CN113734246A - Vehicle coupling control method, device and system - Google Patents
Vehicle coupling control method, device and system Download PDFInfo
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- CN113734246A CN113734246A CN202111126890.7A CN202111126890A CN113734246A CN 113734246 A CN113734246 A CN 113734246A CN 202111126890 A CN202111126890 A CN 202111126890A CN 113734246 A CN113734246 A CN 113734246A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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Abstract
The embodiment of the application provides a vehicle coupling control method, device and system, and relates to the technical field of vehicle coupling control. The vehicle coupling control method comprises the following steps: firstly, acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be hung and a first running speed of the current vehicle, wherein the first distance is calculated according to first positioning data sent by positioning equipment installed on the current vehicle, and the first running speed is detected according to speed detection equipment installed on the current vehicle; and secondly, controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be connected to be in linkage operation. By adopting the scheme in the application, the automatic control of the vehicle connection and hanging is realized, and the problem that the efficiency of the vehicle connection and hanging control is low due to the fact that the shunting operation process in the prior art is operated manually is avoided.
Description
Technical Field
The application relates to the technical field of rail transit, in particular to a vehicle connection control method, device and system.
Background
In the railway transportation industry, shunting work is an important component of railway transportation production and is an important link for realizing train marshalling plan, train operation diagrams and accelerating vehicle turnover and finishing transportation production tasks with good quality. The safe and efficient shunting work plays an important role in guaranteeing the safety of railway transportation, improving the transportation efficiency, enhancing the transportation capacity, reducing the transportation cost and meeting the requirements of China and people on railway transportation with good quality.
However, the inventors have found that the conventional shunting operation is performed manually, and thus there is a problem in that the efficiency of the vehicle coupling control is low.
Disclosure of Invention
In view of the above, an object of the present application is to provide a vehicle coupling control method, device and system to solve the problems in the prior art.
In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:
according to a first aspect of embodiments of the present application, there is provided a vehicle hitching control method including:
acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be hung and a first running speed of the current vehicle, wherein the first distance is calculated according to first positioning data sent by positioning equipment installed on the current vehicle, and the first running speed is detected according to speed detection equipment installed on the current vehicle;
and controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be connected to be in linkage operation.
In a preferable selection of the embodiment of the present application, the step of controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first operating speed includes:
calculating to obtain a deceleration distance according to the first running speed, a preset acceleration and a preset formula, and judging whether the first distance is greater than the deceleration distance;
if not, controlling the current vehicle to decelerate and stop according to the preset acceleration.
In a preferable selection of the embodiment of the present application, the step of controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first operating speed includes:
calculating to obtain a first acceleration according to the first running speed, the first distance and a preset formula;
and controlling the current vehicle to decelerate and stop according to the first acceleration.
In a preferred option of the embodiment of the present application, the step of obtaining a first distance between a first end of a current vehicle and a second end of a vehicle to be connected includes:
acquiring first positioning data sent by the positioning equipment, and calculating second positioning data of the first end of the current vehicle according to the first positioning data and a preset first distance, wherein the preset first distance represents the distance between the positioning equipment and the first end of the current vehicle;
acquiring third positioning data of a second end of the vehicle to be connected;
and calculating to obtain a first distance according to the second positioning data and the third positioning data.
In a preferred option of the embodiment of the present application, the step of obtaining third positioning data of the second end of the vehicle to be connected includes:
acquiring a preset second distance and fourth positioning data sent by a detection device, wherein the preset second distance represents the distance between the detection device and the second end of the vehicle to be connected, and the fourth positioning data represents the position of the detection device;
and calculating according to the fourth positioning data and a preset second distance to obtain third positioning data.
According to a second aspect of the embodiments of the present application, there is provided a vehicle attachment control device including:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be connected and a first running speed of the current vehicle, the first distance is calculated according to first positioning data sent by positioning equipment installed at the first end of the current vehicle, and the first running speed is detected according to speed detection equipment installed at the current vehicle;
and the control module is used for controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be connected to be in a connecting operation.
According to a third aspect of the embodiments of the present application, there is provided a vehicle hitching control system including:
the positioning device is arranged on a current vehicle and used for positioning the current vehicle to obtain first positioning data;
the speed detection equipment is arranged on the current vehicle and used for detecting the speed of the current vehicle to obtain a first running speed;
the electronic equipment is used for acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be hung and a first running speed of the current vehicle, and controlling the current vehicle to stop when the distance between the first end and the second end is a target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be hung to be connected to each other, wherein the first distance is obtained through calculation according to the first positioning data.
In a preferred option of the embodiment of the present application, the vehicle connection control system further includes a detection device, where the detection device is configured to collect a preset second distance and fourth positioning data, where the preset second distance represents a distance between the detection device and a second end of the vehicle to be connected, and the fourth positioning data represents a position of the detection device;
the electronic device is further used for obtaining a preset second distance and a fourth positioning data which are sent by the detection device, and calculating according to the fourth positioning data and the preset second distance to obtain a third positioning data, wherein the third positioning data represents the position of a second end of the vehicle to be connected.
According to a fourth aspect of the embodiments of the present application, there is provided an electronic device, the electronic device includes a processor, a memory and a bus, the memory stores machine-readable instructions executable by the processor, when the electronic device is operated, the processor and the memory communicate with each other through the bus, and the processor executes the machine-readable instructions to perform the steps of the vehicle hitching control method.
According to a fifth aspect of embodiments of the present application, there is provided a readable storage medium storing a computer program that, when executed, implements the steps of the vehicle hitching control method described above.
By adopting the vehicle coupling control method, the device and the system provided by the embodiment of the application, the current vehicle is controlled to stop when the distance between the first end and the second end is the target distance according to the acquired first distance and the acquired first running speed, so that the coupling operation is performed between the current vehicle and the vehicle to be coupled, the automatic control of the vehicle coupling is realized, and the problem of low vehicle coupling control efficiency caused by manual operation in the shunting operation process in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a diagram illustrating an application scenario of a vehicle hitching control method provided by the prior art;
fig. 2 is a block diagram showing a configuration of a vehicle hitching control system according to an embodiment of the present application;
fig. 3 shows a block diagram of an electronic device provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of a vehicle coupling control method according to an embodiment of the present application;
fig. 5 is a block diagram of a vehicle coupling control device according to an embodiment of the present application.
Icon: 10-vehicle hitch control system; 100-an electronic device; 110 — a first memory; 120-a first processor; 130-a communication module; 210-a positioning device; 220-speed detection device; 230-a detection device; 500-vehicle coupling control device; 510-an obtaining module; 520-control module.
Detailed Description
In the process of implementing the present application, the inventor finds that, in the shunting operation process, the operation process of the locomotive in continuous hanging mode is one of the main processes, in the current shunting operation process in the railway, shunting operation orders are issued manually, drivers and ground personnel start to perform operations after confirming, in the performing process, the ground personnel and the drivers communicate through talkback, and in the whole shunting operation, the method includes: in the scenes of continuous hanging, pushing, pulling, trial pulling, throwing, contraposition and the like, the domestic shunting continuous hanging operation is completed by the following three steps:
1) preparing an access;
2) running a single machine;
3) trying to pull the trailer;
the main process of the trailer is briefly described as follows:
referring to fig. 1, before the locomotive is connected, the locomotive processes a route, and after the route is processed, the locomotive is informed to a driver through a handheld intercom, the driver starts the locomotive after observing that a signal is an allowance signal, the locomotive drives into a connection area according to the signal, when the distance between the locomotive and a vehicle to be connected is 10, 5, 3 or 1, a ground connector informs the driver through a handheld terminal, and the driver controls the speed in sections according to the distance.
When the distance is 10 meters away from the vehicle ahead, the driver starts to reduce the speed to 17 km/h;
when the distance from the vehicle to the front vehicle is 5 meters, the driver starts to reduce the speed to 12 km/h;
when the distance from the vehicle to the front vehicle is 3, the driver starts to reduce the speed to 7 km/h;
when the distance between the driver and the front vehicle is 1, the driver stops the vehicle and waits for a motor train command of a connector, the driver collides the vehicle to be connected at the speed lower than 2km/h after receiving the motor train command which can be connected by the ground connector, and the driver immediately applies small brake braking to prevent the vehicle from sliding after recognizing that the locomotive collides.
In the whole shunting and coupling operation process, the train operation monitoring equipment carries out sectional overspeed protection, and ground connectors and drivers confirm information in a handheld terminal talkback mode.
The hitching process mainly depends on communication in a handheld intercommunication mode, a driver confirms that the manually driven locomotive finishes hitching operation according to information of a ground connector and a shunting conductor, the process needs the ground connector and the driver to keep high concentration for a long time, and overspeed or reporting errors of the distance between the locomotive and the hitching waiting distance is prevented. In addition, in order to ensure safety, when a connector in charge of connecting the air pipes on the ground reports the distance between the locomotive and the vehicle to be connected and hung, the actual distance between the locomotive and the vehicle to be connected and hung is greater than 10, and the operation efficiency in the shunting and connecting process is influenced.
In order to solve the above problems, the embodiment of the present application provides a vehicle coupling control method, device, and system, the Beidou technology of the positioning device 210 is used to complete the precise positioning of the locomotive, and the machine vision of the detection device 230 and the sensor fusion technologies such as laser radar are used to realize the real-time intelligent sensing of the driving environment of the station, identify the driving obstacle distance and the vehicle coupling point position, so as to make up the defect of "manual coupling", and improve the coupling efficiency and safety in the shunting process.
The scheme in the embodiment of the application can be implemented by adopting various computer languages, such as object-oriented programming language Java and transliterated scripting language JavaScript.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Fig. 2 is a block diagram of a vehicle hitching control system 10 according to an embodiment of the present disclosure, which provides a possible implementation manner of the vehicle hitching control system 10, and referring to fig. 1, the vehicle hitching control system 10 may include one or more of an electronic device 100, a positioning device 210, a speed detection device 220, and a detection device 230.
It should be noted that the specific types of the current vehicle and the vehicle to be hitched are not limited, and may be set according to the actual application requirements. For example, in an alternative example, the current vehicle and the to-be-coupled vehicle may be railway locomotives, the number of the locomotives may be one or more, and after pushing the coupler at the farthest end of the current vehicle to collide with the coupler of the preceding to-be-coupled vehicle, the connector may connect the two colliding couplers together to complete one coupling operation.
The specific type of the electronic device 100 is not limited, and may be set according to the actual application requirements. For example, in an alternative example, the electronic device 100 may be an in-vehicle computer that is part of the current vehicle.
For another example, in another alternative example, the electronic device 100 may be a server device, belonging to a different device than the current vehicle.
Optionally, the specific type and installation position of the positioning device 210 are not limited, and may be set according to the actual application requirements. For example, in an alternative example, the positioning device 210 may be a beidou positioning device installed in the cab of the current vehicle for positioning the locomotive to obtain the first positioning data.
It should be noted that the specific type and installation position of the speed detection device 220 are not limited, and may be set according to the actual application requirements. For example, in an alternative example, the speed detection device 220 may include a speed sensor and two millimeter wave radars, and the two millimeter wave radars may be installed below the head of the current vehicle, and the speed sensor is installed on the wheel to perform redundant speed measurement, so as to obtain the first operating speed.
Optionally, the specific type and installation position of the detection device 230 are not limited, and may be set according to the actual application requirements. For example, in an alternative example, the detection device 230 may include a laser radar and a processing device, the detection device 230 may be installed on an outdoor yard segment light bridge, the processing device may obtain a coupler (a second end of the vehicle to be coupled) of the vehicle to be coupled by performing image recognition on the acquired image, and obtain a distance between the detection device 230 and the second end of the vehicle to be coupled by laser radar ranging.
Referring to fig. 3, a block diagram of an electronic device 100 according to an embodiment of the present disclosure is shown, where the electronic device 100 in this embodiment may be a server, a processing device, a processing platform, and the like, which are capable of performing data interaction and processing. The electronic device 100 includes a first memory 110, a first processor 120, and a communication module 130. The elements of the first memory 110, the first processor 120 and the communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The first memory 110 is used for storing programs or data. The first Memory 110 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The first processor 120 is used to read/write data or programs stored in the first memory 110 and perform corresponding functions. The communication module 130 is used for establishing a communication connection between the electronic device 100 and another communication terminal through a network, and for transceiving data through the network.
It should be understood that the configuration shown in fig. 3 is merely a schematic diagram of the configuration of the electronic device 100, and that the electronic device 100 may also include more or fewer components than shown in fig. 3, or have a different configuration than shown in fig. 2. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.
Fig. 4 shows one of flowcharts of a vehicle hitching control method provided in the embodiment of the present application, which is applicable to the electronic device 100 shown in fig. 3 and is executed by the electronic device 100 in fig. 3. It should be understood that, in other embodiments, the order of some steps in the vehicle hitching control method according to the present embodiment may be interchanged according to actual needs, or some steps may be omitted or deleted. The flow of the vehicle hitching control method shown in fig. 4 will be described in detail below.
Step S410, acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be connected and a first running speed of the current vehicle.
The first distance is calculated according to first positioning data sent by the positioning device 210 installed in the current vehicle, and the first operating speed is detected according to the speed detection device 220 installed in the current vehicle.
And step S420, controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be connected to carry out the connection operation.
According to the method, the current vehicle is controlled to stop when the distance between the first end and the second end is the target distance according to the acquired first distance and the acquired first running speed, so that the vehicle to be connected and connected is connected and connected, automatic control over vehicle connection and connection is realized, and the problem of low vehicle connection and connection control efficiency caused by manual operation in the shunting operation process in the prior art is solved.
For step S410, it should be noted that the specific manner of obtaining the first distance is not limited, and may be set according to the actual application requirement. For example, in an alternative example, in order to complete the precise positioning of the current vehicle by the Beidou technology of the positioning device 210, obtaining the second positioning data of the first end of the current vehicle, and obtaining the precise distance between the current vehicle and the vehicle to be hitched according to the second positioning data of the first end of the current vehicle and the third positioning data of the second end of the vehicle to be hitched, the step S410 may include the following sub-steps:
acquiring first positioning data sent by the positioning device 210, and calculating second positioning data of the first end of the current vehicle according to the first positioning data and a preset first distance, wherein the preset first distance represents the distance between the positioning device 210 and the first end of the current vehicle; acquiring third positioning data of a second end of the vehicle to be connected; and calculating to obtain a first distance according to the second positioning data and the third positioning data.
In detail, when the installation position of the positioning device 210 does not coincide with the position of the current first end of the vehicle, the second positioning data may be calculated according to the preset first distance. Referring to fig. 1, a point a is a first end of the current vehicle, a point B is a position of the positioning device 210, and a coordinate (second positioning data) of the point a can be calculated according to a distance (preset first distance) between the coordinate (first positioning data) of the point B and the point AB.
It should be noted that, a specific manner of obtaining the third positioning data is not limited, and may be set according to a requirement of an actual application. For example, in an alternative example, in order to obtain the third positioning data according to the fourth positioning data of the detecting device 230, and thus obtain the precise position of the second end of the vehicle to be connected, the step of obtaining the third positioning data of the second end of the vehicle to be connected may include the following sub-steps:
acquiring a preset second distance and fourth positioning data, which are sent by a detection device 230, wherein the preset second distance represents a distance between the detection device 230 and a second end of the vehicle to be connected, and the fourth positioning data represents a position of the detection device 230; and calculating according to the fourth positioning data and a preset second distance to obtain third positioning data.
With reference to fig. 1, the point C is the second end of the vehicle to be connected, the point D is the position of the detecting device 230, and the coordinate (the third positioning data) of the point C can be calculated according to the distance (the preset second distance) between the coordinate (the fourth positioning data) of the point D and the CD.
It should be noted that the specific positions of the first end and the second end are not limited, and may be set according to the actual application requirements. For example, the first end may be an end of the current vehicle close to the vehicle to be hung, or may be an end of the current vehicle far from the vehicle to be hung. The second end can be the end of the vehicle to be hung close to the current vehicle or the end of the vehicle to be hung far away from the current vehicle.
When the first end is the end of the current vehicle far away from the vehicle to be hung, and the second end is the end of the vehicle to be hung close to the current vehicle, the first distance comprises the length of the current vehicle, the near-near distance between the near end of the current vehicle and the near end of the vehicle to be hung can be obtained through calculation according to the first distance and the length of the current vehicle, and the current vehicle is controlled to stop when the distance between the first end and the second end is the target distance according to the near-near distance and the first running speed, so that the vehicle to be hung is connected with the vehicle to be hung (the target distance comprises the length of the current vehicle).
When the first end is the end of the current vehicle close to the vehicle to be hung, and the second end is the end of the vehicle to be hung far away from the current vehicle, the first distance comprises the length of the vehicle to be hung, the near-near distance between the near end of the current vehicle and the near end of the vehicle to be hung can be obtained through calculation according to the first distance and the length of the vehicle to be hung, and the current vehicle is controlled to stop when the distance between the first end and the second end is the target distance according to the near-near distance and the first running speed, so that the vehicle to be hung and the vehicle to be hung are connected (the target distance comprises the length of the vehicle to be hung).
When the first end is the end of the current vehicle far away from the vehicle to be hung, and the second end is the end of the vehicle to be hung far away from the current vehicle, the first distance comprises the length of the current vehicle and the length of the vehicle to be hung, the near-near distance between the near end of the current vehicle and the near end of the vehicle to be hung can be obtained through calculation according to the first distance, the length of the current vehicle and the length of the vehicle to be hung, and the current vehicle is controlled to stop when the distance between the first end and the second end is the target distance according to the near-near distance and the first running speed, so that the vehicle to be hung is connected with the vehicle to be hung (the target distance comprises the length of the current vehicle and the length of the vehicle to be hung). For step S420, it should be noted that the specific manner for controlling the current vehicle to stop is not limited, and may be set according to the actual application requirement. For example, in an alternative example, in order to control the speed by using a constant braking rate (preset acceleration) at the deceleration distance, the parking is completed by realizing the braking speed control once according to the parking from the current vehicle to the target distance away from the vehicle to be hung, and the step S420 may include the following sub-steps:
calculating to obtain a deceleration distance according to the first running speed, a preset acceleration and a preset formula, and judging whether the first distance is greater than the deceleration distance; when the first distance is larger than the deceleration distance, the current vehicle is judged not to reach the deceleration position, and the vehicle can continue to run; and when the first distance is not greater than the deceleration distance, controlling the current vehicle to decelerate and stop according to the preset acceleration.
It should be noted that when the first end is the end of the current vehicle close to the vehicle to be hung and the second end is the end of the vehicle to be hung far from the vehicle, the first distance is equal to the near-near distance, and whether the first distance is greater than the deceleration distance can be directly judged; in other cases, the near-near distance can be obtained by calculation according to the first distance, whether the near-near distance is greater than the deceleration distance or not is judged, and when the near-near distance is not greater than the deceleration distance, the current vehicle is controlled to decelerate and stop according to the preset acceleration.
In detail, the preset formula may be V12-V02As 2as, V1 indicates the first running speed, V0 indicates the decelerated speed (which may be generally set to 0, indicating decelerated parking, and the target distance being 0), a indicates the first acceleration, s indicates the deceleration distance, and the first acceleration may be the acceleration corresponding to the maximum braking force.
For example, the first running speed of the current vehicle may be 20km/h, the distance from the far end of the current vehicle to the near end of the vehicle to be hung is 120 meters, the length of the current vehicle is 60 meters, and the calculated near-near distance is 60 meters. Deceleration of 0.4m/s corresponding to maximum constant braking force2According to the principle of an automatic coupling brake curve, the following calculation can be carried out: and 20, 20-0-2, 0.4 s, and the deceleration distance s is about 39 meters, namely the current near end of the vehicle can run to a position 39 meters away from the near end of the vehicle to be connected according to 20km/h to brake.
For another example, in another alternative example, in order to perform speed control with a constant braking rate (first acceleration) at the first distance, the step S420 may further include the following sub-steps according to the current vehicle stopping at the target distance from the vehicle to be hung, and achieving one-time braking speed control to complete the stopping:
calculating to obtain a first acceleration according to the first running speed, the first distance and a preset formula; and controlling the current vehicle to decelerate and stop according to the first acceleration.
That is, if the speed is within a certain speed at a certain position ahead, it is possible to calculate how much braking force is required to control the speed.
It should be noted that when the first end is the end of the current vehicle close to the vehicle to be hung, and the second end is the end of the vehicle to be hung far from the vehicle, the first distance is equal to the near-near distance, and the first acceleration can be directly calculated according to the first running speed, the first distance and a preset formula; in other cases, the near-near distance can be obtained by calculation according to the first distance, the first acceleration can be obtained by calculation according to the first running speed, the near-near distance and a preset formula, and the current vehicle is controlled to decelerate and stop according to the first acceleration.
In order to further improve the safety of the hitching operation, the near end of the current vehicle can be controlled to stop at a distance of 1 vehicle (the target distance is 1 vehicle distance) from the near end of the vehicle to be hitched, then the current vehicle is automatically started again, the constant speed control is carried out within 3km/h to run and collide with the vehicle to be hitched for hitching operation, and the small brake is automatically applied for parking until the speed of the current vehicle is collected to be instantly reduced.
By the method, when the current vehicle approaches the vehicle to be hung, the first distance can be calculated in real time according to the current vehicle position and the vehicle position to be hung, the vehicle is directly decelerated and stopped at the first distance according to the first acceleration, or decelerated and stopped at the position reaching the deceleration distance according to the preset acceleration, so that the speed is controlled by adopting the constant braking rate (deceleration), the vehicle is stopped at the position 1 distance away from the vehicle to be hung, the speed is not required to be controlled respectively in 4 stages in the process, and the vehicle can be stopped only by braking and controlling the speed once.
With reference to fig. 5, an embodiment of the present application further provides a vehicle coupling control device 500, where the functions implemented by the vehicle coupling control device 500 correspond to the steps executed by the foregoing method. The vehicle-mounted controller 500 may be understood as a processor of the electronic device 100, or may be understood as a component that is independent of the electronic device 100 or a processor and that implements the functions of the present application under the control of the electronic device 100. The vehicle hitch control apparatus 500 may include, among other things, an acquisition module 510 and a control module 520.
An obtaining module 510, configured to obtain a first distance between a first end of a current vehicle and a second end of a vehicle to be connected, and a first operating speed of the current vehicle, where the first distance is calculated according to first positioning data sent by a positioning device 210 installed at the first end of the current vehicle, and the first operating speed is detected according to a speed detection device 220 installed at the current vehicle. In this embodiment of the application, the obtaining module 510 may be configured to perform step S410 shown in fig. 4, and for relevant contents of the obtaining module 510, reference may be made to the foregoing description of step S410.
And the control module 520 is configured to control the current vehicle to stop when the distance between the first end and the second end is a target distance according to the first distance and the first running speed, so that the current vehicle and the vehicle to be linked are linked. In the embodiment of the present application, the control module 520 may be configured to execute step S420 shown in fig. 4, and reference may be made to the foregoing description of step S420 for relevant contents of the control module 520.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the vehicle hitching control method.
The computer program product of the vehicle hitching control method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, and instructions included in the program code may be used to execute the steps of the vehicle hitching control method in the above method embodiment, which may be specifically referred to in the above method embodiment, and are not described herein again.
In summary, by using the vehicle coupling control method, device and system provided in the embodiment of the present application, the current vehicle is controlled to stop when the distance between the first end and the second end is the target distance according to the acquired first distance and the acquired first running speed, so that the coupling operation is performed between the current vehicle and the vehicle to be coupled, the vehicle coupling automatic control is realized, and the problem of low vehicle coupling control efficiency caused by manual operation in the shunting operation process in the prior art is solved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A vehicle hitching control method characterized by comprising:
acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be hung and a first running speed of the current vehicle, wherein the first distance is calculated according to first positioning data sent by positioning equipment installed on the current vehicle, and the first running speed is detected according to speed detection equipment installed on the current vehicle;
and controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be connected to be in linkage operation.
2. The vehicle hitching control method according to claim 1, wherein the step of controlling the current vehicle to stop when the distance between the first end and the second end is the target distance based on the first distance and the first running speed comprises:
calculating to obtain a deceleration distance according to the first running speed, a preset acceleration and a preset formula, and judging whether the first distance is greater than the deceleration distance;
if not, controlling the current vehicle to decelerate and stop according to the preset acceleration.
3. The vehicle hitching control method according to claim 1, wherein the step of controlling the current vehicle to stop when the distance between the first end and the second end is the target distance based on the first distance and the first running speed comprises:
calculating to obtain a first acceleration according to the first running speed, the first distance and a preset formula;
and controlling the current vehicle to decelerate and stop according to the first acceleration.
4. The vehicle hitching control method according to claim 1, wherein the step of obtaining a first distance between a first end of a current vehicle and a second end of a vehicle to be hitched comprises:
acquiring first positioning data sent by the positioning equipment, and calculating second positioning data of the first end of the current vehicle according to the first positioning data and a preset first distance, wherein the preset first distance represents the distance between the positioning equipment and the first end of the current vehicle;
acquiring third positioning data of a second end of the vehicle to be connected;
and calculating to obtain a first distance according to the second positioning data and the third positioning data.
5. The vehicle hitching control method according to claim 4, wherein the step of obtaining third positioning data of the second end of the vehicle to be hitched includes:
acquiring a preset second distance and fourth positioning data sent by a detection device, wherein the preset second distance represents the distance between the detection device and the second end of the vehicle to be connected, and the fourth positioning data represents the position of the detection device;
and calculating according to the fourth positioning data and a preset second distance to obtain third positioning data.
6. A vehicle hitch control apparatus, characterized by comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be connected and a first running speed of the current vehicle, the first distance is calculated according to first positioning data sent by positioning equipment installed at the first end of the current vehicle, and the first running speed is detected according to speed detection equipment installed at the current vehicle;
and the control module is used for controlling the current vehicle to stop when the distance between the first end and the second end is the target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be connected to be in a connecting operation.
7. A vehicle hitch control system, comprising:
the positioning device is arranged on a current vehicle and used for positioning the current vehicle to obtain first positioning data;
the speed detection equipment is arranged on the current vehicle and used for detecting the speed of the current vehicle to obtain a first running speed;
the electronic equipment is used for acquiring a first distance between a first end of a current vehicle and a second end of a vehicle to be hung and a first running speed of the current vehicle, and controlling the current vehicle to stop when the distance between the first end and the second end is a target distance according to the first distance and the first running speed so as to enable the current vehicle and the vehicle to be hung to be connected to each other, wherein the first distance is obtained through calculation according to the first positioning data.
8. The vehicle hitch control system of claim 7, further comprising a detection device for collecting a preset second distance and fourth positioning data, wherein the preset second distance is indicative of a distance between the detection device and a second end of the vehicle to be hitched, and the fourth positioning data is indicative of a position of the detection device;
the electronic device is further used for obtaining a preset second distance and a fourth positioning data which are sent by the detection device, and calculating according to the fourth positioning data and the preset second distance to obtain a third positioning data, wherein the third positioning data represents the position of a second end of the vehicle to be connected.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle hitching control method according to any one of claims 1 to 5 when executing the program.
10. A storage medium, characterized in that the storage medium includes a computer program which controls an electronic device in which the storage medium is located to execute the vehicle hitching control method according to any one of claims 1 to 5 when the computer program is executed.
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| CN202111126890.7A CN113734246B (en) | 2021-09-26 | 2021-09-26 | Vehicle coupling control method, device and system |
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| CN202111126890.7A CN113734246B (en) | 2021-09-26 | 2021-09-26 | Vehicle coupling control method, device and system |
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| CN113734246B (en) | 2022-09-02 |
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