CN109886051A - A kind of vehicle location radio-frequency recognition system and its fast inspection localization method - Google Patents
A kind of vehicle location radio-frequency recognition system and its fast inspection localization method Download PDFInfo
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- CN109886051A CN109886051A CN201910017343.1A CN201910017343A CN109886051A CN 109886051 A CN109886051 A CN 109886051A CN 201910017343 A CN201910017343 A CN 201910017343A CN 109886051 A CN109886051 A CN 109886051A
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Abstract
A kind of vehicle location radio-frequency recognition system disclosed by the invention, comprising: it is several interval be embedded in it is passive radio-frequency identification labeled in road ground, it is each it is passive radio-frequency identification labeled include radio frequency identification label chip, tag antenna coil level-one auxiliary antenna coil；And one be fixedly mounted on vehicle-mounted reader on vehicle, the vehicle-mounted reader includes radio-frequency identification reader, RF driver circuit, reader antenna coil, label excitation array element, excitation array element driving circuit and excitation array element controller.Also disclose a kind of fast inspection localization method of above-mentioned vehicle location radio-frequency recognition system.Under using identical passive radio frequency identification magnetic coupling signal frequency large-sized excitation and data communication antenna can be used, to realize farther access distance in the present invention.
Description
Technical field
The present invention relates to Vehicular automatic driving technical field more particularly to a kind of vehicle based on excitation winding dichotomy are fixed
Position radio-frequency recognition system and its fast inspection localization method.
Background technique
Vehicular automatic driving technology is the hot spot of current research and industrialization, specially the Vehicular automatic driving of scene, such as
The unmanned automatic driving of the container transshipment vehicle at harbour, comes into the application stage.Automatic vehicle positioning is to realize to drive automatically
One of key foundation technology sailed.Known at present using the area grid positioning of super broad band radio communication, laser radar environmental characteristic
Not and matching, micro-mechanical gyroscope/technologies such as the navigation of accelerograph inertial positioning and satellite positioning are all in automatic Pilot technology
On have corresponding technology and product.In addition to this, it passive is penetrated there are also a kind of using vehicle-mounted radio-frequency identification reader and road are pre-buried
The technology of frequency identification tag.The area grid of the technology and super broad band radio communication positioning, laser radar environmental characteristic identification and
The technologies such as matching are different, and the vehicle positioning technology based on passive radio frequency identification is embedded in using mature RFID tag
Passive RF label in road is low in cost, the service life is long, environment influences small, is known by configuring specific passive RF on vehicle
Other reader, by the grid reader antenna of subdivision identify the pre-buried RFID tag with unique encodings to movement or
Static vehicle is positioned, therefore the vehicle positioning technology based on passive radio frequency identification has that operation cost is relatively low, ring
Border is adaptable, high reliablity, is easy to the advantages that disposing, and has had in the automatic Pilot field of harbour container transit vehicle
The utilization of certain scale.
GermanyCompany is based on current 125.134KHz (low-frequency range) and 13.56MHz (RFID) passive RF
Identification technology develops the positioning system of Vehicular automatic driving application.Wherein, the passive radio-frequency identification labeled ruler of pre-buried road
It is very little be diameter 74.5mm, height 35mm, vehicle-mounted reader antenna size 1560mm × 653mm × 81mm, can be realized 25 kilometers/
The positioning accuracy of ± 10mm under hour speed.With it is common it is passive radio-frequency identification labeled compared with, built-in type for vehicle location
It is passive radio-frequency identification labeled mainly to be had a certain difference in encapsulation, but vehicle-mounted reader and common radio frequency identification are read
There is very big difference between device, this vehicle-mounted reader needs to realize longer-distance access, while needing in certain vehicle
Speed is lower to realize the access for meeting expected positioning accuracy.It especially realizes the access for meeting expected positioning accuracy, is by special
The grid antenna of design is come what is realized, i.e., by the antenna of subdivided meshes, the grid communicated according to realization is opposite to obtain vehicle
In the position of pre-buried label.Due to passive radio frequency identification access distance and antenna scale it is closely related, antenna it is thin
Subnetting lattice directly affect access distance again.Currently, GermanThe label and reader and grid antenna of company are in allusion quotation
The maximum access distance of 35cm can be achieved in the environment of type.
The existing vehicle positioning system based on magnetic coupling radio frequency knowledge technology is shown referring to Fig. 1, Fig. 1, vehicle 10 is in road
Road travels, and is equipped with radio-frequency identification reader 20 and radio-frequency identification reader antenna 30 on vehicle 10.When vehicle 10 and radio frequency
Identification reader antenna 30 by be embedded on road passive radio-frequency identification labeled 40 when, vehicle-mounted reader 20 can obtain nothing
The information of source RFID tag 40, and according to passive radio-frequency identification labeled 40 pre-buried geography information and passive radio frequency identification
The relativeness of label 40 and vehicle 10, it can realize the positioning of vehicle 10.
Referring to fig. 2, Fig. 2 shows it is existing based on magnetic coupling radio frequency know technology radio-frequency identification reader antenna with it is passive
The energy transmission and Principle of Communication of RFID tag.There is electric current inside the aerial coil 31 of radio-frequency identification reader antenna 30
By when, the alternating magnetic field 31a that inducts can be generated, passive radio-frequency identification labeled 40 aerial coil can generate induced electromotive force, nothing
The AC electromotive force of inducting that aerial coil generates can be transformed into chip operation institute by the chip circuit of source RFID tag 40
The power supply needed comes out the instruction from radio-frequency identification reader 20 from the signal extraction of coupling, executes instruction and makes corresponding
The communication between radio-frequency identification reader 20 and passive radio-frequency identification labeled 40 is completed in response.For magnetic coupling radio frequency identification skill
Art, RFID tag carry work near field, that is, 1.10 or 1/8 distance of electromagnetic wavelength used.Such as
The carrier frequency of 13.56MHz, wavelength are 22.1 meters, and theoretically, the magnetic coupling radio frequency identification maximum access distance under the wavelength is 2.2
Rice.But under Near Field, between radio-frequency identification reader antenna 30 it is vertical it is every increase by 10 times, energy attenuation 1/
1000, that is to say, that energy is according to inverse distance between passive radio-frequency identification labeled 40 and radio-frequency identification reader antenna 30
Cube decaying.Further, since the bandwidth of data communication needs, radio-frequency identification reader 20 and passive radio-frequency identification labeled 40
The network quality factor of aerial coil will be far below the intrinsic quality factor of coil antenna.Such as the quality factor of copper conductor coils
50 may be up to, however, to ensure that the bandwidth of data communication, the reader antenna of radio frequency identification and the product of label antenna network
Quality factor may only have 8.These factors result in magnetic coupling Radio Frequency Identification Technology effective access distance in the cards and are far below
Theoretical near field range.Referring to fig. 2,13.56MHz system, along 31 Vertical Square of aerial coil of radio-frequency identification reader antenna 30
To access distance may there was only 50~60 centimetres.In addition, larger sized radio-frequency identification reader antenna 30 also means day
The inductance of line coil is big, and carrier frequency is higher, then tunes more difficult；Using low wave frequency, then mean low data
Rate.
The actual access distance also further effective dimensions by the aerial coil 31 of radio-frequency identification reader antenna 30
Limitation, systematically access distance such in general is probably at 0.7 times or so of reader antenna size.Radio-frequency identification reader
Antenna 30 is smaller, and access distance is shorter.These features cause to use the magnetic coupling Radio Frequency Identification Technology of standard as vehicle location
It can have the disadvantage that the day that radio-frequency identification reader antenna 30 as small as possible is needed to obtain certain positioning accuracy
Line coil 31, but the aerial coil 31 of radio-frequency identification reader antenna 30 is smaller, it is meant that effectively access distance is shorter, for
Vehicular automatic driving positioning, it may be necessary at least 20~30 centimetres or more of effective access distance.If using 40 centimetres or more
Antenna will lead to obtainable positioning accuracy and substantially reduce.
In order to overcome deficiency existing for the above vehicle positioning system based on magnetic coupling Radio Frequency Identification Technology, Patent No.
The German patent of invention of DE202013101196U1 discloses the following contents: using low frequency carrier signal, that is, 125KHz/134KHz
Frequency range；The method that radio-frequency identification reader antenna overlay area uses grid subdivision simultaneously, as shown in figure 3, being subdivided into single
Access unit 31, to improve the precision of positioning.
Referring to fig. 4, the German patent of invention that Fig. 4 shows Patent No. DE202013101196U1 discloses used day
Wire grid sub-structure motivates winding EQ1-EQ2 and excitation winding EL1-EL2 by the region of entire radio-frequency identification reader antenna
It is divided into 16 grids, excitation winding RE is to receive winding and cover entire antenna access region, when one of Grid Signal
When for normal excitation, the Grid Signal on periphery is cancelled out each other, so that the label of corresponding grid position cannot be activated.It is swept by electronics
The mode retouched realizes the timesharing access of entire radio-frequency identification reader antenna overlay area.The radio frequency identification of the technical solution is read
The excitation winding for reading device antenna is very long, and the inductance of aerial coil is big, therefore uses low frequency band, consequently facilitating day lower network
Tuning is realized.
In order to realize suitable communication distance, can be realized by increasing the transmission power of radio-frequency identification reader, therefore
It needs to increase diode or similar structure in passive radio-frequency identification labeled antenna end to limit the electricity at label antenna both ends
Pressure, as shown in Figure 5.Antenna end AC0, AC1 of passive radio-frequency identification labeled chip 41 is connect with coil antenna Lant respectively, this is
The structure of basic RFID tag.Under the field strength of Larger Dynamic range, in order to protect passive radio-frequency identification labeled chip 41
Not by possible high-voltage breakdown, increased between antenna end AC0, AC1 of radio frequency identification label chip 41 by diode D1, D2
The protection structure of composition, under high field intensity, it is ensured that the voltage of antenna end AC0, AC1 of passive radio-frequency identification labeled chip 41 does not surpass
Cross the tolerance range of passive radio-frequency identification labeled chip 41.In addition, in the case where this requires stringent scene for operating distance, nothing
Source RFID tag 40 may also need additional passive radio-frequency identification labeled chip 41 external capacitor C1, C2 and resistance R1,
R2, to adjust the working performance of label.
Existing vehicle positioning system is relative to corresponding frequency band radio-frequency recognition system, either label or radio frequency identification
Reader and radio-frequency identification reader antenna will be complicated very much, but are limited by performance, are currently used primarily in 25 kilometers/hour
Or automatic Pilot positioning below.
Summary of the invention
The first technical problem to be solved by the present invention is: providing a kind of can be achieved far in view of the deficiencies of the prior art
Distance access reduces system complexity and cost, the vehicle location radio-frequency recognition system for improving system reliability.
The second technical problem to be solved by the present invention is: providing the above-mentioned vehicle location radio-frequency recognition system of one kind
Fast inspection localization method.
A kind of vehicle location radio-frequency recognition system as first aspect present invention, comprising:
It is several interval be embedded in it is passive radio-frequency identification labeled in road ground, it is each it is passive radio-frequency identification labeled include penetrate
Frequency identification tag chip, tag antenna coil and auxiliary antenna coil, first, second day of the radio frequency identification label chip
Line connecting pin is connect with the both ends of the tag antenna coil respectively, the first, second AC coupled signals end respectively with it is described
The both ends of auxiliary antenna coil connect；And
One is fixedly mounted on the vehicle-mounted reader on vehicle, and the vehicle-mounted reader includes radio-frequency identification reader, radio frequency
Driving circuit, reader antenna coil, label excitation array element, excitation array element driving circuit and excitation array element
Controller, the first signal interaction end of the radio-frequency identification reader by the RF driver circuit respectively with the reader
The both ends of aerial coil connect, and second signal interaction end is connect with vehicle positioning system, and the label excitation array element is set
It sets in the reader antenna coil, the label excitation array element is by several excitation coil windings in matrix arrangement
It constitutes, one end of each excitation coil winding is connect after connecting together with the excitation array element driving circuit, another
End is connect with the excitation array element driving circuit respectively using variable connector, and the first of the excitation array element controller
Signal interaction end is connect with the excitation array element driving circuit, and second signal interaction end is connect with vehicle positioning system.
The fast inspection localization method of the vehicle location radio-frequency recognition system above-mentioned as one kind of second aspect of the present invention,
The label excitation array element is by 2nA excitation coil winding in matrix arrangement is constituted, and wherein n >=3 and n are integer, will
2nA excitation coil winding is divided into two level-1 areas and each level-1 area has 2n-1A excitation coil winding, then will
2 in each level-1 arean-1A excitation coil winding is divided into two level-2 areas and each level-2 area has 2n-2
A excitation coil winding, according to such rule until being divided into 2nThe corresponding excitation in a region n grades of and each n grades of region
Coil windings；Then by binary search method for inspecting retrieve the label motivate in array element corresponding excitation coil around
Group calculates the present bit confidence of vehicle further according to the relationship of excitation coil winding and vehicle in label excitation array element
Breath.Such as: for having the underground label of (X0, the Y0) of local geographical coordinate, when the excitation winding coil of n-th of inspection is corresponding
Underground label have response or tag state set, the excitation winding coil of n-th of inspection is relative to the inclined of vehicle center
Shifting amount is (deltaX, deltaY), then the coordinate of vehicle center is (X0+deltaX, Y0+deltaY).
Due to using technical solution as above, the beneficial effects of the present invention are: the present invention is using identical passive
Under radio frequency identification magnetic coupling signal frequency, large-sized excitation and data communication antenna can be used, to realize farther visit
Ask distance；Meanwhile motivating the dichotomy fast inspection of array element to control by label, it realizes to passive radio-frequency identification labeled
Quickly positioning, improves access speed, while also simplifying the design of reader antenna coil and its driving, reduces system
Complexity improves the reliability of system, and the vehicle location function of higher performance is realized with lower cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the existing vehicle positioning system based on magnetic coupling radio frequency knowledge technology.
Fig. 2 is the existing radio-frequency identification reader antenna based on magnetic coupling Radio Frequency Identification Technology and passive radio frequency identification mark
The energy transmission and Principle of Communication figure of label.
Fig. 3 is the antenna grid sub-structure figure of existing radio-frequency identification reader.
Fig. 4 is the antenna networks of the disclosed radio-frequency identification reader of Germany's invention of Patent No. DE202013101196U1
The structural schematic diagram of lattice subdivision.
Fig. 5 is existing passive radio-frequency identification labeled circuit diagram.
Fig. 6 is vehicle location radio-frequency recognition system structural schematic diagram of the invention.
Fig. 7 is the structural schematic diagram of reader antenna coil and label excitation array element of the invention.
Fig. 8 is the three-level binary search of the label excitation array element of the invention being made of 8 excitation coil windings
Combined schematic diagram.
Fig. 9 is binary search inspection process of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Referring to Fig. 6, what is provided in figure is a kind of vehicle location radio-frequency recognition system, including several passive radio-frequency identification labeled
100 and vehicle-mounted reader 200.
Several passive radio-frequency identification labeled 100 are encapsulated in the support construction of the materials such as glass or epoxy resin, then lead to
Pre-buried or punching mode is crossed to be arranged at intervals in the road grounds such as pitch, concrete according to certain rule.It is each passive to penetrate
Frequency identification tag 100 includes radio frequency identification label chip 110, tag antenna coil 120 and auxiliary antenna coil 130.Radio frequency
Antenna connection terminal AC0, AC1 of identification label chip 110 are connect with the both ends of tag antenna coil 120 respectively, AC coupled
Signal end k1, k2 are connect with the both ends of auxiliary antenna coil 130 respectively.
Vehicle-mounted reader 200 is fixedly mounted on vehicle, including radio-frequency identification reader 210, RF driver circuit
220, reader antenna coil 230, label excitation array element 240, excitation array element driving circuit 250 and excitation array
Cell controller 260.The signal interaction end 211 of radio-frequency identification reader 210 by RF driver circuit 220 respectively with reader
The both ends of aerial coil 230 connect, and signal interaction end 212 is connect with vehicle positioning system 1, and reader antenna coil 230 was both
Be transmitting antenna be also receiving antenna, for the aerial coil of a typical 1000mm × 500mm, may be implemented 50cm~
The communication distance of 60cm, the radiofrequency signal for being driven to carrier frequency fc of the reader antenna coil 230.Label motivates array list
Member 240 is arranged in reader antenna coil 230.Referring to Fig. 7 and Fig. 6 is combined, in embodiment, label motivates array element
240 by 3 × 8 totally 24 excitation coil windings 241 in matrix arrangement constitute, one end of each excitation coil winding 241 is simultaneously
It shares a coil connectors lc1 after being connected together to connect with excitation array element driving circuit 250, the other end is opened using multichannel
It closes and coil connectors lc2 is connect with excitation array element driving circuit 250 respectively, coil connectors lc1, lc2 are fa's by frequency
Pumping signal driving.The signal interaction end 261 and excitation array element driving circuit 250 for motivating array element controller 260 connect
It connects, signal interaction end 262 is connect with vehicle positioning system 1.
In the range of passive radio-frequency identification labeled 100 are in the effectively access of vehicle-mounted reader 200, tag antenna coil
120 can be that radio frequency identification label chip 110 provides electric energy and provides channel for communication；At passive radio-frequency identification labeled 100
In the effective range of some excitation coil winding 241 in label excitation array element 240, auxiliary antenna coil 130
Receive useful signal, and allow passive radio-frequency identification labeled 100 and radio-frequency identification reader 210 communicated, or setting
The state of passive radio-frequency identification labeled 100 agreement, then motivated the inspection of array element 240 by label, subdivision may be implemented
Positioning.
Radio-frequency identification reader 210 drives reader antenna coil 230, radio-frequency driven electricity by RF driver circuit 220
Road 220 includes the circuits such as modulation, demodulation power amplifier, is passive radio-frequency identification labeled by reader antenna coil 230
100 provide electric energy and data, and receive passive radio-frequency identification labeled 100 return signal.Motivate array element controller 260 logical
It overdrives 250 abstract factory of array element driving circuit and motivates array element 240, provided for passive radio-frequency identification labeled 100 sharp
Encourage signal.Passive radio-frequency identification labeled 100 receive auxiliary antenna coil 130 by excitation, realize 120 circuit of tag antenna coil
Control, or the state of setting passive radio-frequency identification labeled 100.
Referring to Fig. 7, effective access section of label excitation array element 240 is divided into 24 cells, each cell
One excitation coil winding 241 is set.Reader antenna coil 230 is driven by the AC signal of carrier frequency fc, and label motivates array
Unit 240 is driven by the AC signal that frequency is fa, and excitation coil winding 241 passes through switch control, access or disconnection excitation
Signal fa.
Label is motivated array element 240 by the fast inspection localization method of vehicle location radio-frequency recognition system of the invention
By 2nA excitation coil winding 241 in matrix arrangement is constituted, wherein n >=3 and n is integer, by 2nA excitation coil winding is drawn
It is divided into two level-1 areas and each level-1 area has 2n-1A excitation coil winding, then will be in each level-1 area
2n-1A excitation coil winding is divided into two level-2 areas and each level-2 area has 2n-2A excitation coil winding, according to
Such rule is until be divided into 2nThe corresponding excitation coil winding in a region n grades of and each n grades of region.Then pass through two
Divide search method for inspecting to retrieve corresponding excitation coil winding in the label excitation array element, motivates array further according to label
The relationship of excitation coil winding and vehicle in unit calculates the current location information of vehicle.Such as: for having locally
The underground label for managing (X0, the Y0) of coordinate, when the corresponding underground label of the excitation winding coil of n-th of inspection has response or mark
Status set is signed, the excitation winding coil of n-th of inspection is (deltaX, deltaY) relative to the offset of vehicle center,
Then the coordinate of vehicle center is (X0+deltaX, Y0+deltaY).
Specifically, the three-level for the label excitation array element being made of 8 excitation coil windings is shown referring to Fig. 8, Fig. 8
The combination of binary search.Effective access region of reader antenna coil is divided into two level-1 areas n1, n2, two level-1 areas
N1, n2 include the excitation coil winding of identical quantity；Level-1 area n1, n2 are divided into according to the distribution of excitation array element respectively again
Level-2 area n3, n4 and level-2 area n5, n6；Level-2 area n3 is divided into tertiary zone n7 and n8 again, and level-2 area n4 is divided into again
Tertiary zone n9 and n10, level-2 area n5 are divided into tertiary zone n11 and n12 again, and level-2 area n6 is divided into tertiary zone n13 again
And n14.Every level-one maximum includes 2nA excitation coil winding.
Binary search inspection process is shown referring to Fig. 9, Fig. 9, in conjunction with the search process of binary tree, for swashing with m
It encourages for the design of coil windings, the number for retrieving corresponding excitation coil winding is up to log2M may be implemented to swash than m
Encourage the coil windings faster speed of inspection one by one.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (2)
1. a kind of vehicle location radio-frequency recognition system characterized by comprising
It is several interval be embedded in it is passive radio-frequency identification labeled in road ground, it is each it is passive radio-frequency identification labeled include radio frequency know
First, second antenna of distinguishing label chip, tag antenna coil and auxiliary antenna coil, the radio frequency identification label chip connects
Connect end connect respectively with the both ends of the tag antenna coil, the first, second AC coupled signals end respectively with the auxiliary
The both ends of aerial coil connect；And
One is fixedly mounted on the vehicle-mounted reader on vehicle, and the vehicle-mounted reader includes radio-frequency identification reader, radio-frequency driven
Circuit, reader antenna coil, label excitation array element, excitation array element driving circuit and excitation array element control
Device, the first signal interaction end of the radio-frequency identification reader by the RF driver circuit respectively with the reader antenna
The both ends of coil connect, and second signal interaction end is connect with vehicle positioning system, and the label excitation array element setting exists
In the reader antenna coil, the label excitation array element is by several excitation coil winding structures in matrix arrangement
At one end of each excitation coil winding is connect after connecting together with the excitation array element driving circuit, the other end
It is connect respectively with the excitation array element driving circuit using variable connector, the first letter of the excitation array element controller
Number interaction end is connect with the excitation array element driving circuit, and second signal interaction end is connect with vehicle positioning system.
2. a kind of fast inspection localization method of vehicle location radio-frequency recognition system as described in claim 1, the label swashs
Array element is encouraged by 2nA excitation coil winding in matrix arrangement is constituted, wherein n >=3 and n is integer, by 2nA excitation line
Circle winding is divided into two level-1 areas and each level-1 area has 2n-1A excitation coil winding, then by each level-one
2 in regionn-1A excitation coil winding is divided into two level-2 areas and each level-2 area has 2n-2A excitation coil
Winding, according to such rule until being divided into 2nThe corresponding excitation coil winding in a region n grades of and each n grades of region；
Then the label is retrieved by binary search method for inspecting and motivates corresponding excitation coil winding in array element, further according to mark
The relationship of excitation coil winding and vehicle in label excitation array element calculates the current location information of vehicle.
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| CN201910017343.1A CN109886051B (en) | 2019-01-08 | 2019-01-08 | Vehicle positioning radio frequency identification system and quick inspection positioning method thereof |
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Cited By (1)
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| CN111976719A (en) * | 2020-08-03 | 2020-11-24 | 长沙理工大学 | Vehicle warehousing system and method |
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| CN109886051B (en) | 2023-10-20 |
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