CN112776714A - Turning monitoring and early warning method for railway vehicle - Google Patents
Turning monitoring and early warning method for railway vehicle Download PDFInfo
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- CN112776714A CN112776714A CN202110114053.6A CN202110114053A CN112776714A CN 112776714 A CN112776714 A CN 112776714A CN 202110114053 A CN202110114053 A CN 202110114053A CN 112776714 A CN112776714 A CN 112776714A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The invention discloses a turning monitoring and early warning method for a railway vehicle, which comprises the following steps: collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data. According to the invention, the lateral acceleration of the vehicle is obtained by calculation through monitoring data, and meanwhile, the lateral acceleration is judged, whether the lateral acceleration exceeds a preset threshold value is judged, so that whether the vehicle makes a sharp turn or not is determined, the vehicle cost is reduced, when the vehicle makes a sharp turn, the vehicle can be accurately and timely judged that the vehicle has made a sharp turn, pedestrians and the like around the vehicle can be accurately positioned, the collision possibility can be analyzed in real time, static and moving objects around the vehicle can be effectively detected, and the vehicle emergency warning device has the advantages of timely reminding a driver and avoiding accidents in the turning process of the vehicle.
Description
Technical Field
The invention relates to the technical field of railway vehicles, in particular to a turning monitoring and early warning method for a railway vehicle.
Background
The vehicle is a generic term of "vehicle" and a unit of vehicle ", and the vehicle refers to a vehicle that rotates on land by wheels; the vehicle is derived from a metering method of vehicles in ancient times, the vehicle is originally a vehicle without power, the vehicle is called a horse vehicle by maleic traction, the human-powered vehicle is called by manpower, and with the development of scientific technology, the vehicle is also provided with an automobile which is dragged by a steam engine and an environment-friendly automobile which utilizes solar energy.
Along with the development of society, rail vehicles are used more and more, accidents are easily caused due to high speed or blind visual angle areas when the rail vehicles turn, and the high speed during turning cannot be detected, so that pedestrians and drivers are inconveniently warned, and therefore, a turning monitoring and warning method for the rail vehicles is provided.
Disclosure of Invention
The invention aims to provide a turning monitoring and early warning method for a railway vehicle, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a turning monitoring and early warning method for a railway vehicle comprises the following steps:
s1, collecting the motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles;
s2, acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating to acquire the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle;
s3, collecting the motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles;
and S4, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Preferably, the vehicle self-movement state information in step S1 includes steering wheel angle, vehicle speed, acceleration, time, and external pedestrian and vehicle distance information.
Preferably, the vehicle parameters in step S1 include: wheelbase, the maximum turning angle of the inner front wheel of the turning inner side of the vehicle and the length of the diagonal line of the wheel diameter tangent plane.
Preferably, in step S1, the object detection sensors may be installed, and the number of the object detection sensors is two or more.
Preferably, in step S1, an angle sensor is mounted on the vehicle to detect the angle of rotation of the steering wheel.
Preferably, in step S2, it is determined whether the lateral acceleration is greater than a preset threshold, that the vehicle makes a sharp turn if the lateral acceleration is greater than the preset threshold, and that the vehicle does not make a sharp turn if the lateral acceleration is less than the preset threshold.
Preferably, the early warning area in the step S4 includes a basic early warning area and a buffer early warning area; the buffer early warning area is positioned on one side of the basic early warning area, which is far away from the turning vehicle.
Preferably, in step S4, the warning may be performed by one or more of a speaker, a warning light, or a display screen.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the lateral acceleration of the vehicle is obtained by calculation through monitoring data, and meanwhile, the lateral acceleration is judged, whether the lateral acceleration exceeds a preset threshold value is judged, so that whether the vehicle makes a sharp turn or not is determined, the vehicle cost is reduced, when the vehicle makes a sharp turn, the vehicle can be accurately and timely judged that the vehicle has made a sharp turn, pedestrians and the like around the vehicle can be accurately positioned, the collision possibility can be analyzed in real time, static and moving objects around the vehicle can be effectively detected, and the vehicle emergency warning device has the advantages of timely reminding a driver and avoiding accidents in the turning process of the vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme that: a turning monitoring and early warning method for a railway vehicle comprises the following steps:
s1, collecting the motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles;
s2, acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating to acquire the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle;
s3, collecting the motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles;
and S4, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
The first embodiment is as follows:
firstly, acquiring self motion state information of a vehicle, and acquiring motion state information of external pedestrians and vehicles; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating by a preset algorithm according to the monitoring data to obtain the lateral acceleration of the vehicle, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Example two:
in the first embodiment, the following steps are added:
the vehicle self-motion state information in step S1 includes steering wheel angle, vehicle speed, acceleration, time, and external pedestrian and vehicle distance information.
Firstly, acquiring motion state information of a vehicle, and acquiring motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises steering wheel rotation angles, vehicle speeds, accelerations and time, and distance information of the external pedestrians and vehicles; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating by a preset algorithm according to the monitoring data to obtain the lateral acceleration of the vehicle, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Example three:
in the second embodiment, the following steps are added:
the vehicle parameters in step S1 include: wheelbase, the maximum turning angle of the inner front wheel of the turning inner side of the vehicle and the length of the diagonal line of the wheel diameter tangent plane.
Firstly, collecting the motion state information of the vehicle, collecting the motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises the corner of a steering wheel, the speed of the vehicle, the acceleration and the time of the vehicle, the distance information of the external pedestrians and the vehicles, and the vehicle parameters comprise: the wheel base, the maximum turning angle of the inner front wheel on the inner side of the turning of the vehicle and the length of the diagonal line of the wheel diameter tangent plane; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating by a preset algorithm according to the monitoring data to obtain the lateral acceleration of the vehicle, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Example four:
in the third embodiment, the following steps are added:
in step S1, object detection sensors may be installed, and the number of object detection sensors is two or more.
Firstly, collecting the motion state information of the vehicle, collecting the motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises the corner of a steering wheel, the speed of the vehicle, the acceleration and the time of the vehicle, the distance information of the external pedestrians and the vehicles, and the vehicle parameters comprise: the wheel base, the maximum turning angle of the front wheel inside the turning inner side of the vehicle and the diagonal length of the wheel diameter tangent plane can be provided with two or more object detection sensors; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating by a preset algorithm according to the monitoring data to obtain the lateral acceleration of the vehicle, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Example five:
in the fourth example, the following steps were added:
in step S1, the vehicle is equipped with an angle sensor for detecting the angle of rotation of the steering wheel.
Firstly, collecting the motion state information of the vehicle, collecting the motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises the corner of a steering wheel, the speed of the vehicle, the acceleration and the time of the vehicle, the distance information of the external pedestrians and the vehicles, and the vehicle parameters comprise: the device comprises a vehicle, a front wheel, a wheel diameter tangent plane, a front wheel, a rear wheel; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating by a preset algorithm according to the monitoring data to obtain the lateral acceleration of the vehicle, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Example six:
in the fifth example, the following steps were added:
in step S2, it is determined whether the vehicle makes a sharp turn by whether the lateral acceleration is greater than a preset threshold, and it is determined that the vehicle does not make a sharp turn by being smaller than the preset threshold.
Firstly, collecting the motion state information of the vehicle, collecting the motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises the corner of a steering wheel, the speed of the vehicle, the acceleration and the time of the vehicle, the distance information of the external pedestrians and the vehicles, and the vehicle parameters comprise: the device comprises a vehicle, a front wheel, a wheel diameter tangent plane, a front wheel, a rear wheel; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, calculating and obtaining the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle, and judging that the vehicle makes sharp turn if the lateral acceleration is greater than a preset threshold value and does not make sharp turn if the lateral acceleration is less than the preset threshold value; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; and finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
Example seven:
in example six, the following steps were added:
the early warning area in the step S4 comprises a basic early warning area and a buffer early warning area; the buffer early warning area is positioned on one side of the basic early warning area, which is far away from the turning vehicle.
Firstly, collecting the motion state information of the vehicle, collecting the motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises the corner of a steering wheel, the speed of the vehicle, the acceleration and the time of the vehicle, the distance information of the external pedestrians and the vehicles, and the vehicle parameters comprise: the device comprises a vehicle, a front wheel, a wheel diameter tangent plane, a front wheel, a rear wheel; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, calculating and obtaining the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle, and judging that the vehicle makes sharp turn if the lateral acceleration is greater than a preset threshold value and does not make sharp turn if the lateral acceleration is less than the preset threshold value; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object, wherein the early warning area comprises a basic early warning area and a buffering early warning area; the buffer early warning area is positioned on one side of the basic early warning area, which is far away from the turning vehicle.
Example eight:
in example seven, the following steps were added:
in step S4, the warning may be performed through one or more of a speaker, a warning light, or a display screen.
Firstly, collecting the motion state information of the vehicle, collecting the motion state information of external pedestrians and vehicles, wherein the motion state information of the vehicle comprises the corner of a steering wheel, the speed of the vehicle, the acceleration and the time of the vehicle, the distance information of the external pedestrians and the vehicles, and the vehicle parameters comprise: the device comprises a vehicle, a front wheel, a wheel diameter tangent plane, a front wheel, a rear wheel; then acquiring monitoring data returned by an acceleration sensor carried by the vehicle, calculating and obtaining the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle, and judging that the vehicle makes sharp turn if the lateral acceleration is greater than a preset threshold value and does not make sharp turn if the lateral acceleration is less than the preset threshold value; then collecting the self motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles; finally, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object, wherein the early warning area comprises a basic early warning area and a buffering early warning area; the buffer early warning area is located on one side, far away from the turning vehicle, of the basic early warning area and warns through one or more of a loudspeaker, a warning lamp or a display screen.
According to the invention, the lateral acceleration of the vehicle is obtained by calculation through monitoring data, and meanwhile, the lateral acceleration is judged, whether the lateral acceleration exceeds a preset threshold value is judged, so that whether the vehicle makes a sharp turn or not is determined, the vehicle cost is reduced, when the vehicle makes a sharp turn, the vehicle can be accurately and timely judged that the vehicle has made a sharp turn, pedestrians and the like around the vehicle can be accurately positioned, the collision possibility can be analyzed in real time, static and moving objects around the vehicle can be effectively detected, and the vehicle emergency warning device has the advantages of timely reminding a driver and avoiding accidents in the vehicle turning process.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A turning monitoring and early warning method for a railway vehicle is characterized by comprising the following steps: the method comprises the following steps:
s1, collecting the motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles;
s2, acquiring monitoring data returned by an acceleration sensor carried by the vehicle, and calculating to acquire the lateral acceleration of the vehicle through a preset algorithm according to the monitoring data, wherein the direction of the lateral acceleration is consistent with the normal vector direction of a plane formed by the gravity direction and the advancing direction of the vehicle;
s3, collecting the motion state information of the vehicle, and collecting the motion state information of external pedestrians and vehicles;
and S4, comparing the position information of the dangerous object with the position information of the early warning area, and warning the driver and the dangerous object.
2. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: the vehicle motion state information in step S1 includes steering wheel angle, vehicle speed, acceleration, time, and external pedestrian and vehicle distance information.
3. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: the vehicle parameters in step S1 include: wheelbase, the maximum turning angle of the inner front wheel of the turning inner side of the vehicle and the length of the diagonal line of the wheel diameter tangent plane.
4. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: in the step S1, the object detection sensors may be installed, and the number of the object detection sensors is two or more.
5. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: in step S1, an angle sensor is mounted on the vehicle to detect the angle of rotation of the steering wheel.
6. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: in the step S2, it is determined whether the vehicle makes a sharp turn by determining whether the lateral acceleration is greater than a preset threshold, and it is determined that the vehicle does not make a sharp turn by determining whether the lateral acceleration is less than the preset threshold.
7. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: the early warning area in the step S4 includes a basic early warning area and a buffer early warning area, and the buffer early warning area is located on a side of the basic early warning area away from the turning vehicle.
8. The turning monitoring and early warning method for the railway vehicle as claimed in claim 1, wherein: in step S4, the warning may be performed through one or more of a speaker, a warning light, or a display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110114053.6A CN112776714A (en) | 2021-01-27 | 2021-01-27 | Turning monitoring and early warning method for railway vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110114053.6A CN112776714A (en) | 2021-01-27 | 2021-01-27 | Turning monitoring and early warning method for railway vehicle |
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| CN110303983A (en) * | 2019-07-15 | 2019-10-08 | 巢湖学院 | A kind of truck turning vision dead zone method for early warning and its early warning system |
| CN110509847A (en) * | 2019-08-30 | 2019-11-29 | 重庆工程职业技术学院 | Vehicle turning blind area method for early warning and system |
| CN111361557A (en) * | 2020-02-13 | 2020-07-03 | 江苏大学 | Early warning method for collision accident during turning of heavy truck |
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2021
- 2021-01-27 CN CN202110114053.6A patent/CN112776714A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799709A (en) * | 2016-03-10 | 2016-07-27 | 深圳市元征科技股份有限公司 | Method and device for recognizing sudden turn of vehicle |
| CN109747531A (en) * | 2017-11-08 | 2019-05-14 | 郑州谦贤科技有限公司 | A kind of vehicle turning safe early warning method and system |
| CN110303983A (en) * | 2019-07-15 | 2019-10-08 | 巢湖学院 | A kind of truck turning vision dead zone method for early warning and its early warning system |
| CN110509847A (en) * | 2019-08-30 | 2019-11-29 | 重庆工程职业技术学院 | Vehicle turning blind area method for early warning and system |
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Application publication date: 20210511 |
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