CN102700573B - A kind of active railway vehicle collision avoidance system and collision-proof method thereof - Google Patents
A kind of active railway vehicle collision avoidance system and collision-proof method thereof Download PDFInfo
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Abstract
A kind of active railway vehicle collision avoidance system and collision-proof method thereof, the enforcement of this system relies on on-vehicle host, actuating device and circuit interrupting device three part, and on-vehicle host accessory drive and circuit interrupting device run, and launches, process and analyze distance measuring signal; Circuit interrupting device controls the connected state at the wheel shaft two ends of guideway vehicle; Actuating device is used for the operation of drive track vehicle, realizes the acceleration of guideway vehicle, deceleration, braking and startup according to the order of on-vehicle host.Present system can accurately measure the relative orbit distance of front and back two row guideway vehicle, and can carry out anticollision prediction, the operational factor of adjustable track vehicle, effectively and initiatively avoid guideway vehicle to crash.
Description
Technical field
The invention belongs to traffic and transport field, relate to the anticollision technology on track between vehicle, especially initiatively preventing that operational vehicle in Rail Transit System from colliding, the generation of rear-end collision, is a kind of active railway vehicle collision avoidance system and collision-proof method thereof.
Background technology
At national product, indispensable in people's lives I haven't seen you for ages uses Rail Transit System, as railway passenger shipping, subway, light rail etc.Operational vehicle in Rail Transit System, once collide, must cause the infringement to life and property, and especially manned orbital's vehicle etc. collide, when knocking into the back, leave huge mental wound also to while causing material damage the people of experience accident.
The reason that analysis initiation track traffic crashes mainly contains following: front and back car is sent upper same interval; Before and after there is larger velocity contrast in car, front truck stops or goes slowly, rear car is faster than front truck; The scheduling of orbit centre control system goes wrong; Impact of environment (inclement weather conditions) and human element etc.The generation of these calamities can by prior art in addition prevention and corntrol, and this just needs to design the collision-proof method in corresponding track traffic between vehicle.Prevent the collision in track traffic between vehicle, the know-why that can adopt of knocking into the back is a lot.The generation being carried out the method collision free accidents such as section blocked by lamp system, global positioning system (GPS) and key frequency shift (FSK) signal that transmits Phase Continuation in track circuit is had in existed system.Feature due to track traffic anticollision requires the characteristic must simultaneously when designing corresponding method with highly reliable, High Availabitity and high security, collision-proof method should be the scheme with many cover redundancies, system answers independent operating, do not answer lock together, and each cover system should adopt different know-whies, to guarantee the validity of redundancy, not because a certain common cause lost efficacy simultaneously, i.e. common cause failure.Therefore be necessary to propose and a kind of active railway vehicle collision-proof method, ensure the safe and highly efficient operation of track traffic.
Summary of the invention
The problem to be solved in the present invention is: in existing track traffic, the Train operation control system CTCS(Chinese Train Control System used) and similar system in, on guideway vehicle, corresponding device does not realize active probe between vehicle and prevents collision with realization, effectively can not ensure the safe operation of vehicle, need to overcome deficiency of the prior art, a kind of system initiatively preventing that track collides between vehicle is proposed, be applied to existing Orbital Transport Systems, can with or without information of vehicles in active detecting guideway vehicle working direction, the speed of front truck and the relative orbit distance of two cars, and estimated result is used for anticollision control between vehicle.
Technical scheme of the present invention is: a kind of active railway vehicle collision avoidance system, comprise double-rail track and guideway vehicle, track is conductive material, two parallel tracks of double-rail track and be open-circuit condition, insulate between double-rail track and the earth, the wheel of guideway vehicle remains with double-rail track and contacts
Guideway vehicle is by wheel, wheel shaft, actuating device, circuit interrupting device, on-vehicle host and power module composition, guideway vehicle comprises master, from two states, major state refers to the state whether having vehicle before and after this car of active detecting, refer to that this car is in by the state of other detecting test of vehicles from state, wheel comprises a pair front-wheel and pair of rear wheels, connected by wheel shaft between front-wheel and between trailing wheel, circuit interrupting device is separately positioned on the wheel shaft of front-wheel and trailing wheel, during major state, on-vehicle host sends ranging burst signal, circuit interrupting device open circuit, the wheel shaft two ends of front-wheel and trailing wheel are made to be off state, ranging burst signal is not sent from on-vehicle host during state, circuit interrupting device short circuit, the wheel shaft two ends of front-wheel and trailing wheel are made to be short-circuit condition, two rail wheels and double-rail track form an electric loop, wherein the on-vehicle host of major state guideway vehicle exports ranging burst signal, one in double-rail track is transferred to through the wheel shaft of major state guideway vehicle, wheel, ranging burst signal arrives from state trajectory vehicle along track, circuit interrupting device through short-circuit condition transfers to another track, major state guideway vehicle is got back to again, via wheel and the wheel shaft input on-vehicle host of major state guideway vehicle along track,
The on-vehicle host of guideway vehicle is connected with actuating device intercommunication, the vehicle operating of actuating device drive track, and feed back the operational factor of this car to on-vehicle host, power module is powered to guideway vehicle simultaneously.
Described on-vehicle host is by processor core, prepulse transmission circuit, afterpulse transmission circuit, front high-speed comparator circuit, rear high-speed comparator circuit, reference voltage circuit, front difference amplifier, rear difference amplifier, actuating device interface, front circuit interrupting device interface and rear circuit interrupting device interface are formed, prepulse transmission circuit connects front-wheel, afterpulse transmission circuit connects trailing wheel, before the output connection of processor core, afterpulse transmission circuit and reference voltage circuit, processor core is by actuating device interface connecting drive device, by front, before rear circuit interrupting device interface connects, rear circuit interrupting device, before, afterpulse transmission circuit sends ranging burst signal, reference voltage circuit forward, rear high-speed comparator circuit provides reference voltage signal, the ranging burst signal returned that guideway vehicle receives is premenstrual respectively, before rear difference operational amplifying circuit input, rear high-speed comparator circuit, before, the output signal input processor core of rear high-speed comparator circuit.
Guideway vehicle operates on double-rail track, the operation of actuating device drive track vehicle, the motoring condition realizing guideway vehicle according to the order of on-vehicle host controls, and feeds back the operational factor of guideway vehicle to on-vehicle host, and the operational factor of described vehicle comprises travel direction, speed and acceleration/accel; The on-vehicle host of major state guideway vehicle controls forward and backward circuit interrupting device, make to be connected between the wheel on same wheel shaft and become open-circuit condition, and then send ranging burst signal by prepulse transmission circuit, judge in guideway vehicle measurement range, whether have other vehicles to travel;
When not having other guideway vehicles to travel in the effective transmission range of ranging burst signal, on-vehicle host can not receive the ranging burst signal returned, now control broadening exomonental width by on-vehicle host, again launch ranging burst signal, if also do not receive return ranging burst signal until pulse width reach maximum set value, then the ranging burst signal of periodically repeat its transmission maximum width;
When having other guideway vehicles to travel in the effective transmission range of ranging burst signal, ranging burst signal will pass to another track from the wheel of the guideway vehicle of state and the circuit interrupting device of short-circuit condition along being in of running into, then ranging burst signal turns back to the on-vehicle host of major state guideway vehicle along another track, on-vehicle host gathers ranging burst signal, by calculating the difference of the ranging burst signal peak time point of ranging burst signal time point and the reception sent, obtain the range measurement of front-wheel, repeat above-mentioned transmission impulse singla, the process of acquisition pulse signal and process impulse singla, take multiple measurements, this car operational factor feeding back to on-vehicle host according to actuating device calculates the operational factor of another guideway vehicle,
Send ranging burst signal on track by afterpulse transmission circuit simultaneously, obtain the range measurement of trailing wheel, the front and rear wheel range measurement of the ranging burst signal acquisition sent by synchronization is made comparisons, if the range measurement of front-wheel is greater than the range measurement of trailing wheel, then from the rear of state trajectory vehicle at major state guideway vehicle travel direction, if the range measurement of front-wheel is less than the range measurement of trailing wheel, then from the front of state trajectory vehicle at major state guideway vehicle travel direction; When from state trajectory vehicle when the traveling ahead of major state guideway vehicle, the on-vehicle host of major state guideway vehicle controls ranging burst signal and sends from front-wheel, front truck is found range again, when from state trajectory vehicle when the behind of major state guideway vehicle, the on-vehicle host of major state guideway vehicle controls ranging burst signal and sends from trailing wheel, again finds range to rear car;
According to the operational factor of obtained two guideway vehicles and again range measurement carry out prediction of collision, on-vehicle host sends control command to actuating device, regulate the operational factor of this guideway vehicle, control the running state of guideway vehicle, realize the anticollision between guideway vehicle, prevent from colliding the respective handling made to guideway vehicle and be: when from state trajectory vehicle when the traveling ahead of major state guideway vehicle, if the orbital distance of two cars is greater than the safety distance of setting, the relatively speed of a motor vehicle of two cars, if the speed of a motor vehicle of major state guideway vehicle is less than from state trajectory vehicle, then exit treatment scheme, keep normal to travel, if the speed of a motor vehicle of major state guideway vehicle is greater than from state trajectory vehicle, then the speed of a motor vehicle is down to and is equaled from state trajectory vehicle by major state guideway vehicle, and again obtain the operational factor of two cars, confirm the current running state of two cars, if the orbital distance of two cars is less than the safety distance of setting, then major state guideway vehicle implements parking action immediately, again obtain the operational factor of two cars simultaneously, restart until the orbital distance of two cars comes back to beyond safety distance, when from state trajectory vehicle when the behind of major state guideway vehicle, if the orbital distance of two cars is greater than the safety distance of setting, the relatively speed of a motor vehicle of two cars, if be less than major state guideway vehicle from the speed of a motor vehicle of state trajectory vehicle, then exit treatment scheme, keep normal to travel, if be greater than major state guideway vehicle from the speed of a motor vehicle of state trajectory vehicle, then the speed of a motor vehicle is increased to and equals from state trajectory vehicle by major state guideway vehicle, and again obtain the operational factor of two cars, confirm the current running state of two cars, if the orbital distance of two cars is less than the safety distance of setting, then the speed of a motor vehicle is increased to higher than from state trajectory vehicle by major state guideway vehicle, again obtain the operational factor of two cars simultaneously, until the orbital distance of two cars comes back to beyond safety distance.
The operational factor calculating another guideway vehicle according to this guideway vehicle operational factor is specially:
When two guideway vehicles run on same section of track section, major state guideway vehicle detects from state trajectory vehicle by initiatively sending ranging burst, and the speed of transmission of ranging burst signal in track is V
p, the speed of testing master and slave vehicle is respectively V
q, V
h, major state guideway vehicle is being T from being sent to the time difference receiving positive return signal, then can be by:
L=V
P×T/4
Estimate the orbital distance L that two cars are relative;
According to the Transmission Time Interval Δ t of ranging burst signal, obtain L through repetitive measurement
1, L
2...., L
n, calculus of differences is done to this sequence and obtains Δ L
1, Δ L
2...., Δ L
n-1, major state guideway vehicle speed V
hknown, pass through
V
qi=ΔL
i/Δt+V
hi(i＝1,2,…,n)
Estimate from state trajectory car speed, wherein V
qi, V
hibe respectively from speed in the i moment of state trajectory vehicle and major state guideway vehicle; When changing from the speed of state trajectory vehicle, pass through
a
qi=(V
qi+1-V
qi)/Δt (i＝1,2,…,n)
Estimate the acceleration/accel from state trajectory vehicle, obtain the operational factor from state trajectory vehicle.
The processor core of on-vehicle host realizes transmission and the collection of ranging burst signal by control wave transmission circuit, high-speed comparator circuit and reference voltage circuit, and the relative orbit distance processing acquisition two car is carried out to the data gathered, by the operation of actuating device interface and circuit interrupting device Interface Controller actuating device and circuit interrupting device; The control of impulse ejection Circuit responce processor core, sends the ranging burst signal that width is controlled, and the described ranging burst deration of signal is wider, and the scope that can transmit is far away; Comparator circuit is used for the collection of ranging burst signal, reference voltage circuit provides VREF (Voltage Reference), when the return signal level received is greater than reference voltage level, high-speed comparator circuit exports high level, when the return signal level received is less than reference voltage level, high-speed comparator circuit output low level, wherein, the size of processor core by regulating the dutycycle of PWM ripple to carry out adjusting reference voltage; The ranging burst signal returned is through difference operational amplifying circuit input comparator circuit again, and difference operational amplifying circuit uploads the interference of defeated ranging burst signal to track for reducing external environment.
The size of processor core by regulating the dutycycle of PWM ripple to carry out adjusting reference voltage, the size of VREF (Voltage Reference) regulates according to actual two spacings recorded, when two spacings are less than 100m, VREF (Voltage Reference) is adjusted to 1V, and when being greater than 100m, VREF (Voltage Reference) is adjusted to 0.5V.
The width adjusting of ranging burst signal is: the scope that pulse signal width regulates is between 50ns to 200ns, the amplitude of each adjustment is 50ns, the initial ranging pulse signal width of launching is 50ns, and the cycle of the ranging burst signal of described periodicity repeat its transmission maximum width is more than or equal to 10s and is less than or equal to 60s.
The width adjusting of ranging burst signal is: the scope that pulse signal width regulates is between 50ns to 200ns, the amplitude of each adjustment is 50ns, the initial ranging pulse signal width of launching is 50ns, and the cycle of the ranging burst signal of described periodicity repeat its transmission maximum width is more than or equal to 10s and is less than or equal to 60s.
The present invention compared with prior art has following advantage:
1, can initiatively send ranging burst to find range, effectively avoid colliding;
2, can judge from state trajectory vehicle at the traveling ahead of major state guideway vehicle or behind;
3, the width of test impules can be regulated, adapt to different measuring distances;
4, can the size of adjusting reference voltage, improve the precision of distance test;
5, can independent operating, without the need to external control.
Accompanying drawing explanation
Fig. 1 is the active collision avoidance system schematic diagram of the present invention.
Fig. 2 is guideway vehicle structural representation of the present invention.
Fig. 3 is on-vehicle host schematic diagram of the present invention.
Fig. 4 is impulse singla treatment scheme schematic diagram of the present invention.
Fig. 5 is guideway vehicle parameter estimation flow process of the present invention.
Fig. 6 is guideway vehicle prediction of collision of the present invention and treatment scheme.
Detailed description of the invention
The material that track of the present invention adopts is good conductive material, guarantee transmission ranging burst signal, being open-circuit condition between two parallel orbits, is insulate between track and the earth, the wheel of guideway vehicle can contact well with track, to ensure effective transmission of impulse singla.The on-vehicle host of major state guideway vehicle first controls forward and backward circuit interrupting device to be made to become open-circuit condition between the coaxial wheel of this car, and then sends ranging burst signal, on-vehicle host first sends ranging burst signal by prepulse transmission circuit and judges whether have other vehicles to travel in measurement range, when not having other guideway vehicles to travel in the effective transmission range of ranging burst, on-vehicle host will not receive the impulse singla returned, now control broadening exomonental width by processor core and again launch ranging burst, if until pulse width reaches maximum also not receiving return pulse, then with the ranging burst of certain cycle repeat its transmission maximum width, when having other guideway vehicles to travel in the effective transmission range of ranging burst signal, ranging burst signal will pass to another track from the wheel of state trajectory vehicle and the circuit interrupting device of short-circuit condition along what run into, then ranging burst signal turns back to the on-vehicle host of major state guideway vehicle along another track, the rapid acquisition pulse signal of on-vehicle host, by calculating the difference of the ranging burst signal peak time point of ranging burst signal time point and the reception sent, obtain the range measurement of front-wheel, repeat above-mentioned transmission pulse, acquisition pulse and process impulse singla take multiple measurements, this car operational factor feeding back to on-vehicle host according to actuating device again calculates the operational factor of another guideway vehicle, ranging burst signal is sent on same track again by afterpulse transmission circuit, obtain the range measurement of trailing wheel, before twice test is obtained, trailing wheel range measurement is made comparisons, if the range measurement of front-wheel is greater than the range measurement of trailing wheel, then from the rear of state trajectory vehicle at major state guideway vehicle travel direction, if the range measurement of front-wheel is less than the range measurement of trailing wheel, then from the front of state trajectory vehicle at major state guideway vehicle travel direction, when from state trajectory vehicle when the traveling ahead of major state guideway vehicle, the on-vehicle host of major state guideway vehicle controls to send impulse singla from front-wheel and carries out precision ranging to front truck, when from state trajectory vehicle when the behind of major state guideway vehicle, then major state guideway vehicle on-vehicle host control from trailing wheel send impulse singla precision ranging is carried out to rear car, prediction of collision is carried out according to the operational factor of obtained two guideway vehicles and precision ranging result, on-vehicle host sends control command to actuating device, regulate the operational factor of this guideway vehicle, control the running state of guideway vehicle, realize the anticollision between guideway vehicle.
Guideway vehicle is prevented from colliding the prediction of collision before making control: prediction includes the orbital distance of testing master and slave vehicle and from the velocity estimation of state trajectory vehicle and acceleration estimation.When two guideway vehicles run on same section of track section, major state guideway vehicle detects from state trajectory vehicle by initiatively sending ranging burst, and the speed of transmission of ranging burst signal in track is V
p, the speed of testing master and slave state trajectory vehicle is respectively V
z, V
c, major state guideway vehicle is being T from being sent to the time difference receiving positive return signal, then can be by:
L=V
P×T/4
Estimate the orbital distance L that two cars are relative;
According to the Transmission Time Interval Δ t of ranging burst signal, obtain L through repetitive measurement
1, L
2...., L
n, calculus of differences is done to this sequence and obtains Δ L
1, Δ L
2...., Δ L
n-1, major state guideway vehicle speed V
ziknown, pass through
V
ci=ΔL
i/Δt+V
zi(i＝1,2,…,n)
Estimate from state trajectory car speed, wherein V
ci, V
zibe respectively from speed in the i moment of state trajectory vehicle and major state guideway vehicle; When changing from the speed of state trajectory vehicle, pass through
a
ci=(V
ci+1-V
ci)/Δt (i＝1,2,…,n)
Estimate the acceleration/accel from state trajectory vehicle.
Fig. 1 is the active collision avoidance system schematic diagram of the present invention, and this system is made up of guideway vehicle and track two parts.Track can transmission pulse signal, and track is insulated from each other with the earth, keeps open-circuit condition between two parallel orbits; Guideway vehicle 1 can send ranging burst along track at any time on one's own initiative, ranging burst passes on an other track through the wheel shaft of the short circuit state of guideway vehicle 2, such ranging burst just can get back to guideway vehicle 1 along another track, guideway vehicle 1 calculates the relative orbit distance of two cars according to the time difference sending ranging burst signal and reception ranging burst signal, recycles this orbital distance and makes anticollision prediction and control the running state of guideway vehicle 1.
Fig. 2 is guideway vehicle structural representation, and guideway vehicle is made up of vehicle body, actuating device, front circuit interrupting device, rear circuit interrupting device, on-vehicle host and power module.The wheel of guideway vehicle can transmit ranging burst signal and can have good contact with track; Forward and backward wheel shaft can be controlled the connected state at its two ends by forward and backward circuit interrupting device, when on-vehicle host sends ranging burst, forward and backward wheel shaft two ends are off state, and when on-vehicle host does not send ranging burst, forward and backward wheel shaft two ends are short-circuit condition; Actuating device can drive the operation of vehicle, realize the motoring conditions such as the acceleration of guideway vehicle, deceleration, braking and startup to control according to the order of on-vehicle host, and the operational factor of guideway vehicle can be provided to on-vehicle host, the operational factor of vehicle comprises travel direction, speed and acceleration/accel; The operation that on-vehicle host is responsible for whole system controls, can the operation of accessory drive and circuit interrupting device, also can send, gathers and analyze ranging burst signal; Power module provides electric energy for whole guideway vehicle, can adopt high-capacity storage battery.
Fig. 3 is on-vehicle host schematic diagram, and on-vehicle host is made up of processor core, prepulse transmission circuit, afterpulse transmission circuit, front high-speed comparator circuit, rear high-speed comparator circuit, reference voltage circuit, front high-speed-differential amplifier, rear high-speed-differential amplifier, actuating device interface, front circuit interrupting device interface and rear circuit interrupting device interface.Processor core can control prepulse transmission circuit, afterpulse transmission circuit, front high-speed comparator circuit, rear high-speed comparator circuit and reference voltage circuit to realize ranging burst signal from the transmission of former and later two ports and collection, and the relative orbit distance processing acquisition two car can be carried out to the data gathered, the operation of actuating device interface and forward and backward circuit interrupting device Interface Controller actuating device and forward and backward circuit interrupting device can also be passed through; Forward and backward impulse ejection circuit the control of answer processor core can send the controlled ranging burst signal of width, and the wider scope that can transmit of pulse signal width is far away; Forward and backward high-speed comparator is used for the collection of ranging burst signal, and when signal level is greater than reference voltage level, comparator exports high level, the comparator output low level when signal level is less than reference voltage level; Reference voltage circuit provides VREF (Voltage Reference) for forward and backward high-speed comparator, the size of processor core by regulating the dutycycle of PWM ripple to carry out adjusting reference voltage, the large I of VREF (Voltage Reference) regulates according to the distance of actual two cars recorded, if two spacings are comparatively near, suitably VREF (Voltage Reference) can be improved, if two spacings are comparatively far away, suitably VREF (Voltage Reference) can be reduced, when being generally less than 100m, VREF (Voltage Reference) can be adjusted to about 1V, when being greater than 100m, VREF (Voltage Reference) can be adjusted to about 0.5V, also can set according to actual conditions; Forward and backward high-speed-differential amplifier uploads the interference of defeated ranging burst signal to track for reducing external environment.
The width of ranging burst signal of the present invention is controollable, can regulate according to the actual conditions of orbit, when launching inceptive impulse signal and there is no return signal, illustrate does not have other guideway vehicles to travel in the test area of this pulse, now need to increase exomonental width again to test, if now exist and return pulse, processor core starts range finding and calculates, if also do not return impulse singla, continue the width increasing impulse singla, when still not returning impulse singla when pulse width is increased to maxim, processor core by control wave transmission circuit with the impulse singla of some cycles repeat its transmission maximum width, the cycle repeated generally is more than or equal to 10s and is less than or equal to 60s, the scope that pulse signal width regulates is generally between 50ns to 200ns, the amplitude of each adjustment is generally 50ns, the inceptive impulse deration of signal of launching is 50ns, also can set according to actual conditions.
Fig. 4 is impulse singla treatment scheme schematic diagram, first the datum of high-speed comparator is set, when the ranging burst signal of transmission and the ranging burst signal of reception are after comparator, correspondence is exported two impulse singlas by high-speed comparator, binary pair triggers when the positive rise of first pulse that comparator exports and exports high level, again output low level is triggered when the positive rise of the second pulse, it is count between high period that high-speed counter exports at binary pair, the time difference of two pulses just can be calculated according to the count value of counting machine, thus calculate the orbital distance of two cars further.
Fig. 5 is guideway vehicle parameter estimation diagram of circuit, waits for the order the need of initiative range measurement after on-vehicle host powers on, if do not need initiative range measurement, and the measured orders such as the wheel shaft of this car of short circuit; If need initiative range measurement, disconnect the forward and backward wheel shaft of this car, ranging burst is sent along track by prepulse transmission circuit, judge whether track has vehicle according to echo situation, if front exists vehicle, then repetition pulse signal processing flow calculates the operational factor of tested vehicle; If front is vehicle not, then continue to move ahead according to original route plan, on-vehicle host also sends ranging burst with certain frequency along track simultaneously.
Fig. 6 is guideway vehicle prediction of collision and processing flow chart, according to the vehicle parameter of this car read and the operational factor of front truck that obtained by initiative range measurement, the operational factor of two cars obtained comprises the acceleration/accel and speed etc. of two cars, again by front, the range measurement of trailing wheel judges the relative position residing for two cars, if from the traveling ahead of state trajectory vehicle at major state guideway vehicle, then the on-vehicle host of major state guideway vehicle controls to carry out precision ranging from front-wheel transmission impulse singla to front truck, if from the behind of state trajectory vehicle at major state guideway vehicle, then the on-vehicle host of major state guideway vehicle controls to carry out precision ranging from trailing wheel transmission impulse singla to rear car, prediction of collision is carried out according to the operational factor of obtained two guideway vehicles and precision ranging result, when from state trajectory vehicle when the traveling ahead of major state guideway vehicle, if the orbital distance of two cars is greater than the safety distance of setting, the relatively speed of a motor vehicle of two cars, if the speed of a motor vehicle of major state guideway vehicle is less than from state trajectory vehicle, then exit treatment scheme, keep normal to travel, if the speed of a motor vehicle of major state guideway vehicle is greater than from state trajectory vehicle, then the speed of a motor vehicle is down to and is equaled from state trajectory vehicle by major state guideway vehicle, and again obtain the operational factor of two cars, confirm the current running state of two cars, if the orbital distance of two cars is less than the safety distance of setting, then major state guideway vehicle implements parking action immediately, again obtain the operational factor of two cars simultaneously, restart until the orbital distance of two cars comes back to beyond safety distance, when from state trajectory vehicle when the behind of major state guideway vehicle, if the orbital distance of two cars is greater than the safety distance of setting, the relatively speed of a motor vehicle of two cars, if be less than major state guideway vehicle from the speed of a motor vehicle of state trajectory vehicle, then exit treatment scheme, keep normal to travel, if be greater than major state guideway vehicle from the speed of a motor vehicle of state trajectory vehicle, then the speed of a motor vehicle is increased to and equals from state trajectory vehicle by major state guideway vehicle, and again obtain the operational factor of two cars, confirm the current running state of two cars, if the orbital distance of two cars is less than the safety distance of setting, then the speed of a motor vehicle is increased to higher than from state trajectory vehicle by major state guideway vehicle, again obtain the operational factor of two cars simultaneously, until the orbital distance of two cars comes back to beyond safety distance.
Claims (6)
1. the collision-proof method of an active railway vehicle collision avoidance system, it is characterized in that providing a kind of active railway vehicle collision avoidance system, comprise double-rail track and guideway vehicle, track is conductive material, two parallel tracks of double-rail track and be open-circuit condition, insulate between double-rail track and the earth, the wheel of guideway vehicle remains with double-rail track and contacts
Guideway vehicle is by wheel, wheel shaft, actuating device, circuit interrupting device, on-vehicle host and power module composition, guideway vehicle comprises master, from two states, major state refers to the state whether having vehicle before and after this car of active detecting, refer to that this car is in by the state of other detecting test of vehicles from state, wheel comprises a pair front-wheel and pair of rear wheels, connected by wheel shaft between front-wheel and between trailing wheel, circuit interrupting device is separately positioned on the wheel shaft of front-wheel and trailing wheel, during major state, on-vehicle host sends ranging burst signal, circuit interrupting device open circuit, the wheel shaft two ends of front-wheel and trailing wheel are made to be off state, ranging burst signal is not sent from on-vehicle host during state, circuit interrupting device short circuit, the wheel shaft two ends of front-wheel and trailing wheel are made to be short-circuit condition, two rail wheels and double-rail track form an electric loop, wherein the on-vehicle host of major state guideway vehicle exports ranging burst signal, one in double-rail track is transferred to through the wheel shaft of major state guideway vehicle, wheel, ranging burst signal arrives from state trajectory vehicle along track, circuit interrupting device through short-circuit condition transfers to another track, major state guideway vehicle is got back to again, via wheel and the wheel shaft input on-vehicle host of major state guideway vehicle along track,
The on-vehicle host of guideway vehicle is connected with actuating device intercommunication, the vehicle operating of actuating device drive track, and feed back the operational factor of this car to on-vehicle host, power module is powered to guideway vehicle simultaneously;
Described on-vehicle host is by processor core, prepulse transmission circuit, afterpulse transmission circuit, front high-speed comparator circuit, rear high-speed comparator circuit, reference voltage circuit, front difference amplifier, rear difference amplifier, actuating device interface, front circuit interrupting device interface and rear circuit interrupting device interface are formed, prepulse transmission circuit connects front-wheel, afterpulse transmission circuit connects trailing wheel, before the output connection of processor core, afterpulse transmission circuit and reference voltage circuit, processor core is by actuating device interface connecting drive device, by front, before rear circuit interrupting device interface connects, rear circuit interrupting device, before, afterpulse transmission circuit sends ranging burst signal, reference voltage circuit forward, rear high-speed comparator circuit provides reference voltage signal, the ranging burst signal returned that guideway vehicle receives is premenstrual respectively, before rear difference operational amplifying circuit input, rear high-speed comparator circuit, before, the output signal input processor core of rear high-speed comparator circuit,
Described collision-proof method is: guideway vehicle operates on double-rail track, the operation of actuating device drive track vehicle, the motoring condition realizing guideway vehicle according to the order of on-vehicle host controls, and the operational factor of guideway vehicle is fed back to on-vehicle host, the operational factor of described vehicle comprises travel direction, speed and acceleration/accel; The on-vehicle host of major state guideway vehicle controls forward and backward circuit interrupting device, make to be connected between the wheel on same wheel shaft and become open-circuit condition, and then send ranging burst signal by prepulse transmission circuit, judge in guideway vehicle measurement range, whether have other vehicles to travel;
When not having other guideway vehicles to travel in the effective transmission range of ranging burst signal, on-vehicle host can not receive the ranging burst signal returned, now control broadening exomonental width by on-vehicle host, again launch ranging burst signal, if also do not receive return ranging burst signal until pulse width reach maximum set value, then the ranging burst signal of periodically repeat its transmission maximum width;
When having other guideway vehicles to travel in the effective transmission range of ranging burst signal, ranging burst signal will pass to another track from the wheel of the guideway vehicle of state and the circuit interrupting device of short-circuit condition along being in of running into, then ranging burst signal turns back to the on-vehicle host of major state guideway vehicle along another track, on-vehicle host gathers ranging burst signal, by calculating the difference of the ranging burst signal peak time point of ranging burst signal time point and the reception sent, obtain the range measurement of front-wheel, repeat above-mentioned transmission impulse singla, the process of acquisition pulse signal and process impulse singla, take multiple measurements, this car operational factor feeding back to on-vehicle host according to actuating device calculates the operational factor of another guideway vehicle,
Send ranging burst signal on track by afterpulse transmission circuit simultaneously, obtain the range measurement of trailing wheel, the front and rear wheel range measurement of the ranging burst signal acquisition sent by synchronization is made comparisons, if the range measurement of front-wheel is greater than the range measurement of trailing wheel, then from the rear of state trajectory vehicle at major state guideway vehicle travel direction, if the range measurement of front-wheel is less than the range measurement of trailing wheel, then from the front of state trajectory vehicle at major state guideway vehicle travel direction; When from state trajectory vehicle when the traveling ahead of major state guideway vehicle, the on-vehicle host of major state guideway vehicle controls ranging burst signal and sends from front-wheel, front truck is found range again, when from state trajectory vehicle when the behind of major state guideway vehicle, the on-vehicle host of major state guideway vehicle controls ranging burst signal and sends from trailing wheel, again finds range to rear car;
According to the operational factor of obtained two guideway vehicles and again range measurement carry out prediction of collision, on-vehicle host sends control command to actuating device, regulate the operational factor of this guideway vehicle, control the running state of guideway vehicle, realize the anticollision between guideway vehicle, prevent from colliding the respective handling made to guideway vehicle and be: when from state trajectory vehicle when the traveling ahead of major state guideway vehicle, if the orbital distance of two cars is greater than the safety distance of setting, the relatively speed of a motor vehicle of two cars, if the speed of a motor vehicle of major state guideway vehicle is less than from state trajectory vehicle, then exit treatment scheme, keep normal to travel, if the speed of a motor vehicle of major state guideway vehicle is greater than from state trajectory vehicle, then the speed of a motor vehicle is down to and is equaled from state trajectory vehicle by major state guideway vehicle, and again obtain the operational factor of two cars, confirm the current running state of two cars, if the orbital distance of two cars is less than the safety distance of setting, then major state guideway vehicle implements parking action immediately, again obtain the operational factor of two cars simultaneously, restart until the orbital distance of two cars comes back to beyond safety distance, when from state trajectory vehicle when the behind of major state guideway vehicle, if the orbital distance of two cars is greater than the safety distance of setting, the relatively speed of a motor vehicle of two cars, if be less than major state guideway vehicle from the speed of a motor vehicle of state trajectory vehicle, then exit treatment scheme, keep normal to travel, if be greater than major state guideway vehicle from the speed of a motor vehicle of state trajectory vehicle, then the speed of a motor vehicle is increased to and equals from state trajectory vehicle by major state guideway vehicle, and again obtain the operational factor of two cars, confirm the current running state of two cars, if the orbital distance of two cars is less than the safety distance of setting, then the speed of a motor vehicle is increased to higher than from state trajectory vehicle by major state guideway vehicle, again obtain the operational factor of two cars simultaneously, until the orbital distance of two cars comes back to beyond safety distance.
2. the collision-proof method of a kind of active railway vehicle collision avoidance system according to claim 1, is characterized in that the operational factor calculating another guideway vehicle according to this guideway vehicle operational factor is specially:
When two guideway vehicles run on same section of track section, major state guideway vehicle detects from state trajectory vehicle by initiatively sending ranging burst, and the speed of transmission of ranging burst signal in track is V
p, the speed of testing master and slave vehicle is respectively V
q, V
h, major state guideway vehicle is being T from being sent to the time difference receiving positive return signal, then can be by:
L＝V
P×T/4
Estimate the orbital distance L that two cars are relative;
According to the Transmission Time Interval △ t of ranging burst signal, obtain L through repetitive measurement
1,, L
2...., L
n, calculus of differences is done to this sequence and obtains △ L
1, △ L
2...., △ L
n-1, major state guideway vehicle speed V
hknown, pass through
V
qi＝△L
i/△t+V
hi(i＝1,2,,n)
Estimate from state trajectory car speed, wherein V
qi, V
hibe respectively from speed in the i moment of state trajectory vehicle and major state guideway vehicle; When changing from the speed of state trajectory vehicle, pass through
a
qi＝(V
qi+1-V
qi)/△t (i＝1,2,,n)
Estimate the acceleration/accel from state trajectory vehicle, obtain the operational factor from state trajectory vehicle.
3. the collision-proof method of a kind of active railway vehicle collision avoidance system according to claim 1 and 2, it is characterized in that the processor core of on-vehicle host realizes transmission and the collection of ranging burst signal by control wave transmission circuit, high-speed comparator circuit and reference voltage circuit, and the relative orbit distance processing acquisition two car is carried out to the data gathered, by the operation of actuating device interface and circuit interrupting device Interface Controller actuating device and circuit interrupting device; The control of impulse ejection Circuit responce processor core, sends the ranging burst signal that width is controlled, and the described ranging burst deration of signal is wider, and the scope that can transmit is far away; Comparator circuit is used for the collection of ranging burst signal, reference voltage circuit provides VREF (Voltage Reference), when the return signal level received is greater than reference voltage level, high-speed comparator circuit exports high level, when the return signal level received is less than reference voltage level, high-speed comparator circuit output low level, wherein, the size of processor core by regulating the dutycycle of PWM ripple to carry out adjusting reference voltage; The ranging burst signal returned is through difference operational amplifying circuit input comparator circuit again, and difference operational amplifying circuit uploads the interference of defeated ranging burst signal to track for reducing external environment.
4. according to the collision-proof method of a kind of active railway vehicle collision avoidance system according to claim 3, it is characterized in that the size of processor core by regulating the dutycycle of PWM ripple to carry out adjusting reference voltage, the size of VREF (Voltage Reference) regulates according to actual two spacings recorded, when two spacings are less than 100m, VREF (Voltage Reference) is adjusted to 1V, and when being greater than 100m, VREF (Voltage Reference) is adjusted to 0.5V.
5. the collision-proof method of a kind of active railway vehicle collision avoidance system according to claim 1 and 2, it is characterized in that the width adjusting of ranging burst signal is: the scope that pulse signal width regulates is between 50ns to 200ns, the amplitude of each adjustment is 50ns, the initial ranging pulse signal width of launching is 50ns, and the cycle of the ranging burst signal of described periodicity repeat its transmission maximum width is more than or equal to 10s and is less than or equal to 60s.
6. the collision-proof method of a kind of active railway vehicle collision avoidance system according to claim 3, it is characterized in that the width adjusting of ranging burst signal is: the scope that pulse signal width regulates is between 50ns to 200ns, the amplitude of each adjustment is 50ns, the initial ranging pulse signal width of launching is 50ns, and the cycle of the ranging burst signal of described periodicity repeat its transmission maximum width is more than or equal to 10s and is less than or equal to 60s.
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| CN105329262B (en) * | 2015-10-19 | 2017-03-29 | 杭州创联电子技术有限公司 | Rail vehicle collision avoidance system and method based on absolute displacement |
| CN105292188B (en) * | 2015-10-19 | 2017-07-11 | 杭州创联电子技术有限公司 | Rail vehicle running state analysis system and method based on absolute displacement |
| CN108572641A (en) * | 2017-04-27 | 2018-09-25 | 中国国际海运集装箱(集团)股份有限公司 | Method and device for controlling annular rail guidance vehicle operation |
| CN109794068A (en) * | 2019-03-06 | 2019-05-24 | 桂林市哲云电子科技有限公司 | One kind being based on Beidou/GPS time slot ultrasonic distance measurement orbitron slideway vehicle collision avoidance system |
| CN112441086B (en) * | 2019-08-30 | 2024-06-18 | 比亚迪股份有限公司 | Rail vehicle, control method and system thereof and train control and management system |
| CN114290809B (en) * | 2021-12-31 | 2022-11-29 | 东莞市启思达智能技术有限公司 | Laser ranging method and system |
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