CN110487265B - Vehicle positioning system, method and controller - Google Patents
Vehicle positioning system, method and controller Download PDFInfo
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- CN110487265B CN110487265B CN201910843300.9A CN201910843300A CN110487265B CN 110487265 B CN110487265 B CN 110487265B CN 201910843300 A CN201910843300 A CN 201910843300A CN 110487265 B CN110487265 B CN 110487265B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a vehicle positioning system, a method and a controller, and belongs to the technical field of vehicle positioning. The electromagnetic sensor comprises an inductance coil, the inductance coil can generate constant potential in an alternating magnetic field, the magnitude of the magnetic field at the position of the electromagnetic sensor can be judged through the magnitude of the potential, so that the position of the electromagnetic sensor in an electromagnetic track space can be judged, the position state of an automobile in the space can be judged, the requirement on GPS signals is eliminated in the positioning process of the automobile in a fixed area, and the position of the automobile can be judged through the magnetic field.
Description
Technical Field
The invention belongs to the technical field of vehicle positioning, and particularly relates to a vehicle positioning system, a vehicle positioning method and a controller.
Background
With the rapid promotion of technology, the field of automatic driving has also been rapidly developed in recent years. An automatic driving automobile (Autonomous vehicles; self-piloting automobile) is also called an unmanned automobile, a computer driving automobile or a wheel type mobile robot, and is an intelligent automobile for realizing unmanned through a computer system.
Currently, in automatic driving, a mode of combining a GPS and inertial navigation is generally adopted to realize the positioning of an automobile.
However, the GPS system is susceptible to weather, air, electromagnetic waves and other factors, so that in some closed scenes such as remote mountainous areas, high-rise buildings, underground mines and the like, positioning signals are poor, signal strength is weak, even no signal is generated, positioning fails, and development, popularization and application of automatic driving technology are seriously hindered.
Disclosure of Invention
In order to solve the problem of positioning failure caused by weak signals in the prior art, the invention provides a vehicle positioning system and a vehicle positioning method, which are used for rapidly and accurately positioning a vehicle by using electromagnetism.
The technical scheme provided by the invention is as follows:
in one aspect, a vehicle positioning system includes: the vehicle-mounted element comprises at least 3 electromagnetic sensors, wherein the at least 3 electromagnetic sensors are distributed on the same horizontal plane of the vehicle, and the horizontal plane is parallel to the ground;
the magnetic field generating device is used for generating a variable magnetic field in the space where the vehicle is located;
each electromagnetic sensor generates electromotive force after a vehicle enters the magnetic field and sends the electromotive force to the processing module;
the processing module is used for acquiring the electromotive force of each electromagnetic sensor and judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor.
Further optionally, the magnetic field generating device comprises two parallel electromagnetic tracks, and the two parallel electromagnetic tracks correspond to the edges of the traffic lane where the vehicle is located;
the electromagnetic track is laid on the road surface or underground or suspended above the vehicle.
Further alternatively, the magnetic field generating device includes: an electromagnetic signal generator; the electromagnetic signal generator is connected in series with the electromagnetic track, and generates the magnetic field in a space where the electromagnetic track is located by outputting an alternating current to the electromagnetic track.
Further optionally, the electromagnetic track comprises at least two track units; each track unit is in contact connection; the contact portions between the track units have currents of opposite directions.
Further optionally, each track unit is provided with an electromagnetic signal generator, and two ends of each track unit are connected with a signal output end and a signal receiving end of the electromagnetic signal generator.
Further optionally, the electromagnetic signal generator is a sinusoidal signal generator.
Further optionally, the electromagnetic track is a multi-band electromagnetic guide rail; the outside of the conducting wire of the multi-band electromagnetic track is wrapped by a rubber sleeve.
In yet another aspect, a vehicle positioning method implemented based on any one of the above vehicle positioning systems includes:
acquiring electromotive force generated by each electromagnetic sensor on the vehicle in a space magnetic field;
and judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor.
Further optionally, the determining the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor includes:
determining the vertical distance between each electromagnetic sensor and one electromagnetic track according to the electromotive force of each electromagnetic sensor;
and determining the position and the direction of the vehicle in space according to the vertical distance.
In yet another aspect, a controller includes a memory for storing a computer program and a processor for executing the computer program to implement the vehicle positioning method of any of the above.
The vehicle positioning system, the vehicle positioning method and the controller provided by the embodiment of the invention comprise a vehicle-mounted element, a magnetic field generating device and a processing module, wherein the vehicle-mounted element comprises at least 3 electromagnetic sensors, at least 3 electromagnetic sensors are distributed on the same horizontal plane of the vehicle, and the horizontal plane is parallel to the ground; a magnetic field generating device for generating a magnetic field in a space where the road vehicle is located; each electromagnetic sensor generates electromotive force after entering a changing magnetic field and sends the electromotive force to the processing module; and the processing module is used for acquiring the electromotive force of each electromagnetic sensor, processing the obtained signals and judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor. The electromagnetic sensors are arranged on the vehicle, so that the electromotive force generated by the electromagnetic sensors in the changing magnetic field generated by the electromagnetic track is obtained, the potential of each electromagnetic sensor is obtained according to the magnetic field of the electromagnetic track, and the direction and the position of the vehicle are judged according to the potential and the position of each sensor. The electromagnetic sensor comprises an inductance coil, the inductance coil can generate constant potential in an alternating magnetic field, the magnitude of the potential can be used for monitoring the magnitude of the magnetic field at the position of the electromagnetic sensor in space, so that the position of the electromagnetic sensor in space can be judged, the position state of an automobile in space can be judged, the requirement of signals in a GPS (global positioning system) is met, and the position of the automobile is judged only through the magnetic field.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a vehicle positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the distribution of a spatial magnetic field;
FIG. 3 is a schematic diagram of a processing module in a vehicle positioning system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an electromagnetic track laying structure according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle positioning circuit connection according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating an included angle between a vehicle and a road direction according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a vehicle positioning method implemented based on a vehicle positioning system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a controller according to an embodiment of the present invention.
Reference numerals:
1-a magnetic field generating device; 2-vehicle-mounted elements; 3-a processing module; 41-track distance determination submodules; 42-a spatial location determination sub-module; 11-electromagnetic tracks; 12-an electromagnetic signal generator;
a superposition part of the electromagnetic tracks; b-vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
To more clearly illustrate the processes and advantages of the method of the present embodiment, the present invention provides a vehicle positioning system.
Fig. 1 is a schematic structural diagram of a vehicle positioning system according to an embodiment of the present invention.
Referring to fig. 1, a vehicle positioning system provided by an embodiment of the present invention may include a magnetic field generating device 1, a vehicle-mounted element 2 and a processing module 3, where the vehicle-mounted element 2 includes at least 3 electromagnetic sensors, and at least 3 electromagnetic sensors are distributed on the same horizontal plane of the vehicle, and the horizontal plane is parallel to the ground; a magnetic field generating device 1 for generating a magnetic field in a space where a road vehicle is located; each electromagnetic sensor generates an electromotive force after the vehicle B enters the magnetic field, and transmits the electromotive force to the processing module 3; and the processing module 3 is used for acquiring the electromotive force of each electromagnetic sensor and judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor.
Fig. 2 is a schematic diagram of the distribution of the spatial magnetic field. Referring to fig. 2, a schematic diagram of the distribution of the vehicle and the spatial magnetic field in the spatial plane is identified.
Specifically, in some embodiments, in one vehicle positioning process, the in-vehicle component 2, the magnetic field generating device 1, and the processing module 3 are provided in the vehicle positioning system. Wherein the vehicle-mounted element 2 is arranged on the vehicle, the vehicle-mounted element 2 comprises at least 3 electromagnetic sensors, 3 electromagnetic sensors are distributed on the same horizontal plane of the vehicle for ensuring the positioning effect, the horizontal plane is parallel to the ground, and the magnetic field generating device can generate a magnetic field in the space where the road vehicle is located. After the vehicle B enters the magnetic field generated by the magnetic field generating device, the inductance coils in each electromagnetic sensor generate constant potential in the alternating magnetic field, the magnitude of the potential can be used for monitoring the magnitude of the magnetic field at the position of the electromagnetic sensor in the space, so that the position state of the vehicle in the space is judged, the requirement of signals in a GPS (global positioning system) is eliminated, and the position of the vehicle is judged through the magnetic field.
The electromagnetic sensor is an electromagnetic sensor which converts a measured physical quantity into an induced electromotive force, and is also called an electromagnetic induction type or an electrodynamic type electromagnetic sensor. The power generation type electromagnetic sensor is designed mainly for a tachometer gear, and changes the magnetic flux change induced in a conductor to be measured into an output signal change.
The working principle of the electromagnetic sensor is as follows: according to the law of electromagnetic induction, N turns of coils move in a magnetic field to cut magnetic lines of force, and induced electromotive force e is generated in the coils. The magnitude of e is related to the rate of change of the magnetic flux Φ passing through the coil. According to different working principles, the magneto-electric induction type electromagnetic sensor can be divided into a constant magnetic flux type electromagnetic sensor and a variable magnetic flux type electromagnetic sensor, namely a moving coil type electromagnetic sensor and a reluctance type electromagnetic sensor. The constant magnetic flux type magneto-inductive electromagnetic sensor is classified into a moving coil type and a moving iron type according to the difference of moving parts. The coil of the moving coil magneto-electric sensor is a moving part, the basic form is a speed electromagnetic sensor, the linear speed or the angular speed can be directly measured, and if an integrating circuit or a differentiating circuit is connected into a measuring circuit of the moving coil magneto-electric sensor, the moving coil magneto-electric sensor can also be used for measuring displacement or acceleration; the moving iron type magneto-electric induction electromagnetic sensor has a moving component which is an iron core and can be used for measuring various vibration and acceleration. In a variable magnetic flux magneto-electric induction sensor, a coil and a magnet are stationary, and a rotating object causes magnetic resistance and magnetic flux to change, and is commonly used for measuring the angular velocity of the rotating object.
Optionally, in some embodiments, a sh7-s10-vai type electromagnetic sensor may be selected, a BA10-AI/I type electromagnetic sensor may be selected, or a self-designed electromagnetic sensor may be selected, which is not specifically limited herein, and any electromagnetic sensor that can be applied in the present technical solution and achieve the technical effects of the present technical solution belongs to the protection scope of the present invention. In the aspect of electric signals, alternating current generates alternating magnetic field, alternating magnetic field generates alternating potential, and the alternating potential is subjected to treatment such as filtering, so that the alternating potential can be used for space positioning of a sensor.
Fig. 3 is a schematic diagram of a processing module in a vehicle positioning system according to an embodiment of the present invention.
Referring to fig. 3, alternatively, in some embodiments, the magnetic field generating device may include two parallel electromagnetic tracks, where the two parallel electromagnetic tracks correspond to edges of a roadway on which the vehicle is located;
alternatively, in some embodiments, the processing module 3 may include: a track distance determination sub-module 31 and a spatial position determination sub-module 32; a track distance determining sub-module 31 for determining a current vertical distance between each electromagnetic sensor and an electromagnetic track according to an electromotive force of each electromagnetic sensor; a spatial position determination sub-module 32 for determining the position and orientation of the vehicle in space based on the respective sensor vertical distances.
Specifically, in some embodiments, the magnetic field generating device may be provided as two parallel electromagnetic tracks 11, and the electromagnetic tracks correspond to edges of a traffic lane in which the vehicle is located. In making the determination of the position and direction of the vehicle in space, the determination may be made by a track distance determination sub-module and a spatial position determination sub-module in the processing module.
Alternatively, in some embodiments, the electromagnetic track 11 is laid on a road surface or underground, or suspended above a vehicle. In this embodiment, an electromagnetic track is provided on a road surface or underground, for example. Specifically, in the process of paving the electromagnetic track 1, in this embodiment, the electromagnetic track 1 may be selectively paved under the road surface, or may be directly paved on the road surface; in the case of underground tunnels in underground mines or the like, the electromagnetic track 1 may be suspended above the vehicles in the tunnels. It should be noted that the arrangement mode of the electromagnetic track 11 is only exemplified herein, and is not limited thereto, and any arrangement mode capable of realizing the technical effects of the present invention on the basis of the present invention falls within the scope of protection of the present invention.
Fig. 4 is a schematic diagram of an electromagnetic track laying structure according to an embodiment of the present invention.
Referring to fig. 4, in the alternative, in some embodiments, the electromagnetic track 11 may include at least two track units; each track unit is in contact connection; the contact portions between the track units have currents of opposite directions.
For example, when the electromagnetic track 11 is laid, a multi-band electromagnetic track may be selected, and the overlapping portion of the electromagnetic track 11 is a, and the current direction of the overlapping portion a is opposite, so that the electromagnetic fields generated by the tracks in the direction perpendicular to the road can cancel each other out, and the positioning of the electromagnetic sensor 2 is not affected. Each track unit is provided with an electromagnetic signal generator 12, preferably, a sinusoidal signal generator can be selected in this embodiment, and the electromagnetic signal generator can control the magnetic field of the electromagnetic track by sending an electromagnetic signal to the electromagnetic track, particularly a multi-frequency band signal generator can be selected, and the signal generator has a plurality of output ends, and can output current signals of various frequency bands at the same time. When the connection is made, the electromagnetic guide rail of each track unit can be arranged in series with the electromagnetic signal generator. The arrangement of the multi-frequency band electromagnetic guide rail can increase the reliability of the system.
Further, optionally, in some embodiments, in order to increase the durability and safety of the electromagnetic rail 1, a rubber sleeve may be disposed outside the wire of the electromagnetic rail, and the outer layer of the wire loop may be wrapped with rubber. Meanwhile, the effects of water resistance, moisture resistance, heat insulation, high temperature resistance and the like can be achieved. Preferably, the electromagnetic guide rubber sleeve can be used for wrapping various frequency coils.
Fig. 5 is a schematic diagram of a connection of a vehicle positioning circuit according to an embodiment of the present invention.
Referring to fig. 5, fig. 5 illustrates a schematic diagram of the connection of the sensor. The OPA2350 comprises 1 OPA2350 operational amplifier, namely U1 and U2, which are used for amplifying signals, wherein the U1 and the U2 are respectively connected with a sensor, and here, the U1 is taken as an example for illustration. OPA2350 op-amp U1 may include 8 pins, respectively: pin 0 is the OUT1 pin, pin 1 is the In 1-pin, pin 2 is the In1+ pin, pin 3 is the GND pin, pin 4 is the 5V input pin, pin 5 is the OUT2 pin, pin 6 is the In 2-pin, and pin 7 is the In2+ pin. Taking A1 as an example, wherein an OUT1 end In A1 is connected with an OUT1 end of U1, an In 1-end of A1 is connected with an In 1-pin of U1, and A1 specifically comprises: a capacitor C1, a capacitor C2, a variable resistor R1, a variable resistor R2, a variable resistor R4, a diode D1, and a diode D2. Referring to fig. 5, the capacitor C1 and the capacitor C2 are preferably 100NF, the variable resistor R1 is preferably 100K ohms, the variable resistors R2 and R3 are preferably 1K ohms, and the diodes D1 and D2 are preferably schottky diodes. The connection modes of A2 and A3 and U1 and U2 are similar to the connection modes of A1 and U1, and are not repeated here.
Referring to fig. 5, the pin header P1 may include 2 pins, where pin 1 is a 5V access and pin 2 is GND ground. Double pin P2 may include 6 pins, where pin 1 may be the Out1 pin, pin 3 is the Out2 pin, pin 5 is the Out3 pin, and pins 2, 4, and 6 are each grounded. The double row pins P3 may include 6 pins, where pin 1 is an in1+ pin, pin 3 is an in2+ pin, and pin 5 is an in3+ pin. Preferably, P1 is Header Vcc/GND, P2 is Header 3X2, and P3 is Header In.
One OPA2350 is provided in each electromagnetic sensor, and 1 OPA2350 may correspond to two inductors, and in this embodiment, one electromagnetic sensor may be integrated into one unit module for easy installation and use.
Preferably, in this embodiment, a single axis inductance may be used, with the inductor winding facing up perpendicular to the road surface.
On the basis of fig. 5, the embodiment of the invention can also be provided with 4 sensors, and the arrangement principle is the same as that of fig. 5, and the description is omitted here.
The inductance coil in the electromagnetic sensor is connected in parallel with the capacitance (LC parallel), so as to form a parallel resonant circuit, the LC parallel resonant circuit can generate high impedance for a certain frequency, so that the effect of selecting a certain frequency circuit is achieved, and the obtained electromotive force passes through the filter circuit and the amplifying circuit, so that the magnitude of the electromotive force generated in the inductance coil by the electromagnetic field at a certain point in space is obtained.
Fig. 6 is a schematic diagram illustrating an included angle between a vehicle and a road direction according to an embodiment of the present invention. Referring to fig. 6, the vehicle B runs on the electromagnetic rail 11, in this embodiment, electromagnetic sensors 2 may be respectively disposed at four corners of the vehicle B, and four electromagnetic sensors 2 may form a rectangular structure on a horizontal plane. The processing module space position determining submodule obtains the position and the direction of the vehicle according to the space constraint relation among the electromagnetic sensors and the position of each electromagnetic sensor. In this embodiment, the number of electromagnetic sensors and the structure thereof on the plane are merely exemplified, and the present invention is not limited thereto, and three electromagnetic sensors may be provided so that they have a triangular structure on the horizontal plane, or may be set as needed.
In a specific embodiment, an electromagnetic signal generator 12 on an electromagnetic track 11 is started, a vehicle B automatically drives on the electromagnetic track 1, the electromagnetic track 1 generates an alternating magnetic field in space, an inductance coil in an electromagnetic sensor 2 arranged on the vehicle B receives the magnetic field generated by the electromagnetic track 1 so as to generate electromotive force, the electromotive force is amplified by a circuit in fig. 5 and then is output into a signal acquisition device, the signal acquisition device inputs acquired signals into a processing module for processing, the processing module receives the magnetic field intensity a, and the position of each electromagnetic sensor on a vehicle driving road, namely the transverse direction of the electromagnetic track, is respectively calculated according to a built-in calculation method; by analyzing the positions of the four sets of electromagnetic sensors in the lateral direction, the position state of the vehicle B in the road direction is determined, the position state including the position and the state.
In this embodiment, the description will be given taking, as an example, a case where 4 electromagnetic sensors and an electromagnetic signal generator are provided in the vehicle B as sinusoidal signal generators.
Because the electromagnetic signal generator is a sinusoidal signal generator, the current in the electromagnetic rail is:
I＝I 0 sinωt，
wherein I is an alternating current instantaneous value which is switched on in the electromagnetic guide rail, I O For maximum current, ω is angular frequency and t is time.
Magnetic field generated in space by the electromagnetic guide rail:
calculation formula of the potential generated by the electromagnetic sensor at that different position in space:
since the magnetic field generated in the space by the electromagnetic guide rail is calculated from the current and the electromotive force generated at the calculated magnetic field are supposedly obtained, the parameters of B and ε 1 are not described here again.
After the vehicle B runs on the electromagnetic track 11, each electromagnetic sensor senses the magnetic field strength generated by the electromagnetic track and outputs an induced electromotive force, for example, electromotive forces generated by 4 electromagnetic sensors are transmitted to the processing modules as electromotive force values a1, a2, a3 and a4 after passing through the amplifying circuit. By analyzing the values of the 4 electromotive forces, the magnitude of the magnetic field corresponding to the position of each electromagnetic sensor can be obtained, and according to the change rule of the magnetic field, the distribution of the magnetic field in the space is similar to the distribution of a quadratic function in the space, so that each magnetic field strength can correspond to two positions in the space, and the vertical distances d1, d2, d3 and d4 between the position of each electromagnetic sensor and one edge of the electromagnetic guide rail can be judged.
Wherein, 4 electromagnetic sensors are rectangular distribution on the horizontal plane, and electromagnetic sensors are clockwise distribution according to the rectangle, can obtain: the first electromagnetic sensor corresponds to an electromotive force a1, and the vertical distance between the first electromagnetic sensor and one edge of the electromagnetic guide rail is d1; the second electromagnetic sensor corresponds to an electromotive force a2, and the vertical distance between the second electromagnetic sensor and one edge of the electromagnetic guide rail is d2; the third electromagnetic sensor corresponds to an electromotive force a3, and the vertical distance between the third electromagnetic sensor and one edge of the electromagnetic guide rail is d3; the fourth electromagnetic sensor corresponds to an electromotive force a4, which is perpendicular to one edge of the electromagnetic rail by a distance d4. Since the positional relationship of the 4 sensors is rectangular, the position and direction of the vehicle B can be obtained by analyzing the positional constraint relationship among the d1, d2, d3, and d4 and the 4 sensors.
In this embodiment, the processing module may be a single-chip microcomputer, which may be an STC series single-chip microcomputer, or may be a single-chip microcomputer of another model, which is a very mature prior art, and is not specifically described herein.
Further, in a specific implementation, some actual data may be collected first, and then a machine learning method may be used to perform a function fit on the curve of the actual data.
The vehicle positioning system provided by the embodiment of the invention comprises a vehicle-mounted element, a magnetic field generating device and a processing module, wherein the vehicle-mounted element comprises at least 3 electromagnetic sensors, at least 3 electromagnetic sensors are distributed on the same horizontal plane of the vehicle, and the horizontal plane is parallel to the ground; a magnetic field generating device for generating a magnetic field in a space where the road vehicle is located; each electromagnetic sensor generates electromotive force after the vehicle enters a magnetic field and sends the electromotive force to the processing module; and the processing module is used for acquiring the electromotive force of each electromagnetic sensor and judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor. By arranging electromagnetic sensors on the vehicle, the electric potential generated by the electromagnetic sensors in the changing magnetic field generated by the electromagnetic track is obtained, the electric potential of each electromagnetic sensor is obtained according to the magnetic field of the electromagnetic track, the position of each sensor in the space magnetic field can be judged according to the electric potential, and the direction and the position of the vehicle in the space are judged according to the position of each sensor. The electromagnetic sensor comprises an inductance coil, the inductance coil can generate variable potential in an alternating magnetic field, the magnitude of the potential can be used for monitoring the magnitude of the magnetic field at the position of the electromagnetic sensor in space, so that the position of the electromagnetic sensor in space is judged, the position state of an automobile in space can be judged through the position of each electromagnetic sensor in space, the judgment of the position of the automobile can be carried out through the magnetic field, and the requirement of automobile positioning on GPS signals is eliminated.
Further alternatively, in some embodiments, alternating currents with multiple frequency bands may be passed through the electromagnetic track 11 in the space, and electromagnetic sensors are disposed at four corners of the autonomous vehicle, and electromagnetic sensors corresponding to the respective frequency bands are disposed in each set of sensors. The electromagnetic sensor group can judge the intensity of a magnetic field in the space according to the magnitude of electromotive force generated in the electromagnetic sensor group (each electromagnetic sensor corresponds to only one frequency band, and the parallel resonant circuit), so that the data of a plurality of groups of sensors are integrated, the position of each group of sensors in the space can be obtained, and the position state of an automobile in the space can be obtained. If the sensors at four corners are used as one group, a plurality of groups can be arranged to embody a plurality of frequency bands, each frequency band can correspond to one group of sensors, so that the stability of the system can be increased, if a certain group of sensors is broken, other groups can be used for positioning continuously, or the guide rail of a certain frequency band breaks down, and the guide rail of other frequency bands can be used for positioning continuously.
Further, optionally, in some embodiments, to adapt to the above-described system embodiments, the present invention further provides another embodiment.
Fig. 7 is a schematic flow chart of a vehicle positioning method implemented based on a vehicle positioning system according to an embodiment of the present invention.
Referring to fig. 7, the method according to the embodiment of the present invention may include the following steps:
s71, acquiring electromotive force generated in a space magnetic field by each electromagnetic sensor on the vehicle;
s72, judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor.
The steps in the above method embodiments and the devices used in the steps are described in the above system embodiments, and are not described herein.
According to the vehicle positioning method provided by the embodiment of the invention, the electromagnetic sensors are arranged on the vehicle, so that interaction data between the electromagnetic sensors and the electromagnetic track is obtained, the potential of each electromagnetic sensor is obtained according to the magnetic field of the electromagnetic track, and the direction and the position of the vehicle are judged according to the potential and the position of each sensor. The electromagnetic sensor comprises an inductance coil, the inductance coil can generate constant potential in an alternating magnetic field, the magnitude of the potential can be used for monitoring the magnitude of the magnetic field at the position of the electromagnetic sensor in space, so that the position state of the automobile in space is judged, the requirement of signals in a GPS (global positioning system) is eliminated, and the position of the automobile is judged through the magnetic field.
Further alternatively, in some embodiments, determining the current position and direction of the vehicle based on the electromotive force of each electromagnetic sensor may be implemented by, but not limited to, the following processes:
determining the vertical distance between each electromagnetic sensor and an electromagnetic track according to the electromotive force of each electromagnetic sensor;
from the vertical distance, the position and direction of the vehicle in space is determined.
The steps in the above method embodiments and the devices used in the steps are described in the above system embodiments, and are not described herein.
Further, the embodiment of the invention also provides a controller.
Fig. 8 is a schematic structural diagram of a controller according to an embodiment of the present invention.
Referring to fig. 8, a controller according to an embodiment of the present invention includes a memory 81 and a processor 82, where the memory is configured to store a computer program, and the processor is configured to execute the computer program to implement the vehicle positioning method according to any one of the above embodiments.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" means at least two.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (7)
1. A vehicle positioning system, comprising: the vehicle-mounted element comprises at least 3 electromagnetic sensors, wherein the at least 3 electromagnetic sensors are distributed on the same horizontal plane of the vehicle, and the horizontal plane is parallel to the ground; the magnetic field generating device comprises two parallel electromagnetic tracks, and the two parallel electromagnetic tracks correspond to the edges of the traffic lane where the vehicle is located; the electromagnetic track is paved on a road surface or underground or suspended above a vehicle and comprises at least two track units; each track unit is in contact connection; the contact parts between the track units have currents with opposite directions;
the magnetic field generating device is used for generating a variable magnetic field in the space where the vehicle is located;
each electromagnetic sensor generates electromotive force after a vehicle enters the magnetic field and sends the electromotive force to the processing module;
the processing module is used for acquiring the electromotive force of each electromagnetic sensor, judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor, and determining the vertical distance between each electromagnetic sensor and one electromagnetic track according to the electromotive force of each electromagnetic sensor; and determining the position and the direction of the vehicle in space according to the vertical distance.
2. The system of claim 1, wherein the magnetic field generating means comprises: an electromagnetic signal generator; the electromagnetic signal generator is connected in series with the electromagnetic track, and generates the magnetic field in a space where the electromagnetic track is located by outputting an alternating current to the electromagnetic track.
3. The system according to claim 1, wherein each of the track units is provided with an electromagnetic signal generator, and both ends of each of the track units are connected to a signal output end and a signal receiving end of the electromagnetic signal generator.
4. A system according to claim 3, wherein the electromagnetic signal generator is a sinusoidal signal generator.
5. The system of any one of claims 1-4, wherein the electromagnetic track is a multi-band electromagnetic track; the outside of the conducting wire of the multi-band electromagnetic track is wrapped by a rubber sleeve.
6. A vehicle positioning method implemented based on the vehicle positioning system of any of claims 1-5, comprising:
acquiring electromotive force generated by each electromagnetic sensor on the vehicle in a space magnetic field;
judging the current position and direction of the vehicle according to the electromotive force of each electromagnetic sensor, comprising: determining the vertical distance between each electromagnetic sensor and one electromagnetic track according to the electromotive force of each electromagnetic sensor; and determining the position and the direction of the vehicle in space according to the vertical distance.
7. A controller comprising a memory for storing a computer program and a processor for executing the computer program to implement the vehicle locating method of claim 6.
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