CN114697859A - UWB (ultra wide band) tag-based relative positioning system for multi-vehicle formation driving train - Google Patents
UWB (ultra wide band) tag-based relative positioning system for multi-vehicle formation driving train Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention relates to a relative positioning system of multi-vehicle formation driving train columns based on UWB (ultra wide band) tags, which comprises UWB positioning tags, a wireless information transmission device and a positioning message receiving device, wherein the UWB positioning tags are arranged on a front vehicle and a rear vehicle of each driving train column of the multi-vehicle formation, the UWB positioning tags comprise a first base station module, a second base station module, a third base station module and a UWB positioning tag module, the first base station module, the second base station module and the third base station module are arranged on the front vehicle, the third base station module and the UWB positioning tag module are arranged on the rear vehicle, the first base station module, the second base station module and the third base station module are connected with the UWB positioning tag module through the wireless information transmission device, the UWB positioning message receiving device is connected with a UWB positioning message receiving device, and the positioning message receiving device is connected with a control unit of the rear vehicle. Compared with the prior art, the method has the advantages of higher positioning accuracy and precision, millisecond-level wireless transmission delay control and the like.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a UWB (ultra wide band) tag-based relative positioning system for a multi-vehicle formation driving train.
Background
At present, most automatic driving automobiles in the world adopt a three-layer structure mode of 'sense-plan-control' (sense-plan-act), and firstly, a computer vision system loaded on an automobile body and a sensing system constructed by an advanced sensing device are utilized to acquire road environment information around the automobile body; processing the environmental information by adopting a complex and efficient intelligent algorithm, formulating a safe and reliable driving strategy according to traffic regulations, and planning a feasible reference track in real time; and finally, accurately tracking the planned local reference track. Meanwhile, the vehicle formation driving can effectively improve the road utilization rate and reduce the oil consumption, and the multi-vehicle formation driving has important significance and value. Therefore, it is still a challenge in the research of the automatic driving technology to plan a safe, smooth and efficient driving path of a vehicle under the premise of considering the road environment information and meeting the driving requirements of formation. Although researchers at home and abroad develop researches on how to realize relative positioning based on wireless communication between vehicles of a formation driving train under common road conditions such as high speed, rural roads and the like, the researches how to solve the problems that GPS signals are poor in signal quality under the scenes such as shielding and tunnels, and drivers lack traffic information in an beyond-visual-range, further improve the efficiency of formation driving trains, improve the safety of intelligent driving, and reduce the driving difficulty have no effective solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a relative positioning system for a multi-vehicle formation driving train based on UWB tags.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a train relative positioning system is driven in formation of many cars based on UWB label, this system is including locating the front truck of each train of many cars formation of driving train, UWB location label, wireless information transmission device and positioning message receiving arrangement on the back car, UWB location label is including locating first base station module on the front truck, second base station module and locating third base station module and UWB location label module on the back car, and first base station module, second base station module and third base station module pass through wireless information transmission device and connect UWB location label module, and UWB location label module connects positioning message receiving arrangement, and positioning message receiving arrangement connects the control unit of back car.
Furthermore, the UWB positioning tag module is connected with a positioning message receiving device through a CAN line.
Furthermore, the wireless information transmission device comprises an antenna matched with the UWB positioning tag, each module of the UWB positioning tag is provided with an antenna, and each antenna sends or receives the positioning information by sending and receiving the UWB wireless message.
Further, location information receiving arrangement is including UWB location label module dedicated connection line, controller and the high definition display screen that connects gradually, UWB location label module dedicated connection line passes through CAN communication transmission to controller with the positioning message that the location label received, and the controller decodes the positioning message of receipt to convert into 10 system's distance and angle information, relative distance, position and the gesture before high definition display screen display and the front truck.
Further, the controller is mounted in a flat position within the vehicle operator's compartment. The high-definition display is arranged on a platform between the two driver seats. The first base station module and the second base station module are arranged at the top of the tail of the front vehicle and symmetrically distributed on two sides of a vehicle axis, and the third base station module and the UWB positioning tag module are arranged at the top of the head of the rear vehicle and correspond to the UWB positioning tag module of the front vehicle in position.
The invention relates to a relative positioning detection method of a relative positioning system of a multi-vehicle formation driving train based on a UWB (ultra wide band) tag, which comprises the following specific steps of:
s1: installing four modules of the UWB positioning tag, and wiring the four modules by adopting a customized CAN line, wherein the wiring comprises power-on and connection with a controller;
s2: starting control programs of front and rear vehicles of the train to enable the UWB positioning tag module to normally wirelessly transmit message frames;
s3: a UWB positioning module arranged on the rear vehicle transmits a positioning message frame to a rear vehicle controller along a CAN line, and the positioning message frame is converted into interpretable decimal distance, azimuth angle and attitude angle information by the rear vehicle controller;
s4: and controlling the running of the train according to the requirement.
Compared with the prior art, the relative positioning system for the multi-vehicle formation driving train based on the UWB tag at least has the following beneficial effects:
1) the invention utilizes UWB label to position the relative position between the front and back vehicles of multi-vehicle formation, can realize the low-delay positioning message transmission, the wireless transmission delay is controlled in millisecond level; in addition, UWB-based positioning has the advantages of low power consumption, insensitivity to channel fading (such as multipath, non-line-of-sight and other channels), strong anti-interference capability, no interference to other equipment in the same environment, strong penetrability (positioning in an environment penetrating a brick wall), high positioning accuracy and positioning precision, and further high formation driving efficiency, and the efficiency of a control strategy is improved through relative positioning information which is nearly real-time in a complex scene.
2) The invention provides certain surrounding environment information for the driver and provides an information basis for the driver to pre-judge the dangerous scene in advance.
Drawings
FIG. 1 is a block diagram of a relative positioning system for a multi-vehicle formation driving train based on UWB tags according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the installation of modules of an UWB positioning tag in an embodiment;
FIG. 3 is a schematic diagram of the relative positioning mode of modules of an UWB positioning tag with respect to range-azimuth attitude measurement in an embodiment;
fig. 4 is a reference diagram of the meaning of each byte of the UWB positioning message frame in the embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. 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.
Examples
UWB (Ultra Wide-Band) Ultra Wide Band positioning technology belongs to one of wireless positioning technology. Wireless location technology refers to measurement and calculation methods, i.e., location algorithms, used to determine the location of a mobile user. The most common positioning techniques currently used are mainly: time difference of arrival location techniques, signal angle of arrival measurement (AOA) techniques, time of arrival location (TOA) and time difference of arrival location (TDOA), and the like. Among them, TDOA technology is the most popular scheme at present, and UWB ultra-wideband positioning also adopts the technology. The UWB high-precision positioning system is a set of real-time positioning system which is researched and developed by means of the characteristics of ultra-wide signal bandwidth, low transmission power consumption, high data rate and the like, and can accurately position. UWB distance measurement is based on 'time of flight', and positioning accuracy can reach centimeter level, so that trajectory tracking can be realized. The ultra-wideband has the main advantages of low power consumption, insensitivity to channel fading (such as multipath and non-line-of-sight channels), strong anti-interference capability, no interference to other equipment in the same environment, strong penetrability (positioning can be performed in an environment penetrating through a brick wall), and very high positioning accuracy and positioning precision.
Based on the UWB tag, the invention provides a relative positioning system for a multi-vehicle formation driving train based on the UWB tag, which is arranged on a front vehicle (a leading vehicle) and a rear vehicle (a following vehicle) of each train of the multi-vehicle formation driving train. The system can ensure the relative positioning accuracy and simultaneously has the characteristic of low time delay. The system mainly comprises three parts: the positioning system comprises a UWB positioning tag, a wireless information transmission device and a positioning message receiving device.
The UWB positioning tags are provided with a plurality of groups, each complete UWB positioning tag comprises four tags, three tags are base station modules, and one tag is a UWB positioning tag module. The UWB positioning tag module receives the information of the other three base station modules in real time and calculates the relative positions and postures of the three base station modules.
The wireless information transmission device is embedded into a UWB positioning label module in the UWB positioning device, and long-distance message transmission can be realized. After receiving the wireless transmission message through the wireless information transmission device, the UWB positioning tag module transmits the positioning message to the hardware device, that is, the positioning message receiving device, through the CAN line.
In this embodiment, as a preferable scheme, the wireless information transmission device includes an antenna matched with the UWB positioning tag, and each module is provided with an antenna. Each antenna transmits or receives positioning information by transmitting or receiving an Ultra Wide-Band (UWB) wireless message.
The positioning message receiving device is connected with a control unit of the vehicle. The positioning message receiving means is primarily implemented by a controller and associated code logic. The CAN message is analyzed and processed through code logic and is used for subsequent vehicle control. The invention can realize the low-delay positioning message transmission, and the wireless transmission delay is controlled at millisecond level. In addition, the UWB-based positioning has the advantages of low power consumption, insensitivity to channel fading (such as multipath, non-line-of-sight and other channels), strong anti-interference capability, no interference to other equipment in the same environment, strong penetrability (positioning in an environment penetrating a brick wall), and high positioning accuracy and positioning precision.
In this embodiment, as a preferable scheme, the positioning information receiving device includes a dedicated connection line for the UWB positioning tag module, a controller, a high-definition display screen, and code logic.
Furthermore, the UWB positioning label module special connecting line transmits the positioning information received by the positioning label to the controller through CAN communication. The code logic converts the received positioning message into 10-system distance and angle information for easy presentation and use by decoding the positioning message. The high-definition display screen is connected with the controller and used for displaying the relative distance, the direction and the posture of the front vehicle.
Further, based on the design of the above system, with reference to fig. 1, the system includes the following steps:
step 1: firstly, the four modules of the UWB positioning tag are installed according to fig. 2, wherein the grey circle marks correspond to the base station modules, and the white circle marks correspond to the UWB positioning tag modules.
The four modules are grouped in pairs, wherein one group of the two base station modules is fixed at the top of the tail of a vehicle in front of a train and distributed at symmetrical positions on two sides of an axle line. And a group consisting of another base station module and a UWB positioning tag module is fixed at the top of the head of the rear vehicle of the train and corresponds to the UWB positioning tag module of the front vehicle in position. The antenna is in a group of four, one antenna corresponds to one UWB positioning label module, and the model of each antenna is completely consistent. The controller is mounted in a level position within the driver's compartment. The high-definition display is fixed on a platform in front of the middle of two driver seats, and visual information is easy to observe. After each module is installed, it is wired using a custom CAN wire, including power on and connection to a controller.
Further, as a leading vehicle (lead vehicle), a vehicle-mounted sensor is provided on a vehicle body, and information acquired by the vehicle-mounted sensor is transmitted to two base station modules as a group through a controller. As shown in fig. 1, the vehicle-mounted sensor provides original signals required by the control units including wheel speed, throttle, brake, etc., and in order to not collide with the positioning message signal provided by UWB and to be able to transmit message frames wirelessly via UWB, the relevant signals of the vehicle-mounted sensor are encoded by the controller (sending) and the wheel speed, throttle, brake signals required by the control units are converted into wireless transmission message frames that can be recognized by the UWB module.
Step 2: and starting control programs of front and rear vehicles of the train so that the UWB positioning tag module can normally wirelessly transmit message frames.
And step 3: the UWB positioning module arranged on the rear vehicle transmits the positioning message frame to the rear vehicle controller along the CAN line, and the positioning message frame is decoded and converted into readable decimal distance, azimuth angle and attitude angle information through a rear vehicle control code (designed according to a figure 3 and a figure 4). In the relative positioning mode shown in fig. 3, an included angle formed by the head of the following vehicle and the midpoint of the tail of the guiding vehicle is recorded as an azimuth angle θ, the distance between the head of the following vehicle and the midpoint of the tail of the guiding vehicle is recorded as a distance l, and an included angle between central axes of the following vehicle and the guiding vehicle is recorded as an attitude angle β. The UWB positioning message frame is 8 bytes in length and comprises three pieces of information. The detailed decoding is shown in table 1. With reference to fig. 4 and table 1, byte 0 frame count bits are used to count the positioning message frames, byte 1 status bits to indicate whether the current UWB positioning function is normal, bytes 2 to 3 to describe the distance l, bytes 4 to 5 to describe the azimuth angle θ, and bytes 6 to 7 to describe the attitude angle β. For the conversion formula between the message frame and the 10-ary positioning message, see table 1 for details.
And 4, step 4: and controlling the running of the train according to the requirement.
TABLE 1 UWB message frame
The invention utilizes UWB label to position the relative position between the front and back vehicles of multi-vehicle formation, can realize the low-delay positioning message transmission, the wireless transmission delay is controlled in millisecond level; in addition, UWB-based positioning has the advantages of low power consumption, insensitivity to channel fading (such as multipath, non-line-of-sight and other channels), strong anti-interference capability, no interference to other equipment in the same environment, strong penetrability (positioning in an environment penetrating a brick wall), high positioning accuracy and positioning precision, and further high formation driving efficiency, and the efficiency of a control strategy is improved through relative positioning information which is nearly real-time in a complex scene. In addition, certain surrounding environment information is provided for the driver, and an information basis is provided for the driver to prejudge the dangerous scene in advance.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions 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 (8)
1. The utility model provides a train relative positioning system is driven in formation of vehicles of many cars based on UWB label, a serial communication port, including the preceding car of locating each train of driving of many cars formation, UWB location label, wireless information transmission device and the location message receiving arrangement on the back car, UWB location label is including locating first base station module on the preceding car, second base station module and locating third base station module and UWB location label module on the back car, first base station module, second base station module and third base station module pass through wireless information transmission device and connect location label module, UWB location label module connects location message receiving arrangement, and the control unit of UWB car after location message receiving arrangement connects.
2. The UWB tag-based multi-formation driving train relative positioning system of claim 1, wherein the UWB location tag module is connected to a location message receiving device through a CAN line.
3. The relative positioning system for multiple formation driving trains based on UWB tags of claim 1 wherein the wireless information transmission device includes an antenna matched with the UWB location tag, each module of the UWB location tag is equipped with an antenna, each antenna sends or receives location information by sending or receiving UWB wireless messages.
4. The relative positioning system of the multi-vehicle formation driving train based on the UWB tag is characterized in that the positioning information receiving device comprises a UWB positioning tag module special connecting line, a controller and a high-definition display screen which are connected in sequence, the UWB positioning tag module special connecting line transmits the positioning information received by the positioning tag to the controller through CAN communication, the controller decodes the received positioning information and converts the information into 10-system distance and angle information, and the high-definition display screen displays the relative distance, the direction and the posture between the controller and the front vehicle.
5. The UWB tag-based multi-train driving train relative positioning system of claim 4 wherein the controller is mounted in a flat position within a vehicle operator cabin.
6. The UWB tag-based multi-train driving train relative positioning system of claim 4, wherein the high-definition display is provided on a platform in the middle of two driver seats.
7. The relative positioning system for the multi-vehicle formation driving train based on the UWB tag as claimed in claim 4, wherein the first base station module and the second base station module are arranged on the top of the tail of the front vehicle and symmetrically distributed on two sides of the axle line, and the third base station module and the UWB positioning tag module are arranged on the top of the head of the rear vehicle and correspond to the UWB positioning tag module of the front vehicle in position.
8. The relative positioning system for a multi-train driving train based on UWB tags according to any one of claims 1-7, wherein the specific steps of the system for relative positioning detection include:
1) installing four modules of the UWB positioning tag, and wiring the four modules by adopting a customized CAN line, wherein the wiring comprises power-on and connection with a controller;
2) starting control programs of front and rear vehicles of the train to enable the UWB positioning tag module to normally wirelessly transmit message frames;
3) a UWB positioning module arranged on the rear vehicle transmits a positioning message frame to a rear vehicle controller along a CAN line, and the positioning message frame is converted into interpretable decimal distance, azimuth angle and attitude angle information by the rear vehicle controller;
4) and controlling the running of the train according to the requirement.
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