further configured to:
and when the graphic label is not identified in the range, correcting the current position of the PRT vehicle according to the label position of the last graphic label and the corresponding speed information.
In one possible implementation manner, the vehicle-mounted device 12 is further configured to:
upon determining that the number of consecutive unrecognized graphical labels reaches a first threshold, triggering the recognition module 11 to restart; and acquiring the distance between the PRT vehicle and a front vehicle in front of the vehicle, and triggering the PRT vehicle to apply emergency braking when the acquired distance is less than a preset distance.
In one of the possible implementations, the identification module 11 comprises a radar; the graphic label is made of radar absorbing materials.
In one possible implementation, the travel route of the PRT vehicle includes at least one section; the sections are provided with a plurality of graphic labels, and identifiers of the graphic labels in the same section are different.
The PRT vehicle provided by the embodiment corrects the position of the PRT vehicle according to the label position corresponding to the identified graphic label by identifying the graphic label arranged on the rail upright post, is favorable for improving the positioning accuracy of the PRT vehicle in the running process, and can provide reliable basis for the interval protection and the speed protection of the PRT vehicle, thereby being favorable for improving the running safety of the PRT vehicle, and the cost is relatively low when the active label is arranged.
It should be noted that: unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention. In all examples shown and described herein, unless otherwise specified, any particular value should be construed as merely illustrative, and not restrictive, and thus other examples of example embodiments may have different values.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a unit, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A personal PRT vehicle positioning method in bus rapid transit is characterized by comprising the following steps:
the identification module of the PRT vehicle identifies a current graphic label arranged on a rail upright post; wherein, the PRT vehicle is in a running line;
when the current graphic label is identified, the vehicle-mounted equipment of the PRT vehicle determines the label position of the current graphic label according to the current graphic label and the label positions corresponding to the graphic labels in the pre-acquired running line;
and the vehicle-mounted equipment corrects the current position of the PRT vehicle according to the label position of the current graphic label.
2. The method of claim 1, wherein identifying the current graphic label on the rail column comprises:
the vehicle-mounted equipment determines the running distance of the PRT vehicle according to the speed information of the PRT vehicle;
and when the vehicle-mounted equipment determines that the PRT vehicle enters the identification range of the current graphic label according to the running distance and the label position, the vehicle-mounted equipment triggers the identification module to identify the current graphic label.
3. The method of claim 2, further comprising:
and when the graphic label is not identified in the identification range, the vehicle-mounted equipment corrects the current position of the PRT vehicle according to the label position of the last graphic label and the corresponding speed information.
4. The method of claim 3, further comprising:
when the number of the continuous unrecognized graphic labels reaches a first threshold value, the vehicle-mounted equipment triggers the recognition module to restart; and the vehicle-mounted equipment acquires the distance between the PRT vehicle and a front vehicle in front of the vehicle, and when the acquired distance is smaller than a preset distance, the PRT vehicle is triggered to apply emergency braking.
5. The method of any of claims 1-4, wherein the identification module comprises a radar; the graphic label is made of radar absorbing materials.
6. The method of any of claims 1-4, wherein the route of travel of the PRT vehicle includes at least one segment; the sections are provided with a plurality of graphic labels, and identifiers of the graphic labels in the same section are different.
7. A personal mass transit PRT vehicle, comprising:
the identification module is used for identifying a current graphic label arranged on the rail upright post; wherein, the PRT vehicle is in a running line;
the vehicle-mounted equipment is used for determining the label position of the current graphic label according to the current graphic label and the label positions corresponding to the graphic labels in the pre-acquired running line when the current graphic label is determined to be identified; and the system is also used for correcting the current position of the PRT vehicle according to the label position of the current graphic label.
8. The PRT vehicle of claim 7, wherein the onboard apparatus is further to:
determining the running distance of the PRT vehicle according to the speed information of the PRT vehicle;
and triggering the identification module to identify the current graphic label when the PRT vehicle is determined to enter the identification range of the current graphic label according to the running distance and the label position.
9. The PRT vehicle of claim 8, wherein the onboard apparatus is further to:
and when the graphic label is not identified in the range, correcting the current position of the PRT vehicle according to the label position of the last graphic label and the corresponding speed information.
10. The PRT vehicle of claim 9, wherein the onboard apparatus is further configured to:
upon determining that the number of consecutive unrecognized graphical labels reaches a first threshold, triggering the recognition module to restart; and acquiring the distance between the PRT vehicle and a front vehicle in front of the vehicle, and triggering the PRT vehicle to apply emergency braking when the acquired distance is less than a preset distance.
11. The PRT vehicle of any one of claims 7-10, wherein the identification module comprises a radar; the graphic label is made of radar absorbing materials.
12. The PRT vehicle of any one of claims 7-10, wherein the route of travel of the PRT vehicle comprises at least one segment; the sections are provided with a plurality of graphic labels, and identifiers of the graphic labels in the same section are different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011465329.7A CN112537343A (en) | 2020-12-14 | 2020-12-14 | PRT vehicle and positioning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011465329.7A CN112537343A (en) | 2020-12-14 | 2020-12-14 | PRT vehicle and positioning method thereof |
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| CN112537343A true CN112537343A (en) | 2021-03-23 |
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| CN202011465329.7A Pending CN112537343A (en) | 2020-12-14 | 2020-12-14 | PRT vehicle and positioning method thereof |
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