CN113525453B - Unmanned vehicle ground cooperative system with front obstacle detection function - Google Patents
Unmanned vehicle ground cooperative system with front obstacle detection function Download PDFInfo
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- CN113525453B CN113525453B CN202110820515.6A CN202110820515A CN113525453B CN 113525453 B CN113525453 B CN 113525453B CN 202110820515 A CN202110820515 A CN 202110820515A CN 113525453 B CN113525453 B CN 113525453B
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000004148 unit process Methods 0.000 claims abstract description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or train
- B61L1/18—Railway track circuits
- B61L1/181—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses an unmanned vehicle ground cooperative system with a vehicle front obstacle detection function, which comprises the following components: road side unit: paving a plurality of road side units along a track traffic line, and detecting road condition information in a train running limit in real time through a road condition detection sensor; and (3) a vehicle-mounted unit: the vehicle-mounted unit processes the road condition information sent by the road side unit and then notifies the train control unit; DCS network: the road side unit sends road condition information to the ground data center through the ground wired network, and the ground data center sends the road condition information to the vehicle-mounted unit through the long-distance ground wireless network; WL-N network: for short-range wireless communication between the roadside unit and the on-board unit. The invention has the outstanding characteristics of low difficulty, full-line real-time detection and the like, and has very strong application value.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a train unmanned technology.
Background
In the field of rail transit unmanned, a typical fully automatic Unmanned (UTO) system such as a subway does not have a driver to operate a train, so that for the UTO train, an additional intelligent system must be relied on to replace the driver, such as a car front watch, train control when an abnormal situation is found, and the like.
At present, aiming at the detection of obstacles on a track, vehicle-mounted equipment is added on a train to detect the front obstacles of the car, and the defects of high technical difficulty, short detection distance and the like exist.
Disclosure of Invention
Aiming at the defects of the existing detection of the front obstacle mainly based on the vehicle-mounted equipment, the technical problem to be solved by the invention is to provide the unmanned vehicle-ground cooperative system with the front obstacle detection function, so that the detection of the train operation limit obstacle is realized, the technical realization difficulty of the system can be reduced, and the system performance is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
an unmanned vehicle ground cooperative system with a vehicle front obstacle detection function, comprising:
road side unit: paving a plurality of road side units along a track traffic line, wherein adjacent road side units are interconnected through a wired or wireless network, the road side units are connected into a ground wired network, the distance between the adjacent road side units is DIS, and each road side unit is provided with a unique number and corresponding position information;
the road side unit is provided with a road condition detection sensor, and road condition information in the running limit of the train is detected in real time through the road condition detection sensor;
and (3) a vehicle-mounted unit: the vehicle-mounted unit is communicated with the ground data center through a long-distance vehicle-ground wireless network and is communicated with the road side unit through a WL-N network;
the vehicle-mounted unit processes the judged running limit condition information in front of the running of the train and then notifies the train control unit;
DCS network: the road side unit sends road condition information to a ground data center through the ground wired network, and the ground data center sends the road condition information to the vehicle-mounted unit through the long-distance ground wireless network;
WL-N network: the road side unit is used for carrying out short-distance wireless communication between the road side unit and the vehicle-mounted unit, and the road side unit sends road condition information to the vehicle-mounted unit through the WL-N network.
Preferably, a distance measuring module is arranged between the road side unit and the vehicle-mounted unit, and the vehicle-mounted unit calculates the train position by identifying the road side unit and the distance measuring result.
Preferably, the road condition detection sensor has a bidirectional scanning function, and the unidirectional scanning distance is not less than DIS.
Preferably, each road side unit transmits the detected track state information to the opposite direction of train travel, and the number N of RSUs transmitting the information is determined by DIS and train braking distance, so that the conditions are required to be satisfied: and N is equal to or greater than the braking distance.
Preferably, the road condition detection sensor comprises a laser radar and a high-definition camera.
Preferably, the train head and the train tail are respectively provided with a vehicle-mounted unit.
Preferably, the road side unit is provided with a train identification module, and the train identification module identifies the train through laser point clouds and/or images.
Preferably, the WL-N network is composed of WIFI or UWB or Zigbee.
Preferably, the long-distance train-ground wireless network is composed of WLAN or LTE.
The technical scheme adopted by the invention has the following beneficial effects:
the road side units paved along the track are used for detecting the conditions in the whole-line running limit of the train in real time, informing the OBU on the train in real time through the WL-N network and the WL-E network and informing the track state information of the data center through the ground network, and compared with the existing vehicle-mounted scheme, the road side units are more advantageous in that the condition of scanning the front section of the track only in the running process of the train is achieved, and the road side units have the outstanding characteristics of being low in difficulty, capable of detecting the whole line in real time, independent of the existing system and the like, and have very high application value.
The distance measuring module is arranged between the road side unit and the vehicle-mounted unit, so that the train positioning function is achieved. When a train passes through the RSU, the RSU and the OBU perform short-time continuous ranging and communication, and the OBU obtains a ranging result; and the OBU calculates the train position by identifying the RSU and the ranging result. At this time, the RSU functions as a conventional beacon; because the RSUs are uniformly distributed along the line, and the train positions can be calculated simultaneously by the head and the tail of the train, the train positioning information which has much higher precision than the traditional beacon and is continuous can be obtained.
The RSU and the OBU can be completely independent of the existing train control system, and provide functions of running front driving limit conditions, train positioning and the like for the train.
The specific technical scheme and the beneficial effects of the invention are described in detail in the following detailed description with reference to the accompanying drawings.
Drawings
The invention is further described with reference to the drawings and detailed description which follow:
fig. 1 is a diagram of an unmanned vehicle-ground cooperative system with a vehicle front obstacle detection function.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Along with the evolution of artificial intelligence, rail transit unmanned intelligent systems based on laser, image, communication and other leading edge technologies are rapidly developing.
Aiming at the defects of the existing car front obstacle detection system mainly comprising car-mounted equipment, the invention provides a train running limit obstacle detection method mainly comprising the track side detection equipment and the car-mounted equipment, which can reduce the technical implementation difficulty of the system and improve the system performance.
Technical terms appearing in the embodiments of the present invention are explained as follows:
DCS network: here, it refers to the LTE or WLAN train-ground wireless network (collectively referred to as WL-E in the present invention) and the ground backbone wired network that are currently in common use.
WL-N network: the invention is a newly added short-distance wireless communication network used for short-distance communication between the RSU and the OBU; typically WIFI, UWB, zigbee, etc.
RSU: and a road side unit. The track-side integrated machine consists of sensors such as laser and images, a wireless communication module, a switch, a main control board and the like.
OBU: vehicle-mounted unit: comprises a vehicle-mounted unit OBU-R at the tail part and a vehicle-mounted unit OBU-F at the head part. The OBU has the function of communicating with the RSU through the WL-N wireless network; communication can also be achieved through accessing existing communication exchanges on the train, through WL-E and ground data centers.
SD: the area is scanned. Refers to the area that can be covered by the sensor of the RSU (laser point cloud or image, etc.). SD-R refers to the area that the RSU scans forward (right) and SD-L refers to the area that the RSU scans backward (left).
DIS: distance between adjacent RSUs. The distance between each RSU is here assumed to be the same, but may of course also be different.
As shown in fig. 1, an unmanned vehicle ground cooperative system with a vehicle front obstacle detection function specifically includes:
road side unit RSU: a plurality of road side units RSU are paved along a track traffic line, adjacent road side units RSU are interconnected through a wired or wireless network, the road side units RSU are connected into a ground wired network, the distance between the adjacent road side units RSU is DIS, and each road side unit RSU has a unique number and corresponding position information.
The road side unit RSU is provided with a road condition detection sensor, and the road condition detection sensor is used for detecting the condition in the limit of the train running line in real time.
On-board unit OBU: the on-board unit OBU is communicated with the ground data center through a long-distance vehicle-ground wireless network WL-E and is communicated with the road side unit RSU through a WL-N network. Therefore, the OBU can acquire the rail operation limit condition information of the whole line from the ground data center, and judge the running limit condition in front of the running of the train by combining the information such as the position of the train and the like acquired from a train network (such as TCMS); the track operation limit condition information stored in the nearby RSU can be acquired from the RSU, and the running limit condition in front of the running of the train can be judged by combining the information such as the position of the train acquired from the RSU.
The on-board unit OBU processes the determined train operation front driving limit condition information and notifies the train control unit (such as CC of the signal system).
DCS network: the road side unit RSU sends track state information to the ground data center through the ground wired network, the ground data center can grasp the condition in the limit of the track running of the whole line in real time, and the ground data center sends the track state information to the vehicle-mounted unit OBU through the long-distance vehicle-ground wireless network WL-E.
WL-N network: the system is used for carrying out short-distance wireless communication between the road side unit RSU and the vehicle-mounted unit OBU, when a train passes through the RSU, the RSU and the OBU carry out short-time point-to-point communication and ranging, and the road side unit RSU sends detected track state information to the vehicle-mounted unit OBU through the WL-N network.
Therefore, the conditions in the whole-line running limit of the train are detected in real time through the road side units paved along the track, the OBU on the train can be notified in real time through the WL-N network and the WL-E network, the track state information of the data center is notified through the ground network, and the safety of train-ground communication between the OBU and the RSU is ensured through the double networks. Compared with the prior vehicle-mounted scheme, the method has the advantages of only scanning the front section of the train in the running process of the train, has the outstanding characteristics of low difficulty, full-line real-time detection and the like, and has very strong application value.
In addition, the RSU and the OBU can be completely independent of the existing train control system through the newly added WL-N network, provide functions of running front running limit conditions, train positioning and the like for the train, and can be used for the degraded running of the train.
Further, a ranging module is arranged between the road side unit RSU and the vehicle-mounted unit OBU, and the vehicle-mounted unit OBU calculates the train position by identifying the road side unit RSU and the ranging result. When a train passes through the RSU, the RSU and the OBU perform short-time continuous ranging and communication, and the OBU obtains a ranging result; at this time, the RSU functions as a conventional beacon; as the RSUs are uniformly distributed along the line, the distance measurement effective distance is far greater than that of the traditional beacons, and the train head and the train tail can calculate the train position at the same time, the train positioning information which is far higher in precision and continuous than that of the traditional beacons can be obtained.
Preferably, the road condition detection sensor has a bidirectional scanning function, namely a function of simultaneously scanning obstacles in a limited area of the track traffic in forward and backward directions, and the unidirectional scanning distance is not less than DIS so as to reduce the number of RSUs. Thus, the scanning ranges of adjacent RSUs may overlap each other, e.g. RSU4 may scan bi-directionally, scanning to RSU3 and RSU5, respectively. When one RSU fails, the system still has no detection blind area (the MEMS laser and the camera have blind areas).
In addition, the RSU has a multicast function, and each road side unit RSU transmits the detected track state information to the opposite direction of the train traveling, and the number N of RSUs transmitting the information is determined by DIS and the train braking distance, so that the conditions need to be satisfied: and N is equal to or greater than the braking distance. Examples: the DIS is 100 meters, the braking distance is 300 meters, then n=3, RSU5 needs to send self-detected information to RSU2, RSU3, RSU4, so as to ensure that the train knows the track limit condition above 300 meters when RSU 2.
Referring to the existing road condition detection sensor, the road condition detection sensor can comprise a laser radar and a high-definition camera.
Further, the road side unit RSU is provided with a train identification module, and the train identification module identifies a train through laser point clouds and/or images. The specific train identification module can identify the train by adopting algorithms such as deep learning, image identification and the like.
While the invention has been described in terms of specific embodiments, it will be appreciated by those skilled in the art that the invention is not limited to the specific embodiments described above. Any modifications which do not depart from the functional and structural principles of the present invention are intended to be included within the scope of the appended claims.
Claims (6)
1. An unmanned vehicle ground cooperative system having a vehicle front obstacle detection function, comprising: road side unit: paving a plurality of road side units along a track traffic line, wherein adjacent road side units are interconnected through a wired or wireless network, the road side units are connected into a ground wired network, the distance between the adjacent road side units is DIS, and each road side unit is provided with a unique number and corresponding position information;
the road side unit is provided with a road condition detection sensor, and road condition information in the running limit of the train is detected in real time through the road condition detection sensor;
and (3) a vehicle-mounted unit: the vehicle-mounted unit is communicated with the ground data center through a long-distance vehicle-ground wireless network and is communicated with the road side unit through the WL-N network, a ranging module is arranged between the road side unit and the vehicle-mounted unit, and the vehicle-mounted unit calculates the position of the train by identifying the road side unit and the ranging result; when the train passes through the road side unit, the road side unit and the vehicle-mounted unit perform short-time continuous ranging and communication, and the vehicle-mounted unit obtains a ranging result;
the vehicle-mounted unit processes the judged running limit condition information in front of the running of the train and then notifies the train control unit;
DCS network: the road side unit sends road condition information to a ground data center through the ground wired network, and the ground data center sends the road condition information to the vehicle-mounted unit through the long-distance ground wireless network;
WL-N network: the road side unit is used for carrying out short-distance wireless communication between the road side unit and the vehicle-mounted unit, and the road side unit sends road condition information to the vehicle-mounted unit through the WL-N network;
the road condition detection sensor has a bidirectional scanning function, and the unidirectional scanning distance is not lower than DIS;
each road side unit transmits the self-detected track state information to the opposite direction of train travel, and the number N of RSUs for transmitting the information is determined by DIS and train braking distance, so that the conditions are required to be satisfied: and N is equal to or greater than the braking distance.
2. An unmanned vehicle ground cooperative system with a vehicle front obstacle detecting function as claimed in claim 1, wherein: the road condition detection sensor comprises a laser radar and a high-definition camera.
3. An unmanned vehicle ground cooperative system with a vehicle front obstacle detecting function as claimed in claim 1, wherein: the train head and the train tail are respectively provided with a vehicle-mounted unit.
4. An unmanned vehicle ground cooperative system with a vehicle front obstacle detecting function as claimed in claim 1, wherein: the road side unit is provided with a train identification module, and the train identification module identifies a train through laser point clouds and/or images.
5. An unmanned vehicle ground cooperative system with a vehicle front obstacle detecting function as claimed in claim 1, wherein: the WL-N network is composed of WIFI, UWB or Zigbee.
6. An unmanned vehicle ground cooperative system with a vehicle front obstacle detecting function as claimed in claim 1, wherein: the long-distance train-ground wireless network consists of WLAN or LTE.
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