CN106347172B - A kind of application method of unmanned public electric car - Google Patents
A kind of application method of unmanned public electric car Download PDFInfo
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- CN106347172B CN106347172B CN201610824509.7A CN201610824509A CN106347172B CN 106347172 B CN106347172 B CN 106347172B CN 201610824509 A CN201610824509 A CN 201610824509A CN 106347172 B CN106347172 B CN 106347172B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Road Signs Or Road Markings (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The unmanned public electric car of one kind and its application method, including electric car ontology, power unit and Auxiliary Track；In use, including driving process, process of arriving at a station and safe driving process；The present invention has automatic Pilot, automatic the advantages of avoiding automatic landing.
Description
Technical field
The present invention relates to automotive field, in particular to a kind of application method of unmanned public electric car.
Background technique
It is constantly progressive with the rapid development of social economy with scientific and technological, the level of urbanization is higher and higher, but following
Traffic congestion, traffic accident, motor vehicle exhaust emission, atmosphere pollution, energy crisis a series of problems, such as become countries in the world face
The common difficulty faced.It develops public transport one of the effective measures undoubtedly to solve the above problems.Public friendship on the market at present
Logical tool mainly has bus, subway (rail traffic), will also be used as emerging in " Ba Tie 1 " that Qinhuangdao exposes
The public electric car of automobile industry is also used more and more widely.But these public transports have some disadvantages:
There is exhaust emissions, pollution atmosphere in bus；The cruising ability of electric car is poor, and needs pilot steering；Ground
Iron, bar iron is at high cost, the production cycle is long, and needs special track.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of unmanned public electronic vapour
The application method of vehicle, it is of simple structure and low cost, safe and reliable, easy to maintain, without pilot steering, emission-free in use process
Discharge, noise-less pollution, energy conservation and environmental protection have stronger practicability and higher safety, reliability.
In order to achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of unmanned public vehicle electric system, including electric car ontology 19, power unit 20 and Auxiliary Track
21；
The electric car ontology 19 includes power module 1, the power output end connection controller 2 of power module 1
Power input end；Be mounted on 19 front lower portion of electric car ontology patrols mark module 1, patrols mark module 24 and patrols mark module 35
Output end be separately connected the first input end of controller 2, the second input terminal and third input terminal；It is mounted on electric car ontology
The output end of the left front obstacle avoidance module 10 of 19 upper front ends, front obstacle avoidance module 11 and right front obstacle avoidance module 12 connects respectively
Connect the 4th input terminal of controller 2, the 5th input terminal and the 6th input terminal；It is installed on the traffic lights at 2 top of electric car ontology
7th input terminal of the output end connection controller 2 of signal receiving module 6；First output end of controller 2 connects voice prompting
The input terminal of system 13；
The power unit 20 includes the solar panel 14 for being mounted on 19 top of electric car ontology, solar-electricity
The first input end of the output end connection power management module 16 of pond plate 14, the output end of battery 15 connect power management module
16 the second input terminal, the first input end of the output end connection motor drive module 17 of power management module 16, controller 2
Second output terminal connects the second input terminal of motor drive module 17, and 17 output end of motor drive module connects vehicular electric machine
The input terminal of group 18；
The Auxiliary Track 21 includes colouring plastic track 7, station identification 8, crossroad traffic light signal modulus of conversion
Block 9.
Application method based on a kind of unmanned public electric car, comprising: driving process, process of arriving at a station and safety are driven
Cross journey；
The driving process includes: that cement pavement is divided into black trace and light gray using colouring plastic track 7
Track；When colouring plastic track 7 is straight line, be mounted on 19 front lower portion of electric car ontology patrols mark module 1, patrols mark mould
The probe of block 24 patrols mark module 1 in black trace range, and the analogue value for patrolling the reading of mark module 24 is all larger than 400, patrols mark mould
Block 1 patrols mark module 24 by controller 2 and issues instruction to motor drive module 17, so that vehicle electrical unit 18 is at the uniform velocity positive
Rotation；When colouring plastic track 7 to the left when, simulation that the probe for patrolling mark module 1 on the left side is read on colouring plastic track 7
Value is greater than 400, and the probe for patrolling mark module 24 on the right goes out the analogue value that colouring plastic track 7 is read on grey cement face
Less than 400, is issued and instructed to motor drive module 17 by controller 2, so that two motors on 18 left side of vehicle electrical unit are anti-
Turn, 18 two, the right motor of vehicle electrical unit rotates forward, and achievees the purpose that automobile is turned left；When colouring plastic track 7 to the right when, it is right
The analogue value that the probe for patrolling mark module 24 on side is read on colouring plastic track 7 is greater than 400, and mark module 1 is patrolled on the left side
Probe goes out the analogue value that colouring plastic track 7 is read on grey cement face less than 400, by controller 2 to motor driven
Module 17 issues instruction, so that two motors on 18 left side of vehicle electrical unit rotate forward, 18 two motors in the right of vehicle electrical unit are anti-
Turn, reaches the right-handed purpose of automobile；
The process of arriving at a station: when in-track platform, the information biography for the station identification 8 that mark module 35 acquires on platform is patrolled
Controller 2 is passed, controller 2 issues the instruction of parking to motor drive module 17；
The safe driving process: when by crossing, when traffic light signal receiving module 6 receives green light signals,
Automobile passes through；When traffic light signal receiving module 6 receives red light or steady yellow, automobile pause；It is left when encountering obstacle
Front obstacle avoidance module 10, front obstacle avoidance module 11, right front obstacle avoidance module 12 distinguish real-time detection automobile left front, front
With the road information of right front, when any one direction has pedestrian or vehicle to occur, controller 2 is sent out to motor drive module 17
The instruction suspended out, while instruction alarm is issued to speech prompting system 13, braking automobile suspends and alarms, and reminds vehicle or row
People leaves, and after vehicles or pedestrians leave, electric car continues along rail running.
Beneficial effects of the present invention:
The route guidance vehicle driving patrolled mark module 1, patrol mark module 24 along colouring plastic track 7, patrols mark module 5
Identify that station identification 8, traffic light signal receiving module 6 receive the signal that traffic light signal conversion module 9 launches, left front
Obstacle avoidance module 10, front obstacle avoidance module 11, right front obstacle avoidance module 12 are respectively induced automobile left front, front, right front
Pedestrian, vehicle etc., by with upper module reach vehicle along planned orbit traveling, it is red green in the parking of fixed point platform, automatic identification
The purpose that lamp passes through crossroad and automatic evacuation Pedestrians and vehicles；Power management module 16 is used to management coordination solar panel
14 and the electric energy that inputs of battery 15, and preferentially absorbed using solar panel 14, the electric energy that can convert, work as solar energy
When the absorption of solar panel 14, the electric energy converted are not enough to drive electric car, battery 15 is automobile power supply；Work as solar-electricity
When the absorption of pond plate 14, the electric energy converted have extra, to charge the battery by power management module 16, forms light and store complementation
Powering mode, equivalent to increase the capacity of traditional accumulator of electric car, to increase the course continuation mileage of electric car；Have
Color plastic cement track 7, station identification 8 are all made of black plastic laying, for assisting patrolling the work of mark module, reach unpiloted mesh
's.The relatively traditional underground railway track of the track is low with " Ba Tie " track manufacturing cost, with short production cycle, and it is motor-driven not influence other
The normally travel of vehicle；Communication is using wireless communication skill between traffic light signal conversion module 9 and traffic light signal receiving module 6
Art, high sensitivity, reaction speed are fast.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention.
Specific embodiment
The present invention is further described with reference to the accompanying drawings of the specification.
Referring to Fig.1, a kind of unmanned public electric car, including electric car ontology 19, power unit 20 and auxiliary
Track 21；
The electric car ontology 19 includes power module 1, the power output end connection controller 2 of power module 1
Power input end；Be mounted on 19 front lower portion of electric car ontology patrols mark module 1, patrols mark module 24 and patrols mark module 35
Output end be separately connected the first input end of controller 2, the second input terminal and third input terminal；It is mounted on electric car ontology
The output end of the left front obstacle avoidance module 10 of 19 upper front ends, front obstacle avoidance module 11 and right front obstacle avoidance module 12 connects respectively
Connect the 4th input terminal of controller 2, the 5th input terminal and the 6th input terminal；It is installed on the traffic lights at 2 top of electric car ontology
7th input terminal of the output end connection controller 2 of signal receiving module 6；First output end of controller 2 connects voice prompting
The input terminal of system 13；
The power unit 20 includes the solar panel 14 for being mounted on 19 top of electric car ontology, solar-electricity
The first input end of the output end connection power management module 16 of pond plate 14, the output end of battery 15 connect power management module
16 the second input terminal, the first input end of the output end connection motor drive module 17 of power management module 16, controller 2
Second output terminal connects the second input terminal of motor drive module 17, and 17 output end of motor drive module connects vehicular electric machine
The input terminal of group 18；
The Auxiliary Track 21 includes colouring plastic track 7, station identification 8, crossroad traffic light signal modulus of conversion
Block 9.
Based on a kind of preferentially using the application method of the unmanned public electric car of solar energy, comprising: driving process,
Process of arriving at a station and safe driving process；
The driving process includes: that cement pavement is divided into black trace and light gray using colouring plastic track 7
Track；When colouring plastic track 7 is straight line, be mounted on 19 front lower portion of electric car ontology patrols mark module 1, patrols mark mould
The probe of block 24 patrols mark module 1 in black trace range, and the analogue value for patrolling the reading of mark module 24 is all larger than 400, patrols mark mould
Block 1 patrols mark module 24 by controller 2 and issues instruction to motor drive module 17, so that vehicle electrical unit 18 is at the uniform velocity positive
Rotation；When colouring plastic track 7 to the left when, simulation that the probe for patrolling mark module 1 on the left side is read on colouring plastic track 7
Value is greater than 400, and the probe for patrolling mark module 24 on the right goes out the analogue value that colouring plastic track 7 is read on grey cement face
Less than 400, is issued and instructed to motor drive module 17 by controller 2, so that two motors on 18 left side of vehicle electrical unit are anti-
Turn, 18 two, the right motor of vehicle electrical unit rotates forward, and achievees the purpose that automobile is turned left；When colouring plastic track 7 to the right when, it is right
The analogue value that the probe for patrolling mark module 24 on side is read on colouring plastic track 7 is greater than 400, and mark module 1 is patrolled on the left side
Probe goes out the analogue value that colouring plastic track 7 is read on grey cement face less than 400, by controller 2 to motor driven
Module 17 issues instruction, so that two motors on 18 left side of vehicle electrical unit rotate forward, 18 two motors in the right of vehicle electrical unit are anti-
Turn, reaches the right-handed purpose of automobile；
The process of arriving at a station: when in-track platform, the information biography for the station identification 8 that mark module 35 acquires on platform is patrolled
Controller 2 is passed, controller 2 issues the instruction of parking to motor drive module 17；
The safe driving process: when by crossing, when traffic light signal receiving module 6 receives green light signals,
Automobile passes through；When traffic light signal receiving module 6 receives red light or steady yellow, automobile pause；It is left when encountering obstacle
Front obstacle avoidance module 10, front obstacle avoidance module 11, right front obstacle avoidance module 12 distinguish real-time detection automobile left front, front
With the road information of right front, when any one direction has pedestrian or vehicle to occur, controller 2 is sent out to motor drive module 17
The instruction suspended out, while instruction alarm is issued to speech prompting system 13, braking automobile suspends and alarms, and reminds vehicle or row
People leaves, and after vehicles or pedestrians leave, electric car continues along rail running.
Claims (1)
1. a kind of application method of unmanned public electric car characterized by comprising driving process, process of arriving at a station and
Safe driving process；
The driving process includes: that cement pavement is divided into black trace and light grey rail using colouring plastic track (7)
Mark；When colouring plastic track (7) are straight line, be mounted on electric car ontology (19) front lower portion patrols mark module one (3), patrols
The probe of mark module two (4) patrols mark module one (3) in black trace range, and the analogue value for patrolling mark module two (4) reading is all larger than
400, mark module one (3) is patrolled, mark module two (4) is patrolled by controller (2) and issues instruction to motor drive module (17), so that vehicle
Motor group (18) at the uniform velocity rotates forward；When colouring plastic track (7) to the left when, the probe for patrolling mark module one (3) on the left side exists
The analogue value read on colouring plastic track (7) is greater than 400, and the probe for patrolling mark module two (4) on the right goes out colouring plastic rail
The analogue value that road (7) is read on grey cement face is issued to motor drive module (17) by controller (2) and is referred to less than 400
It enables, so that two motor reversals on vehicle electrical unit (18) left side, two, the right of vehicle electrical unit (18) motors are rotated forward, and reach vapour
The purpose that vehicle is turned left；When colouring plastic track (7) to the right when, the probe for patrolling mark module two (4) on the right is in colouring plastic rail
The analogue value read on road (7) is greater than 400, and the probe for patrolling mark module one (3) on the left side goes out colouring plastic track (7) in grey
The analogue value read on cement surface is issued to motor drive module (17) by controller (2) and is instructed, so that vehicle less than 400
Two motors on motor group (18) left side rotate forward, and it is right-handed to reach automobile for two motor reversals on the right of vehicle electrical unit (18)
Purpose；
The process of arriving at a station: when in-track platform, the information of the station identification (8) patrolled on mark module three (5) acquisition platform is passed
It passs controller (2), controller (2) issues the instruction of parking to motor drive module (17)；
The safe driving process: when by crossing, when traffic light signal receiving module (6) receives green light signals, vapour
Vehicle passes through；When traffic light signal receiving module (6) receives red light or steady yellow, automobile pause；It is left when encountering obstacle
Real-time detection automobile is left front respectively for front obstacle avoidance module (10), front obstacle avoidance module (11), right front obstacle avoidance module (12)
The road information of side, front and right front, when any one direction has pedestrian or vehicle to occur, controller (2) is to motor
Drive module (17) issues the instruction of pause, while issuing instruction alarm to speech prompting system (13), and braking automobile suspends simultaneously
Alarm reminds vehicles or pedestrians to leave, and after vehicles or pedestrians leave, electric car continues along rail running；
The public electric car includes electric car ontology (19), power unit (20) and Auxiliary Track (21),
The electric car ontology (19) includes power module (1), and the power output end of power module (1) connects controller
(2) power input end；Be mounted on electric car ontology (19) front lower portion patrols mark module one (3), patrol mark module two (4) and
The output end for patrolling mark module three (5) is separately connected the first input end of controller (2), the second input terminal and third input terminal；Peace
Mounted in the left front obstacle avoidance module (10) of electric car ontology (19) upper front end, front obstacle avoidance module (11) and right front are kept away
The output end of barrier module (12) is separately connected the 4th input terminal of controller (2), the 5th input terminal and the 6th input terminal；It is installed on
7th input terminal of output end connection controller (2) of the traffic light signal receiving module (6) at the top of electric car ontology (19)；
The input terminal of the first output end connection speech prompting system (13) of controller (2)；
The power unit (20) includes the solar panel (14) being mounted at the top of electric car ontology (19), solar energy
The output end of the first input end of output end connection power management module (16) of solar panel (14), battery (15) connects power supply
The output end connection motor drive module (17) first of second input terminal of management module (16), power management module (16) inputs
End, controller (2) second output terminal connection motor drive module (17) the second input terminal, motor drive module (17) it is defeated
Outlet connects the input terminal of vehicle electrical unit (18)；
The Auxiliary Track (21) includes colouring plastic track (7), station identification (8), the conversion of crossroad traffic light signal
Module (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610824509.7A CN106347172B (en) | 2016-09-13 | 2016-09-13 | A kind of application method of unmanned public electric car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824509.7A CN106347172B (en) | 2016-09-13 | 2016-09-13 | A kind of application method of unmanned public electric car |
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| CN106347172A CN106347172A (en) | 2017-01-25 |
| CN106347172B true CN106347172B (en) | 2019-07-23 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109683601A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of pilotless automobile active safety system |
| CN109683598A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of electric car intelligence Unmanned Systems |
| CN109683597A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of unmanned public vehicle electric system based on solar energy |
| CN109683599A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of pilotless automobile automatic obstacle avoiding system |
| CN109683600A (en) * | 2017-10-18 | 2019-04-26 | 江苏卡威汽车工业集团股份有限公司 | A kind of pilotless automobile travelling route self-control system |
| CN108327537A (en) * | 2017-12-28 | 2018-07-27 | 上海矽润科技有限公司 | A kind of wireless security control system unit and electric car |
| CN109455180B (en) * | 2018-11-09 | 2020-10-16 | 百度在线网络技术（北京）有限公司 | Method and device for controlling unmanned vehicle |
| CN110471410A (en) * | 2019-07-17 | 2019-11-19 | 武汉理工大学 | Intelligent vehicle voice assisting navigation and safety prompting system and method based on ROS |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006004188A (en) * | 2004-06-17 | 2006-01-05 | Daihatsu Motor Co Ltd | Obstacle recognition method and obstacle recognition device |
| CN102320248A (en) * | 2011-06-03 | 2012-01-18 | 上海理工大学 | Intelligent tour guiding system for tour guiding vehicle |
| CN104015723B (en) * | 2014-06-12 | 2016-08-24 | 北京工业大学 | A kind of intelligent vehicle control system and method based on intelligent transportation platform |
| CN204462845U (en) * | 2014-08-26 | 2015-07-08 | 渤海大学 | Campus sightseeing automatic guide tourist bus |
| CN105225579A (en) * | 2015-08-29 | 2016-01-06 | 广州飞瑞敖电子科技有限公司 | Internet of Things intelligent transportation training platform |
| CN205540268U (en) * | 2016-01-29 | 2016-08-31 | 武汉理工大学 | Automatically, keep away barrier tracking dolly based on magnetic navigation |
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