CN113299101A - Intelligent sand table traffic display system and control method - Google Patents
Intelligent sand table traffic display system and control method Download PDFInfo
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- CN113299101A CN113299101A CN202110610093.XA CN202110610093A CN113299101A CN 113299101 A CN113299101 A CN 113299101A CN 202110610093 A CN202110610093 A CN 202110610093A CN 113299101 A CN113299101 A CN 113299101A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention relates to an intelligent sand table traffic display system and a control method, wherein the system comprises a vehicle, a road position sensor, a traffic signal lamp and a traffic main control module; the vehicle comprises a vehicle main control module; the road position sensor, the traffic signal lamp and the vehicle main control module are respectively in communication connection with the traffic main control module; the road position sensor is installed in the preset road position of the intelligent sand table, and the preset road position comprises a traffic light intersection and a non-traffic light intersection. According to the invention, the position sensing signal is acquired by the road position sensor, and the position sensing signal and the traffic light state signal are coded by using a signal coding mode to obtain the position coding information and the traffic light coding information, so that the limited bandwidth can be fully utilized, the high-efficiency communication is realized, the position coding information and the traffic light coding information are collected to the vehicle main control module, and the vehicle main control module can make a traffic judgment by using the limited calculation power to make a compliant driving action.
Description
Technical Field
The application relates to the technical field of intelligent sand table display, in particular to an intelligent sand table traffic display system and a control method.
Background
At present, the intelligent sand table is provided with automatic control intelligent digital equipment such as an intelligent main control device, a sensor and a robot on the traditional landscape sand table, a static landscape sand table is developed into the intelligent sand table with information input, interaction and processing capabilities, the display capability of the sand table is greatly improved, and the application range of the sand table is expanded.
The traffic control system is a main control part of an automatic traffic system on a sand table and mainly realizes the contents of signal lamp control, vehicle running control and the like. The early intelligent sand table traffic control system can control the running of vehicles, but cannot judge the environments of traffic lights and intersections and perform related control operation; at present, some intelligent sand table traffic control systems carry a camera through a vehicle, acquire environment data, recognize a mark object on a road, and judge the road environment according to a recognition result, but because the processing capacity of the vehicle is insufficient, a special computer is needed to recognize an image of the camera, the recognition result is formed into a judgment result and is transmitted to the vehicle, and the vehicle operates according to an instruction. The vehicle can not be separated from the data processing and control of the host computer when running, so that the complexity of the scheme is greatly increased, and great inconvenience is brought to the use of the intelligent sand table; the real-time image processing needs to occupy a large bandwidth, the requirement of vehicle running control on time is very strict, and a completely different result can be caused by one-second error, so that the requirements on the performance of a communication module of a vehicle and the graphic operation capability of a host computer are high, and the energy consumption and the cost of equipment are high; therefore, the inventor thinks that there is still further room for improvement on the existing intelligent sand table traffic control mode.
Disclosure of Invention
In order to overcome the defects of the prior art, the intelligent sand table traffic display system and the control method can make full use of limited bandwidth and high-efficiency communication, and a vehicle main control module can make traffic judgment and make a compliant driving action conveniently by using limited computing power.
In a first aspect, the application provides a smart sand table traffic display system, which includes a vehicle, a road position sensor, a traffic signal lamp and a traffic master control module; the vehicle comprises a vehicle master control module; the road position sensor, the traffic signal lamp and the vehicle main control module are respectively in communication connection with the traffic main control module; the road position sensor is arranged at a preset road position of the intelligent sand table, and the preset road position comprises a traffic light intersection and a non-traffic light intersection;
the road position sensor is used for sensing whether a vehicle passes through a preset road position and generating a position sensing signal to be sent to the traffic main control module;
the traffic signal lamp is used for generating a traffic light state signal and sending the traffic light state signal to the traffic main control module;
the traffic main control module is used for coding the position sensing signal and the traffic light state signal according to a preset traffic coding library respectively to obtain position coding information and traffic light coding information and sending the position coding information and the traffic light coding information to the vehicle main control module;
and the vehicle main control module is used for receiving and judging whether the vehicle executes traffic light traffic rules or not according to the position coding information and the traffic light coding information.
Optionally, the system further comprises a left infrared transceiver and a right infrared transceiver mounted on the vehicle, and infrared light absorbing materials arranged at the intersections of the traffic lights;
the left infrared transceiver is used for transmitting infrared light in real time, and when the infrared light transmitted by the left side is absorbed by an infrared light absorption material at a preset traffic light intersection, the left infrared transceiver is also used for generating a right-turn trigger signal and transmitting the right-turn trigger signal to the vehicle main control module so that the vehicle main control module controls and adjusts the speed of a right wheel of the vehicle;
the right infrared transceiver is used for transmitting infrared light in real time, and when the infrared light transmitted from the right side is absorbed by an infrared light absorption material at a preset traffic light intersection, the right infrared transceiver is also used for generating a left-turn trigger signal and transmitting the left-turn trigger signal to the vehicle main control module so that the vehicle main control module controls and adjusts the speed of a left wheel of the vehicle.
Optionally, the vehicle further includes a motor set, where the motor set includes a left motor and a right motor; the motor set is used for driving the vehicle to do differential turning, go straight or rotate on site according to the PWM signal output by the vehicle main control module.
Optionally, the traffic main control module and the vehicle main control module both adopt single-chip microcomputers, and support UART transmission and encoding communication.
Optionally, the vehicle further includes a communication module, configured to communicate between the vehicle main control module and the traffic main control module; the communication module adopts Bluetooth, 2.4GHZ wireless, Wi-Fi, LoRa or Zig-Bee communication.
In a second aspect, the present application provides a control method for an intelligent sand table traffic display system, the method including:
acquiring a position sensing signal of a road position sensor in real time, wherein the position sensing signal comprises a trigger signal of the road position sensor when a vehicle passes through the current road position;
acquiring a traffic light state signal of the traffic signal light closest to the current road position;
and respectively coding the position sensing signals and the traffic light state signals according to a preset traffic coding library to obtain position coding information and traffic light coding information and sending the position coding information and the traffic light coding information to the vehicle main control module, so that the vehicle main control module judges whether the vehicle is positioned at a traffic light intersection or not and whether traffic light traffic rules are executed or not according to the position coding information and the traffic light coding information.
Optionally, the encoding the position sensing signal and the traffic light state signal respectively according to a preset traffic code library to obtain position encoding information and traffic light encoding information includes:
the traffic coding library comprises a position coding library and a traffic light signal coding library, wherein the position coding library comprises a first coding number and a second coding number, the first coding number indicates that the vehicle is at a traffic light intersection, and the second coding number indicates that the vehicle is not at the traffic light intersection; the traffic light signal coding library comprises a third coding number and a fourth coding number, and the third coding number indicates that the red light is started; the fourth code number represents the starting of the green light;
based on a preset sensor layout record table, if a road position sensor through which a vehicle passes currently is arranged at a traffic light intersection, a position sensing signal is coded into a first coding number; if the road position sensor that the vehicle passes through at present is not arranged at the intersection of the traffic lights, the position sensing signal is coded into a second coded number; using the coded number obtained after the position sensing signal is coded as the position coding information;
if the traffic light state signal is a red light starting signal, the traffic light state signal is coded into a third code number; if the traffic light state signal is a green light starting signal, the traffic light state signal is coded into a fourth code number; and using the code number obtained after the traffic light state signal is coded as the traffic light coding information.
Optionally, after acquiring the location sensing signal of the road location sensor in real time, the method further includes:
and according to the position sensing signals of the time sequence, depicting to obtain a path of the vehicle.
In a third aspect, the present application provides a control method for an intelligent sand table traffic display system, where the method includes:
acquiring position coding information and traffic light coding information;
respectively decoding the position coding information and the traffic light coding information based on a preset traffic coding library to obtain a decoding result;
if the decoding result is that the vehicle is at a traffic light intersection and the red light is turned on, generating a vehicle stop driving instruction and modulating the vehicle stop driving instruction into a PWM signal to output the PWM signal to the motor set;
if the decoding result is that the vehicle is at a traffic light intersection and the green light is turned on, generating a vehicle release instruction and modulating the vehicle release instruction into a PWM signal to output the PWM signal to the motor set;
and if the decoding result indicates that the vehicle is not at the intersection of the traffic lights, the red light is turned on or the green light is turned on, generating a vehicle release instruction and modulating the vehicle release instruction into a PWM signal to output the PWM signal to the motor group.
Optionally, the method further includes:
if a left-turning trigger signal is obtained, generating a left wheel speed increasing command and modulating the left wheel speed increasing command into a PWM signal to output the PWM signal to a motor set so that the motor set drives the vehicle to turn left in a differential mode;
if the right-turn trigger signal is obtained, a right-wheel speed increasing instruction is generated and modulated into a PWM signal to be output to the motor set, so that the motor set drives the vehicle to turn right in a differential mode.
The application has the following beneficial technical effects:
the road position sensor is arranged on the sand table road, so that the position of a vehicle can be sensed conveniently, and a position sensing signal can be obtained quickly; the traffic light state signals are acquired, the position sensing signals and the traffic light state signals are coded in a signal coding mode, and position coding information and traffic light coding information are acquired, so that limited bandwidth can be fully utilized, efficient communication is achieved, the position coding information and the traffic light coding information are collected to the vehicle main control module, the vehicle main control module can make traffic judgment by utilizing limited computing power, and a compliance driving action is made.
Drawings
FIG. 1 is a schematic block diagram of one embodiment of a smart sand table traffic display system provided by the present invention;
FIG. 2 is a flowchart of an embodiment of a method for controlling an intelligent sand table traffic display system according to the present invention;
FIG. 3 is a flowchart of a method for controlling a smart sand table traffic display system according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of decoding time-series encoded information provided by the present invention.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses an intelligent sand table traffic display system, which comprises a vehicle, a road position sensor, a traffic signal lamp and a traffic main control module, wherein the vehicle is connected with the road position sensor through a network; the vehicle comprises a vehicle main control module; the road position sensor, the traffic signal lamp and the vehicle main control module are respectively in communication connection with the traffic main control module; the road position sensor is installed in the preset road position of the intelligent sand table, and the preset road position comprises a traffic light intersection and a non-traffic light intersection.
The road position sensor is used for sensing whether a vehicle passes through a preset road position and generating a position sensing signal to be sent to the traffic main control module; the traffic signal lamp is used for generating a traffic light state signal and sending the traffic light state signal to the traffic main control module; the traffic main control module is used for coding the position sensing signal and the traffic light state signal according to a preset traffic coding library respectively to obtain position coding information and traffic light coding information and sending the position coding information and the traffic light coding information to the vehicle main control module; and the vehicle main control module is used for receiving and judging whether the vehicle executes traffic light traffic rules or not according to the position coding information and the traffic light coding information.
It should be noted that the vehicle is a toy vehicle or an intelligent car for traffic display on a sand table; the vehicle also comprises a direct current motor set and a moving component, wherein the motor set comprises a left motor and a right motor; the moving component is a wheel set of the vehicle; the vehicle main control module outputs PWM signals to control the direct current motor, the PWM pulse strength determines the rotation speed of the motor, and negative values can be given for inversion; the motors on the left side and the right side are independently controlled, so that differential turning, in-situ rotation or straight running can be performed.
In this embodiment, the traffic main control module and the vehicle main control module both use a single chip with a CPU and a programmable capability, and support UART transmission (asynchronous transmit-receive transmission), and may perform encoding communication.
In this embodiment, the vehicle further includes a communication module for communication between the vehicle main control module and the traffic main control module. In this embodiment, the communication module uses bluetooth as a bottom layer communication mode, and since self-encoding is used, a UART transmission mode is directly used; in other embodiments, 2.4GHz wireless, Wi-Fi, LoRa, or Zig-Bee communication may also be employed. It should be noted that, since the maximum transmission bit rate between the vehicle main control module and the traffic main control module in the sand table is 9600bps, 8 bits are used for transmission, and the byte transmission rate is 1200 bytes/s, i.e. 1.2KB/s, the bandwidth is limited; in the embodiment, an information coding mode is adopted, so that the traffic main control module sends a signal with a coded information mark to the vehicle main control module, the vehicle main control module can quickly establish connection without communication handshake with the traffic main control module, limited bandwidth is fully utilized, and efficient communication is realized.
In this embodiment, wisdom sand table traffic display system is still including installing in the infrared transceiver in left side and the infrared transceiver in right side of vehicle to and lay the infrared absorption material at a plurality of traffic lights crossings. The left infrared transceiver is used for transmitting infrared light in real time; when the infrared light emitted by the left side is absorbed by the infrared light absorption material of the preset traffic light intersection, the left side infrared transceiver is also used for generating a right turn trigger signal and sending the right turn trigger signal to the vehicle main control module, so that the vehicle main control module controls and adjusts the speed of the right wheel of the vehicle; the right infrared transceiver is used for transmitting infrared light in real time; when the infrared light emitted from the right side is absorbed by the infrared light absorption material at the preset traffic light intersection, the right-side infrared transceiver is also used for generating a left-turn trigger signal and sending the left-turn trigger signal to the vehicle main control module, so that the vehicle main control module controls and adjusts the speed of the left wheel of the vehicle. It should be noted that the right-turn trigger signal refers to a trigger signal of the left transceiver when the reflected light is not detected; the left-turn trigger signal refers to a trigger signal of the right-side transceiver when the reflected light is not detected.
Specifically, the left side and the right side of the vehicle are respectively provided with an infrared transceiver, infrared light is continuously emitted from the two sides, if reflected light is detected, the infrared transceivers do not generate signal output, and the vehicle moves straight; when the vehicle is at the road junction of the infrared lamps distributed with the infrared light absorption materials, the infrared receiving and transmitting device generates a signal output when not detecting reflected light. In this embodiment, according to a preset driving route of the vehicle, the infrared light absorption material may be arranged in the middle of a road that needs to turn, and when the infrared transceiver on the left side of the vehicle generates a signal, the vehicle should be shifted to the right, and the speed of the right wheel is controlled to be higher than that of the left wheel until no signal is output; when the infrared receiving and transmitting device on the right side of the vehicle generates signals, the vehicle should deviate towards the left, and the speed of the left wheel is controlled to be higher than that of the right wheel until no signal is output; it should be noted that when signals are generated simultaneously on the left and right sides, a parking action may be taken. By carrying the infrared receiving and transmitting device on the vehicle, the vehicle can automatically turn or correct the deviation, and the intelligence of sand table demonstration is improved.
In this embodiment, when a vehicle passes through the road position sensor, the road position sensor generates a position sensing signal which is different from a signal generated when no vehicle passes through, the position sensing signal is transmitted to the traffic main control module through the IO port, the traffic main control module encodes the position sensing signal according to the pre-encoding of the road position sensor to obtain position encoding information, and the position encoding information is immediately transmitted to the vehicle main control module through the communication module. It should be noted that, the road position sensors are arranged at the road traffic light intersection and the non-traffic light intersection of the sand table; when the vehicle runs on a sand table, corresponding position coding information is transmitted to the vehicle main control module along with the time passing and continuously passing through a road section provided with the road position sensor, the transmission time is delayed within one second, and the running of the vehicle is not influenced. In addition, according to the position sensing signals of the time sequence, the traffic main control module can depict the driving path of the vehicle to generate the driving track of the vehicle.
In this embodiment, the traffic signal lamp is connected to the traffic main control module by the IO port to control, and the traffic main control module outputs a digital signal through the IO port to control the display and the start of the traffic signal lamp. It should be noted that the traffic master control module simulates multitask programming, can execute accurate time tasks, and controls the traffic signal lamps at regular time so as to display and switch the signal lamps. When the traffic lights are started, the traffic light state signals are coded by the traffic main control module, the traffic light coded information is sent to the vehicle main control module through the communication module, the vehicle determines whether to obey the traffic rules or not by combining the latest position coded information, and the traffic rules are the conventional red light stop and green light running.
In the embodiment, the road position sensor is arranged on the sand table road, so that the position of the vehicle can be sensed conveniently, and a position sensing signal can be obtained quickly; the traffic light state signals are acquired, the position sensing signals and the traffic light state signals are coded in a signal coding mode, and position coding information and traffic light coding information are acquired, so that limited bandwidth can be fully utilized, efficient communication is achieved, the position coding information and the traffic light coding information are collected to the vehicle main control module, the vehicle main control module can make traffic judgment by utilizing limited computing power, and a compliance driving action is made.
Referring to fig. 2, the present embodiment further provides a control method of the intelligent sand table traffic display system, where the control method is executed by a traffic master control module at a single side end, and the control method includes the following steps:
s11: and acquiring a position sensing signal of the road position sensor in real time, wherein the position sensing signal comprises a trigger signal of the road position sensor when the vehicle passes through the current road position.
S12: and acquiring a traffic light state signal of the traffic signal light closest to the current road position.
S13: and respectively coding the position sensing signals and the traffic light state signals according to a preset traffic coding library to obtain position coding information and traffic light coding information and sending the position coding information and the traffic light coding information to the vehicle main control module, so that the vehicle main control module judges whether the vehicle is positioned at a traffic light intersection or not and whether traffic light traffic rules are executed or not according to the position coding information and the traffic light coding information.
It should be noted that, because the road position sensors are installed at the traffic light intersection and the non-traffic light intersection of the sand table, when a vehicle passes through the road position sensors, the road position sensors along the way generate different signals, namely position sensing signals, from the signals when no vehicle passes through, the position sensing signals of the road position sensors are obtained in real time, namely, the information of the road position where the vehicle passes through currently can be reflected in real time, and therefore, whether the current road position of the vehicle is located at the traffic light intersection or not is convenient to determine; the traffic light state signal of the traffic light closest to the current road position is acquired, and whether the vehicle executes traffic rules or not is determined according to the road position information of the vehicle passing by at present and the traffic light state signal of the traffic light closest to the current road position.
In this embodiment, after the step S1, that is, after acquiring the location sensing signal of the road location sensor, the control method of this embodiment further includes: and according to the position sensing signals of the time series, depicting to obtain the path of the vehicle.
It should be noted that, road position sensors are arranged along the sand table road, and each time a vehicle passes through one road position sensor, the road position sensor is triggered to generate a position sensing signal, so that when the vehicle passes through the road along the road, a time-series position sensing signal is generated, and according to the specific position of the road position sensor corresponding to each position sensing signal, the motion track of the vehicle, that is, the path of the vehicle, can be carved.
In this embodiment, in step S3, the method includes the following steps of respectively encoding the position sensing signal and the traffic light status signal according to a preset traffic code library to obtain position code information and traffic light code information:
the traffic coding library comprises a position coding library and a traffic light signal coding library, the position coding library comprises a first coding number and a second coding number, the first coding number indicates that the vehicle is at a traffic light intersection, and the second coding number indicates that the vehicle is not at the traffic light intersection; the traffic light signal coding library comprises a third coding number and a fourth coding number, and the third coding number indicates that the red light is started; the fourth code number indicates green light activation.
Based on a preset sensor layout record table, if a road position sensor through which a vehicle passes currently is arranged at a traffic light intersection, a position sensing signal is coded into a first coding number; if the road position sensor that the vehicle passes through at present is not arranged at the intersection of the traffic lights, the position sensing signal is coded into a second coded number; and using the coded number obtained after the position sensing signal is coded as position coding information.
If the traffic light state signal is a red light starting signal, the traffic light state signal is coded into a third code number; if the traffic light state signal is a green light starting signal, the traffic light state signal is coded into a fourth code number; and the coded number obtained after the traffic light state signal is coded is used as the traffic light coded information.
It should be noted that when each road position sensor is laid on the sand table, specific position information is recorded, a sensor laying record table is formed and stored in the position database; in one embodiment, the position of each road position sensor is encoded in the sensor layout record table in advance to obtain a corresponding encoding number.
In a specific application example, the traffic code library adopts four-digit character code numbers, such as an information coding method table shown in table 1, wherein 0 is traffic light information; 1 is position information. The position coding library comprises two numbers of 1NOH and 1HLD, wherein 1NOH represents that a road position sensor which the vehicle passes through currently is not positioned at a traffic light, 1HLD represents that the road position sensor which the vehicle passes through currently is positioned at a traffic light intersection, and a position coding method table shown in a table 2 is included; the traffic light signal coding library comprises two numbers of 0GRE and 0RED, wherein 0GRE represents that the green light closest to the current road position of the vehicle is in an on state, and 0RED represents that the RED light closest to the current road position of the vehicle is in an on state, as shown in a traffic light coding method table shown in a table 3.
TABLE 1 information coding method Table
TABLE 2 position coding method Table
| First bit | Second bit | Third position | The fourth bit | Description of the invention |
| 1 | N | O | H | Out of the traffic light |
| 1 | H | L | D | At traffic light intersection |
TABLE 3 traffic light coding method TABLE
| First bit | Second bit | Third position | The fourth bit | Description of the invention |
| 0 | G | R | E | Green light starting |
| 0 | R | E | D | Red light starting |
In the embodiment, the information coding communication is adopted between the traffic main control module and the vehicle main control module, so that the limited bandwidth can be fully utilized, the communication is efficient, the computing power requirement of the vehicle main control module is reduced, the data processing efficiency is relatively higher, the transmission delay is low, and the vehicle traffic operation is more stable.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Referring to fig. 3, the present embodiment further provides a control method of the intelligent sand table traffic display system, where the control method is executed by a vehicle control module at a single-side end, and the control method includes the following steps:
s21: and acquiring position coding information and traffic light coding information.
S22: and respectively decoding the position coding information and the traffic light coding information based on a preset traffic coding library to obtain a decoding result.
S23: and if the decoding result is that the vehicle is at the traffic light intersection and the red light is turned on, generating a vehicle stop driving command and modulating the vehicle stop driving command into a PWM signal to output the PWM signal to the motor set.
S24: and if the decoding result is that the vehicle is at the intersection of the traffic lights and the green light is turned on, generating a vehicle release instruction and modulating the vehicle release instruction into a PWM signal to output the PWM signal to the motor set.
S25: and if the decoding result indicates that the vehicle is not at the intersection of the traffic lights, the red light is turned on or the green light is turned on, generating a vehicle release instruction and modulating the vehicle release instruction into a PWM signal to output the PWM signal to the motor group.
It should be noted that the vehicle main control module receives the position coding information and the traffic light coding information sent by the traffic main control module, and can decode the position coding information and the traffic light coding information according to the traffic coding library to obtain a decoding result.
In a specific application example, referring to fig. 4, when the traffic light coding information is 0GRE and the position coding information is 1HLD at a certain time, it is determined that the vehicle is at a traffic light intersection, and the green light is turned on, and the vehicle executes a passing instruction; and when the traffic light coding information is 0RED and the position coding information is 1HLD at a certain moment, judging that the vehicle is at the traffic light intersection, starting the RED light and executing a stop instruction by the vehicle.
In one embodiment, the control method of the intelligent sand table traffic display system further comprises:
if the left-turning trigger signal is obtained, a left wheel speed increasing instruction is generated and modulated into a PWM signal to be output to the motor set, so that the motor set drives the vehicle to turn left in a differential mode. If the right-turn trigger signal is obtained, a right-wheel speed increasing instruction is generated and modulated into a PWM signal to be output to the motor set, so that the motor set drives the vehicle to turn right in a differential mode.
It should be noted that, when the infrared transceiver on the right side of the vehicle generates a signal, the vehicle should be shifted to the left, and the speed of the left wheel is controlled to be higher than that of the right wheel until no signal is output; when the infrared transceiver on the left side of the vehicle generates signals, the vehicle should be deviated towards the right, and the speed of the right wheel is controlled to be higher than that of the left wheel until no signal is output. It should be noted that when signals are generated simultaneously on the left and right sides, a parking action may be taken. By carrying the infrared receiving and transmitting device on the vehicle, the vehicle can automatically turn or correct the deviation, and the intelligence of sand table demonstration is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. The utility model provides a wisdom sand table traffic display system which characterized in that: the system comprises a vehicle, a road position sensor, a traffic signal lamp and a traffic main control module; the vehicle comprises a vehicle master control module; the road position sensor, the traffic signal lamp and the vehicle main control module are respectively in communication connection with the traffic main control module; the road position sensor is arranged at a preset road position of the intelligent sand table, and the preset road position comprises a traffic light intersection and a non-traffic light intersection;
the road position sensor is used for sensing whether a vehicle passes through a preset road position and generating a position sensing signal to be sent to the traffic main control module;
the traffic signal lamp is used for generating a traffic light state signal and sending the traffic light state signal to the traffic main control module;
the traffic main control module is used for coding the position sensing signal and the traffic light state signal according to a preset traffic coding library respectively to obtain position coding information and traffic light coding information and sending the position coding information and the traffic light coding information to the vehicle main control module;
and the vehicle main control module is used for receiving and judging whether the vehicle executes traffic light traffic rules or not according to the position coding information and the traffic light coding information.
2. The intelligent sand table traffic display system of claim 1, wherein: the system also comprises a left infrared transceiver and a right infrared transceiver which are arranged on the vehicle, and infrared light absorption materials which are distributed at a plurality of traffic light intersections;
the left infrared transceiver is used for transmitting infrared light in real time, and when the infrared light transmitted by the left side is absorbed by an infrared light absorption material at a preset traffic light intersection, the left infrared transceiver is also used for generating a right-turn trigger signal and transmitting the right-turn trigger signal to the vehicle main control module so that the vehicle main control module controls and adjusts the speed of a right wheel of the vehicle;
the right infrared transceiver is used for transmitting infrared light in real time, and when the infrared light transmitted from the right side is absorbed by an infrared light absorption material at a preset traffic light intersection, the right infrared transceiver is also used for generating a left-turn trigger signal and transmitting the left-turn trigger signal to the vehicle main control module so that the vehicle main control module controls and adjusts the speed of a left wheel of the vehicle.
3. The intelligent sand table traffic display system of claim 2, wherein: the vehicle further comprises a motor set, wherein the motor set comprises a left motor and a right motor; the motor set is used for driving the vehicle to do differential turning, go straight or rotate on site according to the PWM signal output by the vehicle main control module.
4. The intelligent sand table traffic display system of claim 1, wherein: the traffic main control module and the vehicle main control module both adopt single-chip microcomputers and support UART transmission and coding communication.
5. The intelligent sand table traffic display system of claim 1, wherein: the vehicle also comprises a communication module used for communication between the vehicle main control module and the traffic main control module; the communication module adopts Bluetooth, 2.4GHZ wireless, Wi-Fi, LoRa or Zig-Bee communication.
6. The method for controlling an intelligent sand table traffic display system according to any one of claims 1-5, wherein: the method comprises the following steps:
acquiring a position sensing signal of a road position sensor in real time, wherein the position sensing signal comprises a trigger signal of the road position sensor when a vehicle passes through the current road position;
acquiring a traffic light state signal of the traffic signal light closest to the current road position;
and respectively coding the position sensing signals and the traffic light state signals according to a preset traffic coding library to obtain position coding information and traffic light coding information and sending the position coding information and the traffic light coding information to the vehicle main control module, so that the vehicle main control module judges whether the vehicle is positioned at a traffic light intersection or not and whether traffic light traffic rules are executed or not according to the position coding information and the traffic light coding information.
7. The method of claim 6, wherein the intelligent sand table traffic display system comprises: the method for respectively coding the position sensing signal and the traffic light state signal according to a preset traffic code library to obtain position code information and traffic light code information comprises the following steps:
the traffic coding library comprises a position coding library and a traffic light signal coding library, wherein the position coding library comprises a first coding number and a second coding number, the first coding number indicates that the vehicle is at a traffic light intersection, and the second coding number indicates that the vehicle is not at the traffic light intersection; the traffic light signal coding library comprises a third coding number and a fourth coding number, and the third coding number indicates that the red light is started; the fourth code number represents the starting of the green light;
based on a preset sensor layout record table, if a road position sensor through which a vehicle passes currently is arranged at a traffic light intersection, a position sensing signal is coded into a first coding number; if the road position sensor that the vehicle passes through at present is not arranged at the intersection of the traffic lights, the position sensing signal is coded into a second coded number; using the coded number obtained after the position sensing signal is coded as the position coding information;
if the traffic light state signal is a red light starting signal, the traffic light state signal is coded into a third code number; if the traffic light state signal is a green light starting signal, the traffic light state signal is coded into a fourth code number; and using the code number obtained after the traffic light state signal is coded as the traffic light coding information.
8. The method of claim 6, wherein the intelligent sand table traffic display system comprises: after the real-time acquisition of the location awareness signals of the road location sensors, the method further includes:
and according to the position sensing signals of the time sequence, depicting to obtain a path of the vehicle.
9. The method for controlling an intelligent sand table traffic display system according to any one of claims 1-5, wherein: the method comprises the following steps:
acquiring position coding information and traffic light coding information;
respectively decoding the position coding information and the traffic light coding information based on a preset traffic coding library to obtain a decoding result;
if the decoding result is that the vehicle is at a traffic light intersection and the red light is turned on, generating a vehicle stop driving instruction and modulating the vehicle stop driving instruction into a PWM signal to output the PWM signal to the motor set;
if the decoding result is that the vehicle is at a traffic light intersection and the green light is turned on, generating a vehicle release instruction and modulating the vehicle release instruction into a PWM signal to output the PWM signal to the motor set;
and if the decoding result indicates that the vehicle is not at the intersection of the traffic lights, the red light is turned on or the green light is turned on, generating a vehicle release instruction and modulating the vehicle release instruction into a PWM signal to output the PWM signal to the motor group.
10. The method of claim 9, wherein the intelligent sand table traffic display system comprises: the method further comprises the following steps:
if a left-turning trigger signal is obtained, generating a left wheel speed increasing command and modulating the left wheel speed increasing command into a PWM signal to output the PWM signal to a motor set so that the motor set drives the vehicle to turn left in a differential mode;
if the right-turn trigger signal is obtained, a right-wheel speed increasing instruction is generated and modulated into a PWM signal to be output to the motor set, so that the motor set drives the vehicle to turn right in a differential mode.
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