CN113589803A - Tramcar automatic driving system based on train autonomous operation - Google Patents
Tramcar automatic driving system based on train autonomous operation Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention relates to a tramcar automatic driving system based on train autonomous operation, which comprises a vehicle-mounted subsystem and a trackside Beidou differential base station subsystem which are connected with each other; the vehicle-mounted subsystem comprises a vehicle-mounted control host, an access handling antenna, a beacon reader, an automatic driving host, a Beidou satellite antenna, a Beidou satellite receiver, a barrier detection laser radar, a barrier detection camera, a vehicle-mounted signal switch and a vehicle-mounted terminal driver interface; the trackside Beidou differential base station subsystem comprises a Beidou base station antenna, a Beidou positioning base station receiver and a continuous operation reference station system server which are connected in sequence. Compared with the prior art, the invention has the advantages of improving the overall operation efficiency, having higher passenger comfort level and the like.
Description
Technical Field
The invention relates to an automatic driving system of a tramcar, in particular to an automatic driving system of a tramcar based on autonomous running of a train.
Background
The modern tramcar as a traffic operation mode with medium traffic volume has the characteristics of high efficiency, environmental protection and the like. Compare traditional urban rail transit mode, modern tram's line construction cost is less than the subway project far away. Trams are a practical and inexpensive option for medium-sized cities.
At present, tramcars at home and abroad run on open roads, and the running system mainly comprises the functions of train positioning, plan local management, overspeed and red light running auxiliary alarm, vehicle-mounted automatic/manual handling for approach, intersection priority application and the like. The tramcar operation environment is complicated, and the mode control tramcar operation, protection and emergency treatment that carry out on-the-spot driving safety are mainly still looked from a lookout and driver operation with the driver in the operation process. This trolley mode has certain drawbacks:
1) in the driving process of a driver, the driver can deal with the complex line condition, the driver is difficult to drive with the most efficient driving curve, and the operation efficiency is relatively low.
2) The comfort of the passengers depends on the driving behavior of the driver, and if the driver accelerates and decelerates frequently, brakes too quickly and the like, the comfort of the passengers is influenced.
3) The driver needs to look out through the whole process visually and manually operate, and the workload is relatively large.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic tramcar driving system based on autonomous train operation.
The purpose of the invention can be realized by the following technical scheme:
according to one aspect of the invention, an automatic tramcar driving system based on train autonomous operation is provided, which comprises a vehicle-mounted subsystem and a trackside Beidou differential base station subsystem which are connected with each other;
the vehicle-mounted subsystem comprises a vehicle-mounted control host, an access handling antenna, a beacon reader, an automatic driving host, a Beidou satellite antenna, a Beidou satellite receiver, an obstacle detection laser radar, an obstacle detection camera, a vehicle-mounted signal exchanger and a vehicle-mounted terminal driver interface, wherein the vehicle-mounted control host is respectively connected with the access handling antenna and the beacon reader, the automatic driving host is respectively connected with the obstacle detection laser radar and the obstacle detection camera, the vehicle-mounted signal exchanger is respectively connected with the vehicle-mounted control host, the automatic driving host, the Beidou satellite receiver and the vehicle-mounted terminal driver interface, and the Beidou satellite receiver is connected with the Beidou satellite antenna;
the trackside Beidou differential base station subsystem comprises a Beidou base station antenna, a Beidou positioning base station receiver and a continuous operation reference station system server which are connected in sequence.
As a preferred technical scheme, the vehicle-mounted control host is provided with two sets, adopts hot standby redundancy, and is used for realizing the functions of train speed measurement positioning real-time calculation, information interaction with a central dispatching management system, local operation plan management, information interaction with trackside beacons, route handling, intersection priority application, overspeed and red light running protection auxiliary prompt, recording events and alarm information of a vehicle-mounted subsystem, carrying out interface acquisition on vehicle input with the vehicle system and outputting the vehicle.
As a preferred technical scheme, the route handling antenna and the beacon reader are respectively provided with two antennas and redundant devices, and the two antennas and the beacon reader are used for handling the route through the trackside beacon and applying for intersection priority.
As a preferred technical solution, the automatic driving host includes:
the automatic processing module is used for processing related information from other functional modules and interacting traction braking percentage, door opening and closing commands, quick transmission information, traction braking state, vehicle door state, load information and stability stopping information with the vehicle;
and the artificial intelligence module is used for processing data from the obstacle detection laser radar and the obstacle detection camera and outputting obstacle information, obstacle types and intrusion conditions.
According to the preferable technical scheme, two Beidou satellite antennas are arranged, and the Beidou satellite receiver judges the running direction of the train by utilizing the direction finding functions of the two Beidou satellite antennas; meanwhile, through resolving, train positioning and speed information is accurately and quickly output.
As a preferred technical scheme, the obstacle detection laser radars are provided with two parts which are respectively arranged at two end cabs of the vehicle;
only when the current driver's cabin is activated, the data of this obstacle detection laser radar just handle, obstacle detection laser radar can gather the point cloud in the place ahead settlement scope of vehicle travel and the distance, this point cloud data produces obstacle information after artificial intelligence module handles, including the characteristic information of the size, the reflectivity and the distance of obstacle.
As a preferred technical scheme, the two obstacle detection cameras are respectively arranged at two end cabs of the vehicle;
only when current driver's cabin activated, the output video of this barrier detection camera just handles, and the barrier detection camera can gather the vehicle in real time and go the place ahead and set for the video data in scope and the distance, and this video data exports the barrier type and invades the limit condition after artificial intelligence module handles.
As a preferred technical scheme, two vehicle-mounted terminal driver interface interfaces are arranged and are respectively installed in the cabs at the two ends of the vehicle, the vehicle-mounted terminal driver interface interfaces can be displayed only when the current cab is activated, information and alarms of the vehicle-mounted control host and the automatic driving host are output to the vehicle-mounted terminal driver interface interfaces for displaying, and switching of different function interfaces and switching of automatic driving modes are achieved through the vehicle-mounted terminal driver interface interfaces.
As a preferred technical scheme, the Beidou reference station antenna is arranged on an open platform and used for receiving satellite signals; the Beidou positioning reference station receiver can resolve satellite signals received by the Beidou reference station antenna and output an observation value.
As a preferred technical solution, the continuously operating reference station system server can receive satellite observation data of the reference station receiver, perform differential correction data calculation, and perform distribution and management work through a network.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the automatic driving host and the vehicle-mounted control host control the vehicle to run in the automatic driving mode, so that the vehicle can accurately run according to an ideal driving curve, and the overall operation efficiency is improved;
2. according to the invention, the automatic driving host and the vehicle-mounted control host control the vehicle to run in the automatic driving mode, so that the driving behavior is better, and the comfort level of passengers is higher;
3. the automatic driving host and the vehicle-mounted control host control the vehicle to run in the automatic driving mode, and a driver only needs to visually observe, so that the workload of the driver is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic diagram of the automatic driving of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the automatic tramcar driving system based on autonomous train operation is applied to long and large districts with good road conditions, and comprises a vehicle-mounted system and a trackside Beidou differential base station system. The vehicle-mounted system comprises two sets of redundant vehicle-mounted control hosts (comprising a main/standby switching unit), two route transaction antennas, two beacon readers, an automatic driving host, two Beidou satellite antennas, a Beidou satellite receiver, two obstacle detection laser radars, two obstacle detection cameras and two sets of vehicle-mounted terminal driver interface interfaces; the trackside Beidou differential base station system comprises a Beidou base station antenna, a Beidou positioning base station receiver and a continuous operation reference station system server. The main/standby switching unit switches the corresponding vehicle-mounted system equipment along with the activation of the cab.
The vehicle-mounted control host can realize the functions of train speed measurement and positioning real-time calculation, information interaction with a central dispatching management system, local operation plan management, information interaction with trackside beacons, access handling, intersection priority application, overspeed and red light running protection auxiliary prompt, simultaneous recording of events and alarm information of the vehicle-mounted system, interface acquisition of vehicle input with the vehicle system, vehicle output and the like.
The route handling antenna and the beacon reader can handle the route and apply for intersection priority through the trackside beacon.
The automatic driving host comprises an artificial intelligence module and an automatic processing module. The automatic processing module can process related information from other functional modules, and interacts with the vehicle for traction braking percentage, door opening and closing commands, quick transmission information, traction braking state, vehicle door state, load information, stability stopping information and the like, so that the tramcar is automatically controlled.
Two big dipper satellite antenna and one set of big dipper satellite receiver can utilize the double antenna direction finding function of big dipper receiver to judge train traffic direction. Meanwhile, after resolving, information such as train positioning and speed is accurately and quickly output.
Two obstacle detection laser radars are respectively installed in the cabs at the two ends of the vehicle. Only when the current cab is active, the data of the lidar is processed. The laser radar can collect point clouds in a certain range and distance in front of the vehicle in running. And the point cloud data is processed by the artificial intelligence module to generate obstacle information including characteristic information such as the size, reflectivity, distance and the like of the obstacle.
Two obstacle detection cameras are respectively installed at the two end cabs of the vehicle. Only when the current cab is activated, the output video of the camera is processed. The video camera can collect video data in a certain range and distance in front of the running vehicle in real time. And outputting the barrier type and the invasion limit condition after the video data is processed by the artificial intelligence module.
The two sets of vehicle-mounted terminal driver interface interfaces are respectively installed in the cab at the two ends of the vehicle, and can be displayed only when the current cab is activated. The information and the alarm of the vehicle-mounted control host and the automatic driving host are output to driver interface equipment for display, and the switching of different functional interfaces, the switching of automatic driving modes and the like are realized through driver interface software.
The big dipper reference station antenna is installed at open platform, can receive satellite signal. The Beidou positioning reference station receiver can resolve satellite signals received by the Beidou reference station antenna and output an observation value.
The system server of the reference station continuously operates, can receive satellite observation data of the receiver of the reference station, carries out differential correction data calculation, broadcasts through a network and carries out management work at the same time.
The safety main body of the system is also protected by a driver, namely, in the automatic driving process, the driver carries out safety monitoring on the whole operation process, and can quit the automatic driving at any time through corresponding operation to convert into the traditional manual driving, and the driver can also convert into the automatic driving mode again through interaction with the automatic driving system according to the current operation condition.
The modules are described in detail below:
1. the vehicle-mounted control host has the following functions:
1) the speed measurement of the train and the real-time calculation of train positioning are realized through the three speed sensors.
2) The vehicle-mounted control host machine uses a wireless train dispatching module of a train to perform information interaction with the central dispatching management system through the tramcar backbone network, and the communication period is within 1 second.
3) Managing a local operation plan.
4) And information interaction is carried out between the route handling antenna and the beacon reader and the trackside beacon, so that route handling and intersection priority application are realized.
5) And outputting related information such as overspeed and red light running protection and the like to a driver interface for prompting.
6) And recording events and alarm information of the vehicle-mounted system and outputting the events and the alarm information to a driver interface.
7) Interface with the vehicle system to collect vehicle inputs and output the vehicle.
2. As shown in fig. 2, the autopilot host includes an artificial intelligence module and an automatic processing module, and more than 30% of computational capacity is reserved.
The artificial intelligence module has the following functions:
1) and point clouds in a certain range and distance in front of the vehicle in driving, which are acquired by the obstacle detection laser radar of the activated cab, are collected, obstacle information including characteristic information such as the size, reflectivity and distance of an obstacle is generated after the point cloud data are processed, and the updating frequency of the point clouds is greater than 10 Hz.
2) Video data in a certain range and distance in front of the vehicle in driving, collected by an obstacle detection camera of an activated cab, are collected, and obstacle information including the type of an obstacle and the intrusion condition is generated after the video data are processed, wherein the video refreshing frequency is greater than 10 Hz.
3) And outputting the collected obstacle information to an automatic processing module.
The automatic processing module has the following functions:
1) and receiving the accurate position, speed and running direction information of the train calculated by the Beidou satellite antenna and the Beidou satellite receiver. And analyzing the actual position of the train in the line through the line topological relation provided by the local vehicle-mounted map. Two big dipper satellite antennas are in same section carriage, and the interval is more than 2 meters.
2) The system is provided with an interface for interacting the traction braking percentage, door opening and closing commands, quick transmission information, traction braking state, door state, load information, stability stopping information and the like.
3) And receiving the state of a front signal machine from the central dispatching system to automatically control the train to run, and stopping the train out of a safe distance before a red light or light-out signal. The method and the system receive barrier information input by the artificial intelligence module and input by the front intrusion safety rail area, can give different alarms to drivers according to the barrier information, and can trigger train braking to decelerate the train in advance if necessary. The automatic train entering and stopping can be controlled, and the train door can be automatically opened and closed after the train is stopped.
3. The trackside equipment Beidou differential base station has the following functions:
1) the Beidou reference station antenna is arranged on the open platform to receive satellite signals, and the peripheral elevation angle is within the range of 15-90 degrees without shielding.
2) The Beidou positioning reference station receiver is connected with the reference station antenna through a feeder line, satellite signals received by the Beidou reference station antenna are resolved within 7-24 hours, and an observation value is output.
3) The system software and the computer server of the reference station continuously run, the satellite observation data of the receiver of the reference station can be received, the differential correction data are calculated, the corresponding differential correction data are provided through the position of the mobile terminal, and the data updating interval is within 5 seconds.
4) And continuously operating the reference station system software and the computer server to receive and transmit data to the automatic driving host through the LTE network, and simultaneously performing management work.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An automatic tramcar driving system based on train autonomous operation is characterized by comprising a vehicle-mounted subsystem and a trackside Beidou differential base station subsystem which are connected with each other;
the vehicle-mounted subsystem comprises a vehicle-mounted control host, an access handling antenna, a beacon reader, an automatic driving host, a Beidou satellite antenna, a Beidou satellite receiver, an obstacle detection laser radar, an obstacle detection camera, a vehicle-mounted signal exchanger and a vehicle-mounted terminal driver interface, wherein the vehicle-mounted control host is respectively connected with the access handling antenna and the beacon reader, the automatic driving host is respectively connected with the obstacle detection laser radar and the obstacle detection camera, the vehicle-mounted signal exchanger is respectively connected with the vehicle-mounted control host, the automatic driving host, the Beidou satellite receiver and the vehicle-mounted terminal driver interface, and the Beidou satellite receiver is connected with the Beidou satellite antenna;
the trackside Beidou differential base station subsystem comprises a Beidou base station antenna, a Beidou positioning base station receiver and a continuous operation reference station system server which are connected in sequence.
2. The tram automatic driving system based on train autonomous operation as claimed in claim 1, characterized in that the vehicle-mounted control host has two sets, adopts hot standby redundancy, and is used for realizing train speed measurement and positioning real-time calculation, information interaction with a central dispatching management system, local operation plan management, information interaction with a trackside beacon, route handling and intersection priority application, overspeed and red light running protection auxiliary prompt, recording events and alarm information of the vehicle-mounted subsystem, performing interface acquisition of vehicle input with the vehicle system, and performing output function on the vehicle.
3. The tram automatic driving system based on train autonomous operation as claimed in claim 1, characterized in that the number of the route handling antennas and the beacon readers is two, and redundant arrangement is adopted for handling route handling and applying for crossing priority through trackside beacons.
4. The automatic tram driving system based on train autonomous operation as claimed in claim 1, wherein the automatic driving host comprises:
the automatic processing module is used for processing related information from other functional modules and interacting traction braking percentage, door opening and closing commands, quick transmission information, traction braking state, vehicle door state, load information and stability stopping information with the vehicle;
and the artificial intelligence module is used for processing data from the obstacle detection laser radar and the obstacle detection camera and outputting obstacle information, obstacle types and intrusion conditions.
5. The tram automatic driving system based on train autonomous operation as claimed in claim 1, wherein there are two big dipper satellite antennas, and the big dipper satellite receiver determines the train running direction by using the direction-finding function of the two big dipper satellite antennas; meanwhile, through resolving, train positioning and speed information is accurately and quickly output.
6. The automatic tram driving system as claimed in claim 4, wherein the obstacle detection lidar has two parts installed separately in the cab of the tram;
only when the current driver's cabin is activated, the data of this obstacle detection laser radar just handle, obstacle detection laser radar can gather the point cloud in the place ahead settlement scope of vehicle travel and the distance, this point cloud data produces obstacle information after artificial intelligence module handles, including the characteristic information of the size, the reflectivity and the distance of obstacle.
7. The automatic tram driving system based on train autonomous operation as claimed in claim 4, wherein there are two obstacle detection cameras, respectively installed in the cab at both ends of the train;
only when current driver's cabin activated, the output video of this barrier detection camera just handles, and the barrier detection camera can gather the vehicle in real time and go the place ahead and set for the video data in scope and the distance, and this video data exports the barrier type and invades the limit condition after artificial intelligence module handles.
8. The automatic tramcar driving system based on train autonomous operation as claimed in claim 1, wherein there are two driver interfaces installed separately in the two end cabs of the train, and the driver interfaces can be displayed only when the current cab is activated, and the information and alarm of the on-board control host and the automatic driving host are output to the driver interfaces for display, so as to realize the switching between different function interfaces and the automatic driving mode through the driver interfaces.
9. The automatic tram driving system based on train autonomous operation as claimed in claim 1, characterized in that the big dipper reference station antenna is installed on the open platform for receiving satellite signal; the Beidou positioning reference station receiver can resolve satellite signals received by the Beidou reference station antenna and output an observation value.
10. The automatic tram driving system as claimed in claim 1, wherein the continuously operating reference station system server is capable of receiving satellite observation data of the reference station receiver, performing differential correction data calculation, and broadcasting through a network while performing management work.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115933469A (en) * | 2022-12-02 | 2023-04-07 | 中铁工程设计咨询集团有限公司 | Rail transit vehicle-mounted control method and system based on industrial Ethernet |
| WO2024055438A1 (en) * | 2022-09-14 | 2024-03-21 | 卡斯柯信号有限公司 | Autonomous sensing system for train |
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| CN109166328A (en) * | 2018-08-28 | 2019-01-08 | 中铁第四勘察设计院集团有限公司 | A kind of operation control system and method based on rubber tire virtual rail train |
| CN109677466A (en) * | 2019-01-18 | 2019-04-26 | 卡斯柯信号有限公司 | A kind of lightweight train automatic controlling system towards Chinese heavy haul railway |
| CN210052284U (en) * | 2019-06-24 | 2020-02-11 | 通号畅行(浙江)科技股份有限公司 | Special vehicle traffic signal control system based on active adjustment |
| CN110827554A (en) * | 2019-10-22 | 2020-02-21 | 中铁轨道交通装备有限公司 | Tramcar cooperative control method and system based on active driving control |
| CN112829798A (en) * | 2021-01-20 | 2021-05-25 | 孙中银 | Tramcar crossing barrier detection early warning system and early warning method |
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| CN115933469A (en) * | 2022-12-02 | 2023-04-07 | 中铁工程设计咨询集团有限公司 | Rail transit vehicle-mounted control method and system based on industrial Ethernet |
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