CN208847836U - Tramcar anti-collision system - Google Patents
Tramcar anti-collision system Download PDFInfo
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- CN208847836U CN208847836U CN201821453570.6U CN201821453570U CN208847836U CN 208847836 U CN208847836 U CN 208847836U CN 201821453570 U CN201821453570 U CN 201821453570U CN 208847836 U CN208847836 U CN 208847836U
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Abstract
The disclosure provides a kind of tramcar anti-collision system, comprising: radar detection apparatus, radar processing unit, photographic device, image collecting device, radar data interface arrangement and vehicle control syetem；The radar detection apparatus and the photographic device constitute detection system；Barrier around the radar detection apparatus detection electric car, and give Transmission System of Radar Data to the radar processing unit；The radar processing unit and the radar data interface arrangement communicate to connect；The radar data interface arrangement gives the Transmission System of Radar Data to the vehicle control syetem；The photographic device acquires the image of the barrier and the image of tramway boundary, and give the image of the barrier and the image transmitting of tramway boundary to described image acquisition device, described image is transferred to the vehicle control syetem by described image acquisition device；The vehicle control syetem is analyzed and processed the radar data and described image.
Description
Technical field
This disclosure relates to vehicle bumper systems more particularly to a kind of tramcar anti-collision system.
Background technique
Currently, since the development of China's tramcar has just started, in the early stage of development, since design concept is to be completely dependent on
In driver driving, therefore the research of anti-collision system is not suggested that.A kind of mature effective rail electricity is not proposed both at home and abroad at present
The anti-collision system of vehicle.
Modern tram running environment is complicated, and part way and highway communication mix row, and are visually driven by driver completely.
But visual fatigue or misty rain sight, which are limited, also makes driver that may not be able to find emergency event in time.Based on the above situation, it is badly in need of adopting
A kind of effective monitoring detection system is taken, enables tramcar at various adverse circumstances (rain, snow, haze, fugitive dust sand, cloud)
Under the conditions of, it realizes the anti-collision early warning of a front surface and a side surface of tramcar, improves the safety of its operation.
Utility model content
The disclosure provides a kind of non-contact using radar, video etc. using modern tram signal system as goal in research
Comprehensive detection mode modern tram anti-collision system.In driver vision dead zone or driving fatigue, various adverse circumstances
Under the conditions of (rain, snow, haze, fugitive dust sand, cloud), the anti-collision early warning of a front surface and a side surface of tramcar is realized by this system,
Improve the safety in operation of tramcar.
The tramcar anti-collision system of the disclosure is achieved through the following technical solutions.
Tramcar anti-collision system, comprising: radar detection apparatus, radar processing unit, photographic device, image collector
It sets, radar data interface arrangement and vehicle control syetem；The radar detection apparatus and the photographic device constitute detection system；
Barrier around the radar detection apparatus detection electric car, and give Transmission System of Radar Data to the radar processing unit；It is described
Radar processing unit and the radar data interface arrangement communicate to connect；The radar data interface arrangement is by the radar data
It is transferred to the vehicle control syetem；The photographic device acquires the image of the barrier and the figure of tramway boundary
Picture, and give the image of the barrier and the image transmitting of tramway boundary to described image acquisition device, described image
Described image is transferred to the vehicle control syetem by acquisition device；The vehicle control syetem is to the radar data and described
Image is analyzed and processed.
Further, the anti-collision system further includes warning device, and the warning device receives the vehicle control syetem
The warning message of transmission.
Further, the radar detection apparatus includes transmitting radar antenna and radar receiving antenna, the radar emission
The azimuth of distance and opposite electric car advance axis that antenna and radar receiving antenna are used to measure barrier in front of electric car；When
When distance of the barrier in front of electric car is less than electric car braking distance, the radar processing unit generates warning message, and
Warning message is sent to vehicle control syetem.
Further, the vehicle control syetem by operation computer program to the radar data and described image into
Row analysis processing, the computer program comprise the following modules:
Radar data receiving module, for receiving the radar data；
Video data receiving module, for receiving described image；
Radar data processing module, for handling the radar data of radar data receiving module transmission；
Video data processing module, for handling the image of video data receiving module transmission；
Data fusion module, for by radar data processing module treated radar data and video data processing module
Treated, and image carries out fusion treatment.
Further, the computer program further includes radar target display module and image display；The radar
By treated, radar data is sent to the radar target display module to data processing module, and the data fusion module will melt
The image information obtained after conjunction processing is sent to described image display module.
Further, the radar processing unit includes bend scene process program module, the bend scene process journey
Sequence module includes following procedure step:
The BURN-THROUGH RANGE of radar beam is shorten to the certain proportion of turning radius, the ratio such as 1/2,2/3 etc.
Reasonable value makes the detection of radar detection apparatus match bend scene.Preferably, radar beam is shorten to the 1/ of turning radius
2。
Further, the radar processing unit includes intersection scene process program module, the intersection
Scape handler module includes following procedure step:
1) selected target matches electronic map, according to the position of the target, determines the target for dynamic object, quiet
Only target or invalid targets；
If 2) target is dynamic object, its motion profile is tracked, when the position of dynamic object reaches
Around electric car when prewarning area, generates warning message and be sent to vehicle control syetem；
If 3) target be static target, its position is monitored in real time, if static target be converted into it is dynamic
State target, then handled according to step 2)；
If 4) selected target is invalid targets, selected target is abandoned.
Further, the data fusion module is by radar data processing module treated radar data and video data
Processing module treated image carries out the specific steps of fusion treatment are as follows:
1) radar data receiving thread and video data receiving thread are created, obtains and works as when acquisition current frame image every time
The radar data at preceding moment；
2) radar detection apparatus and photographic device is unified to electric trolley body coordinate system；
3) scanning element of radar detection apparatus is projected on the image of photographic device acquisition, on electric trolley body coordinate system
Form dynamic interest region；
4) real-time monitoring is carried out to the interest region.
Further, the vehicle control syetem includes the first vehicle control syetem and the second vehicle control syetem；It is described
Detection system includes the first detection system and the second detection system；First detection system and first vehicle control syetem
It is mounted on one end of electric car, second detection system and second vehicle control syetem are mounted on the other end of electric car.
Further, first detection system and the first vehicle control syetem and the second vehicle control syetem communication link
It connects；Second detection system and the first vehicle control syetem and the second vehicle control syetem communicate to connect.
The beneficial effect of the disclosure
1) the radar tracking technology under tramcar operation complex scene: tramcar needs to detect longer in straight way
The obstacle target of dangerous tendency in distance (such as 200 meters), and tramcar is when turning round, radar line of sight and bend at
Tangential relationship, at this moment radar all collects the target other than limit to come in (some are safe from harm to tramcar traveling), this public affairs
It drives into have gone and be effectively treated；In addition, the case that electric car and public vehicles bump against often occurs in intersection, the disclosure is also carried out
Key technology processing.
2) Fast Detection Technique of the barrier based on video: utilizing radar data, reduce the search range of video image,
On the basis of radar data, the tramcar anti-collision system of the disclosure is capable of the presence of rapid verification barrier.Spatial match
With Time synchronization technique: radar and video sensor information difference obtained are very big, the tramcar anti-collision system of the disclosure
Accurate match is carried out.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is the structural schematic diagram of the tramcar anti-collision system of disclosure specific embodiment；
Fig. 2 is the software module structure schematic diagram of the tramcar anti-collision system of disclosure specific embodiment；
Fig. 3 is the detection flow chart of the radar detection apparatus of the tramcar anti-collision system of disclosure specific embodiment；
Fig. 4 is the vehicle control syetem of the tramcar anti-collision system of disclosure specific embodiment and leading to for detection system
Believe schematic diagram.
Specific embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that in order to just
Part relevant to the disclosure is illustrated only in description, attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figs 1-4, tramcar anti-collision system include: radar detection apparatus, radar processing unit, photographic device,
Image collecting device, radar data interface arrangement and vehicle control syetem；The radar detection apparatus and the photographic device structure
At detection system；Radar detection apparatus detects the barrier around electric car, and gives Transmission System of Radar Data to radar processing unit；Thunder
It is communicated to connect up to processing unit and radar data interface arrangement；Radar data interface arrangement is by Transmission System of Radar Data to vehicle-mounted control
System；Photographic device acquires the image of barrier and the image of tramway boundary, and by the image and electric car of barrier
The image transmitting of track boundary is to image collecting device, and image collecting device is by image transmitting to vehicle control syetem；Vehicle-mounted control
System processed is analyzed and processed radar data and image.
Anti-collision system further includes warning device, and warning device receives the warning message that vehicle control syetem is sent.
Radar detection apparatus includes transmitting radar antenna and radar receiving antenna, transmitting radar antenna and radar receiving antenna
For measuring the azimuth of distance and opposite electric car advance axis of the barrier in front of electric car；When barrier is in front of electric car
When distance is less than electric car braking distance, radar processing unit generates warning message, and warning message is sent to vehicle-mounted control system
System.
Vehicle control syetem is analyzed and processed radar data and image by running computer program, computer program
It comprises the following modules:
Radar data receiving module, for receiving radar data；
Video data receiving module, for receiving image；
Radar data processing module, for handling the radar data of radar data receiving module transmission；
Video data processing module, for handling the image of video data receiving module transmission；
Data fusion module, for by radar data processing module treated radar data and video data processing module
Treated, and image carries out fusion treatment.
Computer program further includes radar target display module and image display；Radar data processing module will be handled
Radar data afterwards is sent to radar target display module, and data fusion module sends the image information obtained after fusion treatment
To image display.
Radar processing unit includes bend scene process program module, and bend scene process program module includes following procedure
Step:
Radar beam is shorten to the 1/2 of turning radius.
Radar processing unit includes intersection scene process program module, and intersection scene process program module includes
Following procedure step:
1) selected target matches electronic map, according to the position of target, judgement target is dynamic object, static target or
Invalid targets；
2) if target is dynamic object, its motion profile is tracked, when the position of dynamic object reaches electric car
When surrounding prewarning area, generates warning message and be sent to vehicle control syetem；
3) if target is static target, its position is monitored in real time, if static target is converted into dynamic mesh
Mark, then handled according to step 2)；
4) if selected target is invalid targets, selected target is abandoned.
Data fusion module handles radar data processing module treated radar data and video data processing module
Image afterwards carries out the specific steps of fusion treatment are as follows:
1) radar data receiving thread and video data receiving thread are created, obtains and works as when acquisition current frame image every time
The radar data at preceding moment；
2) radar detection apparatus and photographic device is unified to electric trolley body coordinate system；
3) scanning element of radar detection apparatus is projected on the image of photographic device acquisition, on electric trolley body coordinate system
Form dynamic interest region；
4) real-time monitoring is carried out to interest region.
Vehicle control syetem includes the first vehicle control syetem and the second vehicle control syetem；Detection system includes the first spy
Examining system and the second detection system；First detection system and the first vehicle control syetem are mounted on one end of electric car, the second detection
System and the second vehicle control syetem are mounted on the other end of electric car.
First detection system and the first vehicle control syetem and the second vehicle control syetem communicate to connect；Second detection system
It is communicated to connect with the first vehicle control syetem and the second vehicle control syetem.
In more detail, as shown in Figure 1, the hardware connection mode of tramcar anti-collision system: radar detection apparatus and radar
Processing unit communication connection, radar processing unit and radar data interface arrangement communicate to connect, radar data interface arrangement and vehicle
Borne control system communication connection, photographic device and image collecting device communicate to connect, image collecting device and vehicle control syetem
Communication connection, vehicle control syetem and warning device communicate to connect, and vehicle control syetem is also communicated to connect with display.
As shown in Fig. 2, the software of the train control system of tramcar anti-collision system forms: radar data receiving module connects
The radar data transmitted via radar data interface arrangement is received, video data receiving module receives the figure of image collecting device transmission
Picture, radar data processing module handle the radar data that radar data receiving module is sent, video data processing module processing view
The image that frequency data reception module is sent, data fusion module is by radar data processing module treated radar data and video
Data processing module treated image carries out fusion treatment, realizes the spatial match of the Data fusion technique of radar and video
With time synchronization problem.Using thread synchronization, i.e., radar data receiving thread is created in a program and video data receives
Thread obtains the data at radar current time when acquiring current frame image every time, such radar data and video data are just realized
Temporal synchronization.Spatial match technology: the equation by solving video camera external parameter, radar, video and car body
The relativeness of coordinate system can determine completely, so that radar scanning point can be projected by Video Model to image pixel coordinates
It fastens.Establish the transformational relation between the picture point in bodywork reference frame in object and image coordinate system.It will by mathematical model
Radar fix system, video coordinates system and bodywork reference frame are united, and realize the measurement to the specific distance and bearing of barrier.It sits
After mark system one, radar scanning point can be projected to image, form dynamic interest region on coordinate system, it is advantageous in this way
In the region of search of diminution front vehicles, pedestrian and other obstacle recognitions and tracking, so that the time of system-computed is reduced,
The real-time of raising system.Feature is respectively perceived in combination with video and radar, the robustness of system can be enhanced, to improve
The accuracy rate of detection, the false alarm rate for reducing identification.Meanwhile anti-collision system can moving obstacle fast reaction to swarming into, and
With following function, the various scenes of the mixing right of way of tramcar are adapted to；With extremely strong environmental suitability: anti-collision system
It can work under the weather conditions such as dense fog, Gao Fengsha dust, sleet, and tunnel multipath effect can be overcome, can be used for subway anticollision
Detection.It can detect and be moved within the scope of at least 200 meters in front of electric car and stationary object, detecting objects can be vehicle, voluntarily
Vehicle, pedestrian, object quantity 100 or more, can detecting objects feature such as size, relative velocity and carry out target with
Track judges whether object can have traffic safety dangerous to electric car according to the position of object, feature and kinetic characteristic, provides phase
The warning information answered, assist driver safe driving.
As shown in figure 3, the workflow of radar detection apparatus are as follows: acquire radar signal to target, carry out object filtering, sentence
The target of breaking is static object or dynamic object；Pursuit path calculating then is carried out to dynamic object if it is dynamic object,
A possibility that colliding in conjunction with the judgement of the information such as electronic map, electric car speed with electric car, a possibility that if there is colliding, then endangers
Danger alarm, if a possibility that not colliding, ignores the dynamic object；If target is static object, in conjunction with electronically
The information such as figure judge position of the static object relative to track clearance, if be not in track clearance or track clearance
On, then ignore the static object (such as aerial target), if the static object is located in track clearance or on track clearance,
Carry out danger warning.
As shown in figure 4, vehicle control syetem TOD-1 and detection system ODRS-1 is to be mounted on tramcar MC1 end equipment；
Vehicle control syetem TOD-2 and detection system ODRS-2 be mounted on the end tramcar MC2 (end MC1 is headstock when train operation,
The end MC2 be the tailstock) equipment；After one of vehicle control syetem is activated as headstock, start to ODRS-1 and ODRS-
2 send data, and in the protocol mark and the vehicle control syetem be mounted on the same end detection system be vehicle head end (because
TOD is configured according to fixed IP address, it is known that the ODRS equipment of the same end is mounted on it, such as: TOD-1 is headstock
After the activation of end, when sending data to ODRS-1, mark ODRS -1 is headstock, and when sending data to ODRS-2, mark ODRS-2 is
Non- headstock)；The TOD not being activated then does not send data to ODRS；After ODRS receives the data of activated end TOD, start to
TOD-1 and TOD-2 sends data, and data content is identical.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (4)
1. tramcar anti-collision system characterized by comprising radar detection apparatus, radar processing unit, photographic device, figure
As acquisition device, radar data interface arrangement and vehicle control syetem；The radar detection apparatus and the photographic device are constituted
Detection system；
Barrier around the radar detection apparatus detection electric car, and give Transmission System of Radar Data to the radar processing unit；
The radar processing unit and the radar data interface arrangement communicate to connect；
The radar data interface arrangement gives the Transmission System of Radar Data to the vehicle control syetem；
The photographic device acquires the image of the barrier and the image of tramway boundary, and by the figure of the barrier
Picture and the image transmitting of tramway boundary give described image acquisition device, and described image acquisition device transmits described image
To the vehicle control syetem；
The vehicle control syetem is analyzed and processed the radar data and described image.
2. tramcar anti-collision system according to claim 1, which is characterized in that the anti-collision system further includes alarm dress
It sets, the warning device receives the warning message that the vehicle control syetem is sent.
3. tramcar anti-collision system according to claim 1 or 2,
It is characterized in that,
The vehicle control syetem includes the first vehicle control syetem and the second vehicle control syetem；The detection system includes the
One detection system and the second detection system；First detection system and first vehicle control syetem are mounted on the one of electric car
End, second detection system and second vehicle control syetem are mounted on the other end of electric car.
4. tramcar anti-collision system according to claim 3,
It is characterized in that, first detection system and the first vehicle control syetem and the second vehicle control syetem communicate to connect；
Second detection system and the first vehicle control syetem and the second vehicle control syetem communicate to connect.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821453570.6U CN208847836U (en) | 2018-09-06 | 2018-09-06 | Tramcar anti-collision system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821453570.6U CN208847836U (en) | 2018-09-06 | 2018-09-06 | Tramcar anti-collision system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001743A (en) * | 2018-09-06 | 2018-12-14 | 中国铁道科学研究院集团有限公司通信信号研究所 | Tramcar anti-collision system |
| CN112298285A (en) * | 2019-07-26 | 2021-02-02 | 比亚迪股份有限公司 | Train control system, train control method and train |
| TWI774445B (en) * | 2021-06-28 | 2022-08-11 | 萬旭電業股份有限公司 | Millimeter wave radar apparatus detecting obstacle on railway |
-
2018
- 2018-09-06 CN CN201821453570.6U patent/CN208847836U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001743A (en) * | 2018-09-06 | 2018-12-14 | 中国铁道科学研究院集团有限公司通信信号研究所 | Tramcar anti-collision system |
| CN112298285A (en) * | 2019-07-26 | 2021-02-02 | 比亚迪股份有限公司 | Train control system, train control method and train |
| TWI774445B (en) * | 2021-06-28 | 2022-08-11 | 萬旭電業股份有限公司 | Millimeter wave radar apparatus detecting obstacle on railway |
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