CN209366173U - A kind of automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning - Google Patents
A kind of automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning Download PDFInfo
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- CN209366173U CN209366173U CN201822260615.4U CN201822260615U CN209366173U CN 209366173 U CN209366173 U CN 209366173U CN 201822260615 U CN201822260615 U CN 201822260615U CN 209366173 U CN209366173 U CN 209366173U
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Abstract
The automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning of the utility model design, including small vehicle and track, the chassis of small vehicle is equipped with the downward RFID card reader of read direction, the track basal plane is equipped with RFID label tag group, and guarantee that RFID card reader when vehicle driving can surface Jing Guo RFID label tag, the invention RFID card reader is connect with vehicle intelligent terminal, vehicle intelligent terminal is connect with vehicle body braking control system, RFID label tag group is arranged in the track section interval, at least the distance between two groups of RFID label tag groups are less than the distance between other RFID label tag groups, and the quantity of RFID label tag is directly proportional to the speed that vehicle passes through in RFID label tag group.Multi-stage speed-reducing braking scheme can be provided by the parking of arriving at a station of this structural tube rail Vehicular automatic driving system, and provides braking information to aid in decision for it, it is final to realize steady and precisely parking.
Description
Technical field
The present invention relates to the automatic Pilot auxiliary braking system of vehicle in pipe rail traffic, especially with RFID location technology
The automatic Pilot auxiliary braking field for carrying out pipe rail vehicle, more particularly to the loop wire pipe rail small vehicle positioned based on RFID
Automatic Pilot auxiliary braking system.
Background technique
Requirement with people to trip quality is continuously improved, and new mode of transportation continuously emerges, and wherein the traffic of pipe rail is drawn
Play extensive concern.Pipe rail traffic is to extend overhead pipe inner orbit network gradually along existing road two sides, comprehensive connection building
Object and ground run intelligent small vehicle in a manner of unpiloted.Since pipe rail platform is typically small, and positioned in the air, because
Accurate braking and parking when this approaching target platform is particularly important, and this requires realize high accuracy positioning.Due to conduit traffic
It can usually shuttle in interior of building, and the satellite positioning tech such as GPS are difficult to realize signal covering, and the metal material of track
It will affect the reception of satellite-signal, therefore traditional positioning means defect is obvious.
Summary of the invention
To solve the above problems, the present invention provides one kind to be applied to ring pipe rail field of traffic, based on RFID positioning
The automatic Pilot auxiliary braking system of small vehicle.The system optimizes for the read rate of RFID card reader, can be to pipe
Vehicle in rail is accurately positioned, accurate judgement stroke state and target range, is sent in due course to automated driving system multistage
Target range signal carries out multi-stage speed-reducing braking according to target range by automated driving system, final to realize steadily and precisely stop
Vehicle.
In order to achieve the above object, the automatic Pilot for the loop wire pipe rail small vehicle based on RFID positioning that the present invention designs
Auxiliary braking system, including small vehicle and track, the chassis of small vehicle are equipped with the downward RFID card reader of read direction,
The track basal plane is equipped with RFID label tag group, and guarantee RFID card reader when vehicle driving can by RFID label tag just on
Side invents the RFID card reader and connect with vehicle intelligent terminal, and vehicle intelligent terminal is connect with vehicle body braking control system,
RFID label tag group is arranged in the track section interval, and at least the distance between two groups of RFID label tag groups are marked less than other RFID
The distance between label group, and the quantity of RFID label tag is directly proportional to the speed that vehicle passes through in RFID label tag group.
Further embodiment is that the information that the RFID label tag in the RFID label tag group is included is identical.
Use the braking side of the automatic Pilot auxiliary braking system of the above-mentioned loop wire pipe rail small vehicle based on RFID positioning
Method, comprising the following steps:
Step 1: the braking ability of vehicle and comfort of passenger being tested on pipe rail, determine what multistage brake slowed down
It is classified number and optimal deceleration interval and each classification subinterval parameter, including section start position, section space aim speed；
Step 2: between RFID card reader and label under different relative velocities, the read rate of card reader being surveyed
Examination, and determine therefrom that the label arrangement quantity of the start position in different deceleration subintervals；
Step 3: according to front conclusion, the start position in the deceleration subinterval of each website on pipe base of the rail face, and should
The outbound position mark point stood arranges corresponding number of labels, and carries out unique number to this position, then that the number is unified
All labels of the position are written, finally label relevant information typing server background database；
Step 4: RFID card reader being installed in the position of pipe rail vehicle bottom face RFID label tag, and guarantees card reader and mark
Optimum distance between label；
Step 5: vehicle-mounted RFID card reader being accessed vehicle intelligent terminal by RS232, and vehicle intelligent terminal and vehicle
Body automated driving system ADAS accesses vehicle body CAN network；
Step 6: vehicle intelligent terminal establishes connection by 4G mobile network and server background, when server background issues
After stroke task is to intelligent terminal, intelligent terminal is issuing stroke task to ADAS, and outbound counter O reset, under server
The stroke mission bit stream of hair contain in stroke the position in need used RFID number, including it is targeted sites position, each
Deceleration subinterval initial point position, the station location out of initiating station；
Step 7: vehicle intelligent terminal timing reports stroke state to server background, and the label passed through including upper one is compiled
Number, to track, dispatch from the background, to send new task；
Step 8:ADAS controls vehicle and advances, outbound when RFID card reader reads the outbound location tags of initiating station
Counter adds 1；
Step 9: when RFID card reader reads the location tags of deceleration subinterval starting point, intelligent terminal leads to the information
It crosses vehicle body CAN network and is sent to ADAS, ADAS carries out corresponding braking deceleration movement to vehicle after receiving information, when RFID card reading
When device reads the label of targeted sites position, ADAS brakes come to a complete stop completely；
Step 10: if stroke is that loop wire one encloses, when vehicle parking is in initiating station, if station counting unit is greater than 0 out,
Show that stroke terminates, then outbound counter O reset；Otherwise show that stroke does not start；When stroke state variation simultaneously, intelligence is eventually
End can send notice to backstage.
Compared with prior art, the invention has the characteristics that:
1, the present invention can be obtained reliably in pipe rail using the exact position of the small vehicle of automatic Pilot scheme, Yi Jihang
Journey task status；
2, the present invention provides multi-stage speed-reducing braking scheme for the parking of arriving at a station of pipe rail Vehicular automatic driving system, and mentions for it
It is final to realize steady and precisely parking for braking information to aid in decision；
3, the present invention optimizes for the read rate of RFID card reader, can be efficiently modified in the very fast situation of speed RFID
Set the reliabilty and availability of label；
4, in the loop wire traveling task of circular orbit, can not setting out for effective district separating vehicles state and arrived state,
And associated ancillary information is provided for automated driving system.
Detailed description of the invention
Fig. 1 is 1 systematic schematic diagram of embodiment.
In figure: 1, RFID label tag group, 2, RFID card reader, 3, server background, 4, vehicle intelligent terminal, 5, vehicle body it is automatic
Control loop, 6, vehicle body braking control system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
Embodiment 1.
As shown in Figure 1, the automatic Pilot auxiliary of the loop wire pipe rail small vehicle based on RFID positioning of the present embodiment description
Braking system, including small vehicle and track, the chassis of small vehicle is equipped with the downward RFID card reader of read direction, described
Track basal plane be equipped with RFID label tag group, and guarantee RFID card reader when vehicle driving can surface Jing Guo RFID label tag,
The RFID card reader is connect with vehicle intelligent terminal, and vehicle intelligent terminal is connect with vehicle body braking control system, described
Track section interval be arranged RFID label tag group, at least the distance between two groups of RFID label tag groups be less than other RFID label tag groups it
Between distance, and the quantity of RFID label tag is directly proportional to the speed that vehicle passes through in RFID label tag group.The RFID label tag group
The information that interior RFID label tag is included is identical.
Use the braking side of the automatic Pilot auxiliary braking system of the above-mentioned loop wire pipe rail small vehicle based on RFID positioning
Method, comprising the following steps:
Step 1: the braking ability of vehicle and comfort of passenger being tested on pipe rail, determine what multistage brake slowed down
It is classified number and optimal deceleration interval and each classification subinterval parameter, including section start position, section space aim speed；
Step 2: between RFID card reader and label under different relative velocities, the read rate of card reader being surveyed
Examination, and determine therefrom that the label arrangement quantity of the start position in different deceleration subintervals；
Step 3: according to front conclusion, the start position in the deceleration subinterval of each website on pipe base of the rail face, and should
The outbound position mark point stood arranges corresponding number of labels, and carries out unique number to this position, then that the number is unified
All labels of the position are written, finally label relevant information typing server background database；
Step 4: RFID card reader being installed in the position of pipe rail vehicle bottom face RFID label tag, and guarantees card reader and mark
Optimum distance between label；
Step 5: vehicle-mounted RFID card reader being accessed vehicle intelligent terminal by RS232, and vehicle intelligent terminal and vehicle
Body automated driving system ADAS accesses vehicle body CAN network；
Step 6: vehicle intelligent terminal establishes connection by 4G mobile network and server background, when server background issues
After stroke task is to intelligent terminal, intelligent terminal is issuing stroke task to ADAS, and outbound counter O reset, under server
The stroke mission bit stream of hair contain in stroke the position in need used RFID number, including it is targeted sites position, each
Deceleration subinterval initial point position, the station location out of initiating station；
Step 7: vehicle intelligent terminal timing reports stroke state to server background, and the label passed through including upper one is compiled
Number, to track, dispatch from the background, to send new task；
Step 8:ADAS controls vehicle and advances, outbound when RFID card reader reads the outbound location tags of initiating station
Counter adds 1；
Step 9: when RFID card reader reads the location tags of deceleration subinterval starting point, intelligent terminal leads to the information
It crosses vehicle body CAN network and is sent to ADAS, ADAS carries out corresponding braking deceleration movement to vehicle after receiving information, when RFID card reading
When device reads the label of targeted sites position, ADAS brakes come to a complete stop completely；
Step 10: if stroke is that loop wire one encloses, when vehicle parking is in initiating station, if station counting unit is greater than 0 out,
Show that stroke terminates, then outbound counter O reset；Otherwise show that stroke does not start；When stroke state variation simultaneously, intelligence is eventually
End can send notice to backstage.
When concrete application:
If we use 10 grades of braking deceleration schemes, it is 40km/h that vehicle, which normals cruise speed,.Through to vehicle in pipe rail
In braking ability and comfort of passenger tested, it is determined that classification interval parameter, and to RFID read rate test after determine
The RFID of different location point arranges quantity, it is assumed that the deceleration interval data summarization such as table 1 of certain final website is (another: outbound label
Position P ', at outbound direction 5m, tag number T ', number of labels 5).When vehicle enters deceleration interval, initially enter outer
The section S10 of side, farther out, travel speed is higher, RFID card reader by section initial position P10 distance objective parking position P0
Read rate is lower, therefore arranges relatively large number of number of labels here, and this example is 10；And when vehicle is close to parking position,
For example when entering apart from 10 meters of website of the section S6, travel speed is medium, and the read rate of RFID card reader is medium, therefore in section
Start position P6 arranges the label of moderate quatity, and this example is 6；When vehicle almost reaches to parking position P0, for example, enter away from
When the section S1 at 1 meter of point leaving from station, speed is extremely low, and the read rate of RFID card reader is higher, therefore P1 location arrangements are relatively fewer
Number of labels, this example is 2.
Multistage brake deceleration protocol table example of the table 1 based on RFID.
For vehicle parking when originating website and awaiting orders, server background sends stroke task (including all spies to car-mounted terminal
Levy the number of location tags), car-mounted terminal sends stroke task to certainly by vehicle body CAN network after outbound counter O reset
Dynamic control loop, automated driving system start to control vehicle advance, when vehicle-mounted RFID card reader reads the station location out at the starting station
When the label T ' of mark point P ', station counting unit adds 1 out, it is believed that stroke starts.Vehicle, which ramps up, normals cruise speed 40km/
h.When vehicle-mounted RFID card reader reads the label T10 of the position P10 of Target Station, the outermost deceleration of targeted sites is indicated entry into
RFID location information is sent to vehicle body CAN network by section, car-mounted terminal, and vehicle body automated driving system is read from CAN network
Retarding braking action is executed after coherent signal, and speed is dropped into 30 km/h；And so on, vehicle body RFID card reader is often read
As soon as the label Tn of the initial position Pn of deceleration subinterval Sn, sends data to vehicle intelligent terminal, and sent out by intelligent terminal
Coherent signal is sent to give vehicle body CAN network, vehicle body automated driving system receives corresponding with regard to carrying out after information by vehicle body CAN network
Braking deceleration, and speed is dropped into set value Vn；When vehicle-mounted RFID card reader reads the label away from the position P1 at 1 meter of Target Station
When T1, speed is dropped to 1 km/h by vehicle body automated driving system, and is ready for final parking；When vehicle-mounted RFID card reader is read
To the position P0 of Target Station parking position label T0 when, vehicle body automatic control system carries out brake, and vehicle is come to a complete stop,
Stroke terminates.If it is loop wire stroke, initiating station is identical with terminus, is denoted as P0, then when vehicle is parked in initiating station, if outbound
Counter is 0, then it represents that without the label T ' of outbound position mark point P ', because this trip does not start；If station counting unit out
Greater than 0, then it represents that the label T ' for having been subjected to outbound position mark point P ', because this trip is completed.
Claims (2)
1. it is a kind of based on RFID positioning loop wire pipe rail small vehicle automatic Pilot auxiliary braking system, including small vehicle and
Track, it is characterized in that the chassis of small vehicle is equipped with the downward RFID card reader of read direction, on the basal plane of the track
Equipped with RFID label tag group, and guarantee RFID card reader when vehicle driving can surface Jing Guo RFID label tag, the RFID reads
Card device is connect with vehicle intelligent terminal, and vehicle intelligent terminal is connect with vehicle body braking control system, the track section interval
RFID label tag group is set, at least the distance between two groups of RFID label tag groups are less than the distance between other RFID label tag groups, and
The quantity of RFID label tag is directly proportional to the speed that vehicle passes through in RFID label tag group.
2. the automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle according to claim 1 based on RFID positioning
System, it is characterized in that the information that the RFID label tag in the RFID label tag group is included is identical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822260615.4U CN209366173U (en) | 2018-12-29 | 2018-12-29 | A kind of automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning |
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| CN201822260615.4U CN209366173U (en) | 2018-12-29 | 2018-12-29 | A kind of automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455201A (en) * | 2018-12-29 | 2019-03-12 | 数源科技股份有限公司 | A kind of automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455201A (en) * | 2018-12-29 | 2019-03-12 | 数源科技股份有限公司 | A kind of automatic Pilot auxiliary braking system of the loop wire pipe rail small vehicle based on RFID positioning |
| CN109455201B (en) * | 2018-12-29 | 2024-02-20 | 数源科技股份有限公司 | Automatic driving auxiliary braking system of loop pipe rail small-sized vehicle based on RFID positioning |
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