CN113415266B - Track deviation protection method for vehicle magnetic nail tracking operation - Google Patents

Track deviation protection method for vehicle magnetic nail tracking operation Download PDF

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Publication number
CN113415266B
CN113415266B CN202110803657.1A CN202110803657A CN113415266B CN 113415266 B CN113415266 B CN 113415266B CN 202110803657 A CN202110803657 A CN 202110803657A CN 113415266 B CN113415266 B CN 113415266B
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vehicle
magnetic
track
deviation
controller
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CN113415266A (en
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张�荣
陆雪忠
孟华东
张继光
沈旻园
霍为韵
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Shanghai Electric Group Intelligent Transportation Technology Co ltd
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Shanghai Electric Group Intelligent Transportation Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Abstract

The invention discloses a track deviation protection method for vehicle magnetic nail tracking operation, which comprises the following steps of: the automatic vehicle driving system comprises a vehicle, a magnetic nail track and a lane line arranged along the magnetic nail track, wherein the vehicle is provided with a controller, and a vehicle-mounted sensor and an actuating mechanism which are connected with the controller; the vehicle-mounted sensor comprises a vehicle speed sensor, an inertial navigation module, a front magnetic sensor and a rear magnetic sensor, and the executing mechanism comprises a power system, a braking system and a steering system; the automatic vehicle driving system based on magnetic nail navigation realizes the restraint of the vehicle running track by monitoring the vehicle running track and the posture in real time. The track deviation protection method for the vehicle magnetic nail tracking operation monitors the in-track posture of the vehicle in real time, effectively ensures the safe operation of the vehicle in the modes of alarming, speed reduction and the like under the condition of the risk of deviating the track, and can reduce the harmfulness of the vehicle on derailment along the magnetic nail tracking.

Description

Trajectory deviation protection method for vehicle magnetic nail tracking operation
Technical Field
The invention relates to the technical field of vehicle automatic driving and rail transit, in particular to a track deviation protection method for vehicle magnetic nail tracking operation.
Background
Automatic driving techniques have rapidly developed in recent years. The development of various sensor technologies such as inertial navigation, a camera, a millimeter wave radar and a laser radar provides a lot of ways for obtaining the attitude and the environmental perception of a vehicle, and various electric actuators such as a driving motor, an electronic steering system (EPS) and an Electronic Brake System (EBS) and the like are widely applied to provide technical convenience for the development of automatic driving. Due to the fact that actual driving environments are extremely complex, high-level automatic driving technologies are not mature enough, related traffic regulations are not perfect, and the unmanned vehicle is still in the stages of test testing and special scene test running and is far from being popularized. Especially in the public transportation field, the social and public requirements for safety are extremely high, so not only the development cost of the automatic driving system needs to be considered, but also the safety and reliability are important.
However, the control effect of the scheme is greatly influenced by weather and environment, and the control precision of the vehicle running track is obviously reduced under the conditions of rainy and snowy weather, night or fuzzy lane lines and the like. In addition, because the hardware cost of the laser radar is too high, although the navigation effect is obviously higher than the visual navigation effect, the application is not wide. The magnetic nail navigation scheme is not influenced by the environmental factors, has high safety and low cost, and is continuously applied to certain special scene traffic environments, such as BRT bus rapid transit, warehouse logistics, airport connection and the like.
The vehicle can be seen as running along a virtual rail along the tracking of the magnetic nails, and has larger risk of derailment compared with the systems of subways, tramcars and the like depending on actual steel rails and having physical constraints.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a track deviation protection method for vehicle magnetic nail tracking operation, which is used for monitoring the on-track attitude of a vehicle in real time, effectively ensuring the safe operation of the vehicle by means of alarming, speed reduction and the like under the condition of the risk of deviation from the track and reducing the hazard of derailment of the vehicle along the magnetic nail tracking.
The technical scheme for realizing the purpose is as follows: a track deviation protection method for vehicle magnetic nail tracking operation is provided, a vehicle automatic driving system based on magnetic nail navigation realizes the constraint of vehicle operation track by monitoring the vehicle operation track and posture in real time, and the method specifically comprises the following steps:
s1, constructing a magnetic nail-based navigation-integrated automatic vehicle driving system: the automatic vehicle driving system comprises a vehicle, a magnetic nail track and a lane line arranged along the magnetic nail track, wherein the vehicle is provided with a controller, and a vehicle-mounted sensor and an actuating mechanism which are connected with the controller; the vehicle-mounted sensor comprises a vehicle speed sensor, an inertial navigation module, a front magnetic sensor and a rear magnetic sensor, and the execution mechanism comprises a power system, a braking system and a steering system;
the magnetic nail track comprises a vehicle running track and a plurality of magnetic nails which are arranged on the vehicle running track at equal intervals and are distinguished by magnetic poles;
the controller is loaded with a magnetic nail track electronic map, each magnetic nail is provided with a unique number, and the controller accurately positions the position of the vehicle when the vehicle tracks along the magnetic nail of the magnetic nail track;
the vehicle speed sensor is used for measuring the speed of the vehicle and obtaining the running distance of the vehicle through integration; the inertial navigation module is used for measuring the angular speed of the vehicle perpendicular to the ground; the front magnetic sensor and the rear magnetic sensor are used for detecting the transverse position of the magnetic nails of the magnetic nail track relative to the vehicle; the information obtained by the measurement of the vehicle speed sensor, the inertial navigation module, the front magnetic sensor and the rear magnetic sensor is fed back to the controller;
the power system and the brake system respectively convert the analog signals output by the controller into corresponding driving torque and braking torque, so that the controller controls the longitudinal speed of the vehicle; the steering system converts the analog signal output by the controller into a corresponding steering angle of a steering wheel, so that the controller controls the transverse steering of the vehicle;
s2, the vehicle runs on the magnetic nail lane according to a set line, when the front magnetic sensor passes right above any magnetic nail, the transverse position of the magnetic nail relative to the vehicle is sent to a controller, and the controller identifies the serial number of the magnetic nail and accurately positions the physical position of the vehicle; the controller indexes the magnetic nail track electronic map according to the set line number and the magnetic nail number, and reads reference values of current track parameters prefabricated in the magnetic nail track electronic map, wherein the reference values comprise a front magnetic sensor transverse deviation reference value, a rear magnetic sensor transverse deviation reference value, a vehicle yaw angle reference value and a steering wheel steering angle reference value;
s3, comparing the reference values of the current track parameters in the step S2 by the controller according to the current real-time vehicle attitude measurement values including the transverse deviation yr1 of the front magnetic sensor, the transverse deviation of the rear magnetic sensor, the vehicle yaw angle and the steering angle of a steering wheel, and continuing normal tracking operation if each track parameter has no deviation; if the track parameters have deviation, judging whether the vehicle posture is in fault according to the deviation of the track parameters; the threshold value of the deviation is divided into three levels, wherein the level 1 is slight deviation of the posture, and the controller performs alarm processing; the 2-stage is attitude general deviation, and the controller controls the power system and the braking system to perform braking deceleration or snubbing treatment; and the 3 level is serious deviation of the posture, and the controller controls the power system and the brake system to perform brake and stop treatment.
In the above method for protecting track deviation in tracking operation of a magnetic nail of a vehicle, the front magnetic sensor is mounted at the front end of the vehicle, the rear magnetic sensor is mounted at the middle rear end of the vehicle, the distance between the front magnetic sensor and the rear magnetic sensor is 2m to 8m, and the height of the mounting positions of the front magnetic sensor and the rear magnetic sensor from the ground is 20cm.
The track deviation protection method for the vehicle magnetic nail tracking operation is characterized in that the front magnetic sensor and the rear magnetic sensor are composed of a plurality of magnetic field sensing chips which are linearly arranged and used for measuring a three-dimensional magnetic field;
when the front magnetic sensor and the rear magnetic sensor pass above the magnetic nail, different magnetic field strengths are fed back by each magnetic field sensing chip on the front magnetic sensor and the rear magnetic sensor, and the magnitude of the magnetic field strengths reflects the distance between the corresponding magnetic field sensing chip and the magnetic nail; the transverse position and the magnetic pole direction of each magnetic nail relative to the vehicle are accurately judged by fitting the measurement results of the magnetic field sensing chips with the physical model of the magnetic field distribution of the magnetic nails.
The track deviation protection method for the vehicle magnetic nail tracking operation is characterized in that the vehicle-mounted sensor further comprises a camera and/or a millimeter wave radar, and the camera is used for measuring an obstacle in front of the vehicle and lane line information; the millimeter wave radar is used for measuring obstacles in front of and on the side of the vehicle; and information obtained by the measurement of the camera and the millimeter wave radar is fed back to the controller.
In the above method for protecting track deviation of vehicle magnetic nail tracking operation, in step S2, the reference value of the current track parameter pre-fabricated in the magnetic nail track electronic map is formed by fitting multiple tracking test results, and has a probabilistic statistical characteristic.
In the above method for protecting track deviation in tracking operation of the magnetic nail of the vehicle, in step S3, the design of the deviation threshold values at each level is statistically formed according to the result of the repeated tracking test; and judging deviation levels according to the deviation of each track parameter, taking the most serious attitude deviation level as a judgment result, and carrying out corresponding fault treatment by the controller according to the attitude deviation judgment result.
The track deviation protection method for the vehicle magnetic nail tracking operation, disclosed by the invention, aims at vehicles based on magnetic nail navigation, realizes the constraint on the vehicle running track by monitoring the vehicle running track and posture in real time, and can effectively prevent the vehicle track deviation and derailment accidents or reduce the damage degree after derailment.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle automatic driving system based on magnetic nail navigation;
FIG. 2 is a flowchart of a method for protecting a vehicle from track deviation during magnetic pin tracking operation according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1 and 2, in a preferred embodiment of the present invention, a method for protecting a vehicle magnetic nail tracking trajectory from deviation includes the following steps:
s1, constructing a magnetic nail-based navigation-integrated automatic vehicle driving system: the automatic vehicle driving system comprises a vehicle 1, a magnetic nail track 12 and a lane line 13 arranged along the magnetic nail track, wherein the vehicle 1 is loaded with a controller 2 and a vehicle-mounted sensor and an actuating mechanism which are connected with the controller; the vehicle-mounted sensor comprises a vehicle speed sensor 3, an inertial navigation module 4, a front magnetic sensor 5 and a rear magnetic sensor 6, the vehicle-mounted sensor also comprises a camera 7 and/or a millimeter wave radar 8, and the execution mechanism comprises a power system 9, a brake system 10 and a steering system 11;
the magnetic nail track 12 comprises a plurality of magnetic nails which are arranged on the vehicle running track and are spaced at equal intervals on the vehicle running track, and the magnetic nails are distinguished by magnetic poles.
The controller 2 is loaded with an electronic map of magnetic nail tracks, each magnetic nail has a unique number, and when a vehicle tracks along the magnetic nails of the magnetic nail tracks 12, the controller 2 accurately positions the position of the vehicle.
The vehicle speed sensor 3 is used for measuring the speed of the vehicle and obtaining the running distance of the vehicle through integration; the inertial navigation module 4 is used for measuring the angular speed of the vehicle perpendicular to the ground; the front and rear magnetic sensors 5 and 6 are used for detecting the transverse position of the magnetic nails of the magnetic nail track relative to the vehicle; the camera 7 is used for measuring obstacles in front of the vehicle and lane line information; the millimeter wave radar 8 is used for measuring obstacles in front of and on the side of the vehicle; and information obtained by measuring the vehicle speed sensor 3, the inertial navigation module 4, the front magnetic sensor 5, the rear magnetic sensor 6, the camera 7 and the millimeter wave radar 8 is fed back to the controller.
The power system 9 and the brake system 10 respectively convert the analog signals output by the controller 2 into corresponding driving torque and braking torque, so that the longitudinal speed of the vehicle 1 is controlled by the controller 2; the steering system 11 converts the analog signal output by the controller 2 into a corresponding steering angle of the steering wheel, and realizes the lateral steering control of the vehicle 1 by the controller 2.
The front magnetic sensor 5 is installed at the front end of the vehicle 1, the rear magnetic sensor 6 is installed at the middle rear end of the vehicle 1, the distance between the front magnetic sensor 5 and the rear magnetic sensor 6 is 2 m-8 m, and the height of the installation positions of the front magnetic sensor 5 and the rear magnetic sensor 6 from the ground is 20cm. The front magnetic sensor 5 and the rear magnetic sensor 6 are composed of a plurality of magnetic field sensing chips which are arranged in a straight line and are used for measuring a three-dimensional magnetic field; when the front magnetic sensor and the rear magnetic sensor pass above the magnetic nail, different magnetic field strengths are fed back by each magnetic field sensing chip on the front magnetic sensor and the rear magnetic sensor, and the magnitude of the magnetic field strengths reflects the distance between the corresponding magnetic field sensing chip and the magnetic nail; the transverse position and the magnetic pole direction of each magnetic nail relative to the vehicle are accurately judged by fitting the measurement results of the magnetic field sensing chips with the physical model of the magnetic field distribution of the magnetic nails.
S2, the vehicle 1 runs on the magnetic nail lane 12 according to a set line, when the current magnetic sensor passes right above any magnetic nail, the transverse position of the magnetic nail relative to the vehicle is sent to the controller 2, and the controller 2 identifies the serial number of the magnetic nail and accurately positions the physical position of the vehicle; the controller 2 indexes the magnetic nail track electronic map according to the set line number and the magnetic nail number, reads the reference values of the current track parameters prefabricated in the magnetic nail track electronic map, wherein the reference values comprise a front magnetic sensor transverse deviation reference value yr1_ ref, a rear magnetic sensor transverse deviation reference value yr2_ ref, a vehicle yaw angle reference value veh _ angle _ ref and a steering wheel steering angle reference value steer _ angle _ ref; the reference value of the current track parameter prefabricated in the magnetic nail track electronic map is formed by fitting a plurality of tracking test results and has a probabilistic statistical characteristic.
S3, comparing the reference values of the current track parameters in the step S2 by the controller 2 according to the current real-time vehicle attitude measurement values including the transverse deviation yr1 of the front magnetic sensor, the transverse deviation yr2 of the rear magnetic sensor, the vehicle yaw angle veh _ angle and the steering angle steer _ angle of the steering wheel, and if the track parameters are not deviated, continuing normal tracking operation; if the track parameters have deviation, judging whether the vehicle posture is in fault according to the deviation of the track parameters; the threshold value of the deviation is divided into three levels, wherein the level 1 is slight deviation of the posture, and the controller performs alarm processing; the 2-stage is that the attitude generally deviates, and the controller 2 controls the power system 9 and the brake system 10 to perform braking deceleration or inching brake treatment; and 3, the attitude is seriously deviated, and the controller controls the power system 9 and the brake system 10 to perform brake stopping treatment. The design of each level of deviation threshold is formed according to the statistics of the repeated tracking test result; and judging deviation levels according to the deviation of each track parameter, taking the most serious attitude deviation level as a judgment result, and carrying out corresponding fault treatment by the controller according to the attitude deviation judgment result.
The transverse deviation yr1 of the front magnetic sensor is detected by the front magnetic sensor 5 in real time; the rear magnetic sensor lateral deviation yr2 is obtained by real-time detection of the rear magnetic sensor 6, the vehicle yaw angle veh _ angle is obtained by real-time detection of the inertial navigation module 4, and the steering wheel steering angle steer _ angle is obtained by real-time conversion of the steering system 11 according to an analog signal output by the controller 2.
In the track deviation protection method for vehicle magnetic nail tracking operation, the vehicle automatic driving system based on magnetic nail navigation has the characteristic of a virtual track, and the vehicle can play a similar effect with physical constraint like a subway and a tramcar through the track protection design, thereby effectively improving the safety of the system.
In conclusion, the track deviation protection method for vehicle magnetic nail tracking operation, provided by the invention, aims at vehicles based on magnetic nail navigation, realizes the constraint of vehicle operation tracks by monitoring the vehicle operation tracks and postures in real time, and can effectively prevent vehicle track deviation and derailment accidents or reduce the damage degree after derailment.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims (6)

1. A track deviation protection method for vehicle magnetic nail tracking operation is characterized by comprising the following steps of:
s1, constructing a magnetic nail-based navigation-integrated automatic vehicle driving system: the automatic vehicle driving system comprises a vehicle, a magnetic nail track and a lane line arranged along the magnetic nail track, wherein the vehicle is provided with a controller, and a vehicle-mounted sensor and an actuating mechanism which are connected with the controller; the vehicle-mounted sensor comprises a vehicle speed sensor, an inertial navigation module, a front magnetic sensor and a rear magnetic sensor, and the executing mechanism comprises a power system, a braking system and a steering system;
the magnetic nail track comprises a vehicle running track and a plurality of magnetic nails which are arranged on the vehicle running track at equal intervals and are distinguished by magnetic poles;
the controller is loaded with an electronic map of magnetic nail tracks, each magnetic nail is provided with a unique number, and the controller accurately positions the position of the vehicle when the vehicle tracks along the magnetic nails of the magnetic nail tracks;
the vehicle speed sensor is used for measuring the speed of the vehicle and obtaining the running distance of the vehicle through integration; the inertial navigation module is used for measuring the angular speed of the vehicle perpendicular to the ground; the front and rear magnetic sensors are used for detecting the transverse position of the magnetic nails of the magnetic nail track relative to the vehicle; the information obtained by the measurement of the vehicle speed sensor, the inertial navigation module, the front magnetic sensor and the rear magnetic sensor is fed back to the controller;
the power system and the brake system respectively convert the analog signals output by the controller into corresponding driving torque and braking torque, and the controller controls the longitudinal speed of the vehicle; the steering system converts the analog signal output by the controller into a corresponding steering angle of a steering wheel, so that the controller controls the transverse steering of the vehicle;
s2, the vehicle runs on the magnetic nail lane according to a set line, when the front magnetic sensor passes right above any magnetic nail, the transverse position of the magnetic nail relative to the vehicle is sent to a controller, and the controller identifies the serial number of the magnetic nail and accurately positions the physical position of the vehicle; the controller indexes the magnetic nail track electronic map according to the set line number and the magnetic nail number, and reads reference values of current track parameters prefabricated in the magnetic nail track electronic map, wherein the reference values comprise a front magnetic sensor transverse deviation reference value, a rear magnetic sensor transverse deviation reference value, a vehicle yaw angle reference value and a steering wheel steering angle reference value;
s3, comparing the reference values of the current track parameters in the step S2 by the controller according to the current real-time vehicle attitude measurement values including the lateral deviation of the front magnetic sensor, the lateral deviation of the rear magnetic sensor, the vehicle yaw angle and the steering angle of the steering wheel, and continuing normal tracking operation if each track parameter has no deviation; if the track parameters have deviation, judging whether the vehicle attitude is in fault according to the deviation of the track parameters, wherein the threshold value of the deviation is divided into three levels, the 1 level is slight deviation of the attitude, and the controller performs alarm processing; the 2-stage is attitude general deviation, and the controller controls the power system and the braking system to perform braking deceleration or snubbing treatment; and the 3 level is serious deviation of the posture, and the controller controls the power system and the brake system to perform brake and stop treatment.
2. The method for protecting the track deviation of the tracking operation of the magnetic nails of the vehicle as claimed in claim 1, wherein the front magnetic sensor is installed at the front end of the vehicle, the rear magnetic sensor is installed at the middle rear end of the vehicle, the distance between the front magnetic sensor and the rear magnetic sensor is 2 m-8 m, and the height of the installation positions of the front magnetic sensor and the rear magnetic sensor from the ground is 20cm.
3. The method for protecting the track deviation in the tracking operation of the magnetic nails of the vehicle according to claim 1, wherein the front magnetic sensor and the rear magnetic sensor are both composed of a plurality of magnetic field sensing chips which are arranged in a straight line and used for measuring a three-dimensional magnetic field;
when the front and rear magnetic sensors pass above the magnetic nail, different magnetic field strengths are fed back by each magnetic field sensing chip on the front and rear magnetic sensors, and the magnitude of the magnetic field strengths reflects the distance between the corresponding magnetic field sensing chip and the magnetic nail; the transverse position and the magnetic pole direction of each magnetic nail relative to the vehicle are accurately judged by fitting the measurement results of the magnetic field sensing chips and the physical model of the magnetic distribution of the magnetic nails.
4. The method for protecting the track deviation of the vehicle magnetic nail tracking operation according to claim 1, wherein the vehicle-mounted sensor further comprises a camera and/or a millimeter wave radar, and the camera is used for measuring obstacles in front of the vehicle and lane line information; the millimeter wave radar is used for measuring obstacles in front of and on the side of the vehicle; and information obtained by the measurement of the camera and the millimeter wave radar is fed back to the controller.
5. The method for protecting track deviation in vehicle magnetic nail tracking operation according to claim 1, wherein in step S2, the reference value of the current track parameter pre-fabricated in the magnetic nail track electronic map is formed by fitting multiple tracking test results, and has probabilistic characteristics.
6. The method for protecting the track deviation in the tracking operation of the magnetic nails of the vehicle according to claim 1, wherein in the step S3, the design of the deviation threshold values of each stage is statistically formed according to the result of the repeated tracking test; and judging deviation levels according to the deviation of each track parameter, taking the most serious attitude deviation level as a judgment result, and carrying out corresponding fault treatment by the controller according to the attitude deviation judgment result.
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