CN116279584A

CN116279584A - Self-guiding, track following, electric centralization +domain +cloud control method for long-marshalling rubber-tyred vehicle

Info

Publication number: CN116279584A
Application number: CN202310281599.XA
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-06-23

Abstract

The long-marshalling rubber-tyred vehicle self-guiding, track following, electric centralization +domain +cloud control method utilizes big data, vehicle-ground interconnection and accurate map technology, simultaneously adopts AI technology to virtually obtain continuous tracks, realizes vehicle self-guiding and tracking operation along the virtual tracks through accurate positioning technology and AI technology, adopts multi-axis or full-wheel active steering technology to realize rear wheel tracking, reduces turning radius, avoids vehicle tail flick and lane departure, adopts electric architecture and cloud technology of centralization +domain control to conveniently realize flexible marshalling, function expansion and operation control of vehicles, is easy to configure two-end or single-end driving according to site conditions, reduces the difficulty of controlling and turning around rubber-tyred trains, is suitable for urban BRT buses, airport ferry vehicles, rubber-tyred trains and automobile trains, improves traffic, relieves traffic pressure, is suitable for independent road weights, semi-independent road weights or roads of mixed road weights, and has low construction and operation cost relative to rail traffic systems.

Description

Self-guiding, track following, electric centralization +domain +cloud control method for long-marshalling rubber-tyred vehicle

Technical Field

The invention belongs to the traffic field, which utilizes big data, vehicle-ground interconnection and precise map technology, adopts AI technology (such as computer recognition, machine learning, expert system technology and the like) to virtually form a continuous track, realizes the real-time self-guiding and tracking operation of vehicles following the virtual track through precise positioning technology and AI technology, adopts multi-axis or all-wheel active steering technology to realize rear wheel tracking, reduces turning radius, avoids vehicle tail flick and lane departure, adopts an electric framework with centralized + domain control and cloud technology to conveniently realize flexible vehicle grouping, function expansion and operation control, is easy to configure two-end or single-end driving according to site conditions, reduces the difficulty of controlling and turning around long grouped vehicles including rubber wheel trains, is suitable for urban BRT buses, airport ferry buses, rubber wheel trains and automobile trains, improves the traffic volume, relieves the traffic pressure, is suitable for independent road rights, semi-independent road rights or roads with mixed road rights, and has low construction and operation cost relative to a rail traffic system

Background

With the urban development, the urban traffic pressure is larger and larger, the subway and light rail transportation capacity is larger, but the construction cost and the operation cost are high, and the bus, the bus and the rubber wheel train with large transportation capacity can improve the transportation capacity, so that the urban traffic pressure is relieved.

At present, a plurality of extra-long buses/buses connected through hinges are operated abroad, for example, the longest bus in the world is up to 31 m, the transportation capacity reaches 256 people, the bus is provided with 4 steering shafts and a large number of radar sensors, two carriages at the tail part of the bus can actively follow the steering track of the head to actively steer, but virtual track operation is not realized, the problem that the steering radius is overlarge due to the long bus is needed to bear, and the complex and crowded traffic environment in the city cannot be well dealt with.

The intelligent rails and the digital rails which are opened in China are used for tracking operation by brushing guide lines on the ground or installing magnetic nails, so that the attractiveness is influenced, the complexity of road marks and lines is increased, the construction and maintenance cost is increased, the flexibility of urban operation is reduced, meanwhile, part of road sections need to share lanes with road vehicles, and if the road sections are inconsistent with the automatic driving development route of urban road vehicles, the automatic driving potential is limited.

At present, the length of the bus is limited to be within 18 meters, and the problems of safety and road space caused by large steering radius and the like due to long car body can be considered at the moment, but the problems of the overlength bus in road operation can be solved through mature reliable technology along with the progress of technology, such as the opening of the overlength grouped bus by BRT (bus-bus) line, and the intelligent rail and the digital rail have no advantages.

The existing traffic system has the following problems:

the subway and the light rail have high transportation capacity, but have high construction and operation costs, and are only suitable for large cities;

the medium and small traffic track traffic systems such as tramcars and the like need special road rights, and meanwhile, the construction and operation costs are high, the advantages are not obvious, and the disadvantages are obvious;

the intelligent track and the track train tracking require additional ground facilities and equipment, and the complexity of road identification is increased;

the domestic long grouping buses/public transportation are all driven by a single end, and flexible grouping and double-end driving are not easy to realize by adopting distributed network control.

Through patent search, the patents related to the invention mainly comprise the following patents:

the invention discloses a method for protecting track deviation of vehicle magnetic nail tracking operation, and a vehicle automatic driving system based on magnetic nail fusion navigation, which is disclosed in China patent application number of CN202110803657.1, application date of 2021.07.15, publication number of CN113415266A, publication date of 2021.09.21, and name of a method for protecting track deviation of vehicle magnetic nail tracking operation, and application number of Shanghai electric group intelligent transportation technology Co., ltd: the vehicle automatic driving system comprises a vehicle, a magnetic nail track and a lane line arranged along the magnetic nail track, wherein a controller, a vehicle-mounted sensor and an executing mechanism which are connected with the controller are loaded on the vehicle; the vehicle-mounted sensor comprises a vehicle speed sensor, an inertial navigation module, a front magnetic sensor and a rear magnetic sensor, and the actuating mechanism comprises a power system, a braking system and a steering system; the vehicle automatic driving system based on magnetic nail navigation realizes the restraint of the vehicle running track by monitoring the vehicle running track and the gesture in real time. The track deviation protection method for the tracking operation of the magnetic nails of the vehicle monitors the track posture of the vehicle in real time, effectively ensures the safe operation of the vehicle in the modes of alarming, speed reduction and the like under the condition of track deviation risk, and can reduce the hazard of derailment of the vehicle along the tracking of the magnetic nails.

The invention relates to a steering system of a rubber-tyred train, a control method thereof, a rubber-tyred train and a computer readable storage medium, which are disclosed in China patent application No. CN202010789316.9, application date 2020.08.07, publication No. CN114056372A, publication date 2022.02.18, a steering system of a rubber-tyred train and a control method thereof, and application of China patent application No. electric locomotive research all Limited of Zhongchung, which are filed as China. The steering system includes: the active guiding module is suitable for providing active steering force for the train to control the steering of the train; the guide wheel is suitable for contacting a ground guide structure of the mechanical guide road section and transmitting acting force provided by the ground guide structure to the train so as to realize steering of the train; and a processor configured to: the active steering module is controlled according to the virtual track on the ground to provide active steering force for the train so as to control the train to actively steer along the virtual track; gradually reducing the active steering force to control the active guiding module to gradually exit from operation in response to the train entering the first transition section; and in response to the train entering the second transition section, gradually increasing the active steering force to control the active steering module to gradually intervene in the work.

The invention discloses a kind of intelligent rail train with low rubber wheel and with low rubber wheel, which has the application number of '2015110803956. X', the application date of '2015.11.20', the publication number of 'CN 105235758A', the publication date of '2016.01.13', and the name of 'intelligent rail train with low rubber wheel and with low rubber wheel' with power dispersion type track following ', and the application person of' all electric locomotives research company of south China train, which is China patent, the invention discloses the intelligent rail train with low rubber wheel and with power dispersion type track following, which comprises: the standard headstock comprises a vehicle structure with two shaft supports, wherein a first shaft of the standard headstock has a steering-by-wire function, and a second shaft of the standard headstock is a steering-by-wire mechanism; the rear part of the standard headstock is reserved with a standard interface connected with the hinging mechanism; the hinge mechanism is a link mechanism with two degrees of freedom of rotation in the up-down direction and the left-right direction; standard interfaces are arranged at two ends of the hinging mechanism and are used for being connected with a standard headstock, a standard power carriage and a standard trailer carriage; a standard power compartment which is a vehicle structure with a shaft support; a standard trailer box comprising a vehicle structure having a two-axle support; the first axle and the second axle of the standard trailer carriage are provided with steering-by-wire functions. The invention has the advantages of multi-axis steering, power dispersion, modularized design and the like.

The above-mentioned patent does not realize the running of long marshalling buses or virtual rail trains at low cost, and the reliability of tracking.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention adopts AI technology, big data, communication network connection and accurate map technology to identify and plan the travelling track, can fit the virtual track, and the vehicle-mounted equipment follows the virtual track to run in real time according to the accurate positioning, gesture identification and AI technology of the vehicle, realizes the rear vehicle axle tracking virtual track or guide wheel by adopting the multi-axis active steering technology, the turning radius and the tail flicking of the vehicle are reduced, meanwhile, the flexible marshalling and the function expansion of the vehicle are realized by adopting a centralized electric architecture and a cloud technology, the two-end or single-end driving can be configured according to the field conditions, the difficulty in controlling and turning around of long marshalled vehicles including rubber-tyred trains is reduced, the traffic is improved, the traffic pressure is relieved, and the method is suitable for road vehicles with independent road rights, semi-independent road rights and mixed road rights, such as urban BRT buses, airport ferry vehicles, rubber-tyred trains and the like.

The vehicle-mounted environment sensing and computer recognition technology is characterized in that key static attributes such as lanes, traffic lights, road identification marks, road along-line facilities, buildings and the like are recognized, sensing data of vehicle-mounted control equipment can be obtained through vehicle-ground communication through sensing units arranged along the roads under the conditions of curves, intersections and shielding, the sensing data are matched and fitted with the vehicle-mounted sensing data, so that the key static attributes along the roads are continuously recognized, a specific running lane can be recognized on the roads with lane lines in combination with the expected running lines of the vehicles, the running lane can be intelligently fitted on the roads without the lane lines, proper lane passes can be fitted at the intersections, continuous tracks of the required running of the vehicles are generated, virtual tracks are equivalent, and the virtual tracks at least comprise a certain distance in front of the vehicles and virtual tracks penetrating through the vehicle bodies.

For a fixed running route such as public transportation BRT or a virtual rail train, accurate maps (such as 2D/3D landform maps, point cloud maps and the like) along the road can be generated in advance and updated in real time, a continuous virtual track for running the vehicle is generated through a vehicle planning line and combining with a high-precision map, so that a virtual rail is equivalent, and the vehicle can pre-store the virtual rail or obtain virtual rail information through vehicle-to-ground communication.

Or the redundancy or mutual verification can be combined through the virtual track generation method, so that continuous virtual track generation, namely virtual track, of reliable vehicle operation can be realized.

The virtual track can be displayed in the navigation of the vehicle-mounted display, can be projected onto the front windshield through a head-up display function, and can display road information such as lanes and vehicle information such as speed limit speed or directly project onto the ground.

Equipment and facilities for virtual tracks, such as optical guide lines, magnetic nails and the like, are not required to be specially arranged along the road, so that construction and operation costs are reduced, and the complexity of the urban road identification marking is reduced.

The virtual track can be optimized and adjusted in real time according to the road running condition, such as the emergency needs to change the track and detour.

The virtual track can be discretized, and the vehicle-mounted equipment can be fitted into continuous coordinates for guiding and tracking when being called through position coordinate storage.

The virtual rail is used as the tracking reference of the center point of each axle of the vehicle, and is equivalent to the running of a trolley bus with a middle guide rail, or the reference point is used for conveniently tracking and guiding other parts of the vehicle.

The environment sensing unit can be multi-source fusion and comprises a multi-camera, a laser radar, a millimeter wave radar (4D millimeter wave radar, UWB) and the like, a precise plane/stereoscopic image/bitmap can be formed, a precise map is formed by adding position coordinates (especially the existing key static attribute along the road), and environment sensing equipment can be installed on a first-section vehicle, a middle vehicle and a tail vehicle for positioning, attitude confirmation and transverse angle confirmation of respective carriages.

The front axle or the guiding axle in the running direction of the vehicle adopts the drive-by-wire steering to automatically guide according to the virtual track, the rear wheel carries out the tracking control of closed-loop adjustment according to the virtual track, the reference point is the center point of each axle or the center point of the bogie wheel pair, and the steering angle of each axle is controlled according to the position deviation and the included angle between the center point of each axle and the virtual track.

The speed sensor of the vehicle mounting shaft and the transverse angle sensor relative to the vehicle advancing direction (which can be measured by an inertial navigation system) measure the speed, the relative virtual orbit attitude of the vehicle body, the running direction and the like of the vehicle in real time, and meanwhile, the positioning and speed measurement can be carried out by combining the low orbit satellite enhanced positioning and differential positioning functions (refer to patent CN 202210234972.1), the environment sensing and the high-precision topography map or the point cloud map matching can be combined to carry out accurate positioning or positioning calibration, vehicle body attitude determination and the like, and the electromagnetic induction such as magnetic nail positioning can be assisted to carry out initial positioning and critical section such as intersection positioning and the like, so that the reliable speed, attitude, position and running direction of each carriage of the vehicle can be obtained, and the position coordinates and the running state of the central point of each shaft can be converted in real time; the position and the motion state of each shaft center point are calculated according to the fusion of the environment sensing equipment, and the rear shaft center point can also be calculated according to the fixed size of the vehicle body, the included angle of the carriage and the determined shaft position and motion state.

The steering angle sensor is arranged on each steering shaft of the vehicle, the angle sensor of the hinging equipment is arranged on the hinging position of each carriage, the redundant configuration is realized, and the reliability of the steering angle measurement of the steering shaft and the angle of the hinging equipment between carriages is improved.

The vehicle-mounted control equipment calculates the steering angle of the guide wheel in real time through the position deviation and the angle difference between the virtual track and the center point of the front axle and the vehicle speed, and performs real-time closed-loop regulation control through controlling the steering angle of the guide wheel and the collected steering angle of the guide wheel, so that the automatic guiding function is realized; the vehicle-mounted control equipment can track following and adjust the steering angle in real time by combining the steering angle of the guide shaft, the vehicle speed and the steering angle of the main shaft through the virtual track position difference and the angle difference between the central point of the rear shaft of the first-section vehicle in the running direction and the corresponding position; the vehicle-mounted control equipment can track following and adjust the steering angle in real time by combining the hinge included angle of the carriage and the previous carriage, the vehicle speed and the steering angle of the shaft through the virtual track position difference and the angle difference between the shaft center point of the rear vehicle and the corresponding position.

When the whole wheel is driven by the hub motor/wheel side motor, the running direction guide shaft adopts the wire control steering, and the rear wheel can realize driving running, electric braking and active steering through the hub motor/wheel side motor; when the wheel hub motor/wheel side motor is not used for driving, the running direction guide shaft adopts the drive-by-wire steering, and the rear wheels move the steering pull rod by controlling the action of the steering machine so as to realize the active steering of the rear wheels; when the whole wheel is driven by the hub motor/wheel side motor, the transverse pull rod can be moved by controlling the action of the steering mechanism, so that active steering is realized as a redundant backup.

Each steering shaft can independently plan a virtual track, the virtual track of each rear wheel is kept to be coincident with the virtual track of the guide wheel as much as possible during normal running, and the virtual track set by each steering shaft can be misaligned during emergency situations such as lane changing.

The rear wheels of the vehicle can identify lane change or turning around according to the vehicle speed and the steering angle of the guide wheels, or can identify actions of the vehicle such as lane change, turning around and the like through a vehicle-mounted controller, or can acquire the actions of the vehicle through a pre-planned running track, the rear wheels can execute different steering control logics according to the vehicle speed and the vehicle actions, when the vehicle faces the lane change or turning around, the rear wheels can adjust the same direction or reverse steering with the guide wheels as required, the turning radius and the tail flicking are reduced, and the running track of the rear wheels is not coincident with the running track of the front wheels.

The running route of the virtual stock road vehicle is a fixed route, when emergency variable road running occurs, the rear wheels can be adjusted to steer in the same direction as the guide wheels according to the needs in order to improve the running stability and riding comfort of the vehicle, and each steering shaft of the vehicle can independently make a virtual track and follow the running, so that the running stability and comfort of the vehicle are improved.

When a vehicle stops at the station, the virtual track in the parking process in the station can be generated through the environment sensing unit and the accurate digital map matching positioning technology, and the virtual track is equivalent, but the conventional tracking is difficult to realize that the vehicle stops at the station, the virtual track can be independently fitted through each axle, and meanwhile, the rear wheels can turn with the guide wheels, so that the vehicle can accurately stop and get off the station, and passengers can conveniently go up and down.

The virtual track is flexible to generate, is well suitable for sudden lane change operation, and virtual tracks of different vehicles can be overlapped in a time-sharing manner, so that flexible planning of a bus operation line is realized; by sharing public transportation vehicle information, the vehicles can realize flexible grouping operation and unbinding operation, and the transportation efficiency is improved.

The deviation range of the virtual track following is set, and the vehicle-mounted control equipment can recognize that the vehicle exceeds the tracking limit and recognize dangerous alarm prompts similar to derailment, speed reduction adjustment and other corresponding processes through the position, the gesture, the vehicle speed and the steering angle of the vehicle in real time.

The virtual track generation, the automatic guiding of the vehicle and the vehicle tracking operation algorithm are perfected through the AI technology continuously self-learning, big data and training of rich scenes.

The carriages of the long marshalling vehicle are connected in a hinged mode, double-end driving configuration can be adopted when the line does not have a head dropping field, and single-end driving mode can be adopted when the line has the head dropping field, so that the cost is reduced.

The vehicle-mounted environment sensing unit and the AI technology can be used for limit intrusion recognition of pedestrians, animals and automobiles at present, are used for obstacle recognition, make early warning and warning, can be consistent with the automatic driving development route of the existing automobiles, have huge upgrading space, and can realize automatic driving of the vehicles in a mixed lane and whole-course automatic driving along with further improvement of the V2X technology, the environment sensing unit and the AI technology to push the automatic driving to fall to the ground.

When driving manually, the in-vehicle display screen and the navigation system of head-up display can indicate the virtual track for guiding; the rear wheels can track according to the virtual track, or can track according to the running track of the guide wheels, the steering angle of the guide wheels, the speed, the included angle of the carriage and the like.

The vehicle is propelled in an electric driving mode, concentrated power or distributed power can be adopted, a motor can adopt a wheel-side motor or a wheel hub motor, and double-end running and electric braking are realized through forward rotation and reverse rotation of the motor; the vehicle adopts the steering-by-wire and brake-by-wire technology, and when driving at two ends, the two ends are required to be respectively provided with steering-by-wire equipment and two sets of brake control equipment; one end of the virtual double-end driving mode is provided with a complete cockpit, the other end of the virtual double-end driving mode transmits the video data inside and outside the vehicle to the driving end, and the driving end can control the driving actions such as front axis steering and the like to realize rear end driving, and can refer to Chinese patent CN 202210188186.2.

The vehicle network topology and control can refer to a train communication network TCN, redundant buses or a ring network are adopted among the carriages of the vehicle to interact data, the carriages of each boundary are provided with a gateway, the vehicle grouping can be realized through the initial running of the vehicle or the configuration solidification into equipment (the configuration is required to be changed when the vehicle grouping is modified), the vehicle can adopt a centralized + domain electrical architecture and cloud processing + real-time vehicle-ground communication (refer to Chinese patent No. CN 202211297476.7), and the flexible grouping and two-end driving of the vehicle can be supported.

The cab is provided with the driving unit, so that control and vehicle end separation are realized, double-end driving of the vehicle is easy to realize, and automatic driving is supported simultaneously.

For a single-ended driving vehicle, the central processing unit is placed on the head car; for vehicles driven at two ends, the central processing unit can be placed on one of the head vehicles, or the two end vehicles are placed in redundancy, and only the active end control unit is effective.

The beneficial effects of the invention are as follows: the invention belongs to the traffic field, which utilizes big data, vehicle-ground interconnection and precise map technology, adopts AI technology (such as computer recognition, machine learning, expert system technology and the like) to virtually form a continuous track, realizes the self-guiding and tracking operation of vehicles following the virtual track in real time through precise positioning technology and AI technology, adopts multi-axis or all-wheel active steering technology to realize rear wheel tracking, reduces turning radius, avoids vehicle tail flick and lane departure, adopts electric architecture and cloud technology of centralized + domain control to conveniently realize flexible vehicle grouping, function expansion and operation control, is easy to configure two-end or single-end driving according to site conditions, reduces the control and turning difficulty of long-grouped vehicles including rubber-wheeled trains, is suitable for urban BRT buses, airport ferry buses, rubber-wheeled trains and automobile trains, improves traffic volume, relieves traffic pressure, is suitable for roads with independent road weights, semi-independent road weights or mixed road weights, and has low construction and operation cost relative to a rail traffic system.

Drawings

Figure 1 is a schematic diagram of a three-consist single-ended running tracking vehicle with two axles per car,

figure 2 is a schematic diagram of tracking when a three-group vehicle is traveling straight,

figure 3 is a schematic diagram of tracking during a curve of a three-group vehicle,

figure 4 is a schematic view of independent tracking of each axle when the three-group vehicle runs in a lane change,

figure 5 is a schematic view of independent tracking of each axle when a three-group vehicle is parked and launched close to the side,

figure 6 is a schematic diagram of network control of a single-ended driving vehicle,

figure 7 is a schematic diagram of a network control of a double-ended vehicle,

figure 8 is a schematic diagram of single-ended vehicle concentration + domain control,

fig. 9 is a schematic diagram of the concentration + domain control of the double-ended vehicle.

Description of the embodiments

The invention is further described below by means of specific embodiments in connection with the accompanying drawings:

the guiding and tracking of the long-marshalling rubber-tyred vehicle in the self-guiding, track following, electric centralization + domain + cloud control method are shown in fig. 1-5, and the electric architecture is shown in fig. 6-9.

The long-grouped rubber-tyred vehicle has flexible vehicle-grouping and axle arrangement, and the self-guiding and self-tracking functions will be described below in terms of three-grouped vehicles and two-axle arrangement of each vehicle, as shown in fig. 1, without loss of generality.

The vehicle-mounted environment sensing and computer recognition technology, the sensing units arranged along the road, the vehicle-ground communication technology and the like are used for fitting out key static attributes along the continuously recognized road, a specific running lane can be recognized on the road with the lane line in combination with the expected running line of the vehicle, the running lane can be intelligently fitted out on the road without the lane line, and a proper lane can be fitted out at the intersection for passing, so that a continuous track of the vehicle required running is generated, a virtual track is equivalent, and the virtual track at least comprises a certain distance in front of the vehicle and can also comprise a virtual track penetrating through the vehicle body.

For a running route such as public transportation BRT or a virtual rail train, a continuous virtual track for running the vehicle is generated through a vehicle planning route and a high-precision map, so that a virtual rail is equivalent, and the vehicle can pre-store the virtual rail or acquire virtual rail information through vehicle-ground communication.

The center line point of each shaft is selected as a virtual track for vehicle tracking reference tracking, the trolley bus is equivalent to a middle guide rail to run, or the reference point is other parts of the vehicle and is convenient for tracking and guiding.

The environment sensing unit can be multi-source fusion, comprises a multi-camera, a laser radar, a millimeter wave radar (4D millimeter wave radar, UWB) and the like, can form an accurate plane/three-dimensional image/bitmap, can be used for determining the positioning, posture confirmation, transverse angle, speed and the like of each carriage of a vehicle, and can be used for installing environment sensing equipment in intermediate vehicles and tail vehicles.

The speed sensor of the vehicle mounting shaft and the transverse angle sensor relative to the vehicle advancing direction measure the speed, the relative virtual orbit attitude, the running direction and the like of the vehicle in real time, can be used for positioning and measuring the speed by combining with the functions of low orbit satellite enhanced positioning and differential positioning, can be used for combining with environment perception and matching with a high-precision landform map or point cloud map to perform precise positioning or positioning calibration, body attitude determination and the like, and can be used for assisting with electromagnetic induction positioning to perform initial positioning, critical section such as intersection positioning and the like, so that the speed, the attitude, the position and the running direction of each carriage of the vehicle are reliably obtained, and the position coordinates and the movement states of the central points of each shaft are converted in real time; the position and the motion state of each shaft center point are calculated according to the fusion of the environment sensing equipment, and the rear shaft center point can also be calculated according to the fixed size of the vehicle body, the included angle of the carriage and the determined shaft position and motion state.

The vehicle-mounted control equipment calculates the steering angle of the guide wheel in real time through the position deviation and the angle difference between the virtual track and the center point of the front axle and the vehicle speed, and performs real-time closed-loop regulation control through controlling the steering angle of the guide wheel and the collected steering angle of the guide wheel, so that the automatic guiding function is realized; the vehicle-mounted control equipment can track following and adjust the steering angle in real time by combining the steering angle of the guide shaft, the vehicle speed and the steering angle of the main shaft through the virtual track position difference and the angle difference between the central point of the rear shaft of the first-section vehicle in the running direction and the corresponding position; the vehicle-mounted control equipment can track following and adjust the steering angle in real time by combining the hinging included angle of the carriage and the previous carriage, the vehicle speed and the steering angle of the shaft through the virtual track position difference and the angle difference between the shaft center point of the rear vehicle and the corresponding position; see fig. 2 and 3.

The rear wheels of the vehicle can recognize vehicle actions such as lane changing, turning or turning around and the like according to the vehicle speed and the steering angle of the guide wheels, or can recognize the vehicle actions through a vehicle-mounted controller, or can acquire the vehicle actions through a pre-planned running track, the rear wheels can execute different steering control logics according to the vehicle speed and the vehicle actions, each steering shaft can independently plan a virtual track, each rear wheel virtual track is kept to be overlapped with the virtual track of the guide wheel as much as possible during normal running, each shaft center point is overlapped with the virtual track, and the virtual track set by each steering shaft can be misaligned in the processes of lane changing, turning around, emergency and the like, so that the running stability of the vehicle is improved and the turning radius is reduced.

When the vehicle faces a turn or a lane change, the rear wheels can be adjusted to turn in the same direction or in the opposite direction with the guide wheels as required, the turning radius is reduced, the tail flicking is reduced, and the running track of the rear wheels and the running track of the front wheels can be misaligned.

The running route of the virtual stock road vehicle is a fixed route, when emergency variable road running occurs, in order to improve the running stability and riding comfort of the vehicle, the rear wheels can be adopted to adjust the same-direction steering with the guide wheels according to the needs, and each steering shaft of the vehicle can independently make a virtual track and follow the running, so that the running stability and comfort of the vehicle are improved, as shown in fig. 4.

When a vehicle stops at a station, virtual track generation in the process of parking in the station can be realized through an environment sensing unit and an accurate digital map matching positioning technology, so that virtual tracks are equivalent, but the vehicle is difficult to park close to the station due to superposition of tracking of each axle, the virtual tracks can be fitted independently through each axle, meanwhile, the rear wheels can turn with the guide wheels, accurate parking and departure of the vehicle close to the station can be realized, and passengers can conveniently go up and down, as shown in fig. 5.

When turning around, the virtual tracks of the shafts can be planned respectively, the virtual tracks can be misaligned, and the turning radius is reduced.

The virtual track is flexible to generate, is well suitable for sudden lane change operation, and virtual tracks of different vehicles can be overlapped in a time-sharing manner, so that flexible planning of a bus operation line is realized; by sharing public transportation vehicle information, the vehicles can realize flexible virtual grouping operation and unbinding operation, and the transportation efficiency is improved.

The vehicle is propelled in an electric driving mode, concentrated power or distributed power can be adopted, a motor can adopt a wheel-side motor or a wheel hub motor, and double-end running and electric braking are realized through forward rotation and reverse rotation of the motor; the vehicle adopts the steering-by-wire and brake-by-wire technology, and when driving at two ends, the two ends are required to be respectively provided with steering-by-wire equipment and two sets of brake control equipment; one end of the virtual double-end driving mode is provided with a complete cockpit, the other end of the virtual double-end driving mode transmits the video data inside and outside the vehicle to the driving end, and the driving end can control the front-axis steering and other driving actions to realize rear-end driving.

The vehicle network topology and control can refer to a train communication network TCN, redundant buses or looped networks are adopted among the carriages of the vehicle to interact data, gateways are configured in the carriages of each zone, vehicle grouping can be achieved through initial running of the vehicle or through configuration solidification into equipment (the vehicle grouping is modified and needs to be changed), the vehicle can adopt a centralized + domain electrical architecture and cloud processing + real-time vehicle-ground communication, and flexible vehicle grouping and driving at two ends can be supported, as shown in fig. 6-9.

The above embodiments are only for illustrating the present invention, not for limiting the present invention, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the present invention, so that all equivalent technical solutions shall fall within the scope of the present invention, which is defined by the claims.

Claims

1. The long-marshalling rubber-tyred vehicle self-guiding, track following, electric centralization +domain +cloud control method is characterized in that:

the vehicle-mounted environment sensing and computer recognition technology is characterized in that through recognizing the existing key static attribute along the road, sensing data can be acquired through vehicle-to-ground communication through sensing units arranged along the road in the conditions of curves, intersections and shielding, the sensing data is matched and fitted with the vehicle-mounted sensing data so as to continuously recognize the key static attribute along the road, a specific running lane can be recognized on the road with the lane line in combination with the expected running line of the vehicle, the running lane can be intelligently fitted on the road without the lane line, and a proper lane passing can be fitted at the intersection, so that a continuous track of the running required by the vehicle is generated, a virtual track is equivalent, and the virtual track at least comprises a certain distance in front of the vehicle and a virtual track penetrating through the vehicle body;

for a long-marshalling rubber-tyred vehicle with a fixed running route and planned in advance, a continuous virtual track for running the vehicle can be generated through the vehicle planning route and combining with a high-precision map, so that a virtual track is equivalent, and the vehicle can pre-store the virtual track or acquire virtual track information through vehicle-ground communication;

or the redundancy and mutual verification can be combined by the virtual track generation method, so that continuous virtual track generation, namely virtual track, of reliable vehicle operation can be realized;

the virtual track can be discretized, can be stored through position coordinates, and the vehicle-mounted equipment can be fitted into continuous coordinates for guiding and tracking when being called;

the virtual track can be displayed in the navigation of the vehicle-mounted display, can be projected onto the front windshield through a head-up display function, and can display road information and vehicle information at the same time, or can be directly projected onto the ground.

2. The long-marshalling cart self-guiding, track following, electric centralization +domain +cloud control method according to claim 1, characterized in that:

equipment facilities for the virtual track are not required or are arranged in a small amount along the road, and the virtual track can be optimized and adjusted in real time according to the running condition of the road;

the virtual rail is used as the tracking reference of the center point of each axle of the vehicle or the center point of the bogie wheel set, and can be equivalently used as the running of a trolley bus with a middle guide rail, or the reference point is other parts of the vehicle and is convenient for tracking and guiding.

3. The long-marshalling cart self-guiding, track following, electric centralization +domain +cloud control method according to claim 1, characterized in that:

the environment sensing unit can be multi-source fusion, can form an accurate plane/three-dimensional image/bitmap, can be used for determining the positioning, attitude confirmation, transverse angle, speed and the like of each carriage of the vehicle, and can be used for installing environment sensing equipment on intermediate vehicles and tail vehicles;

the vehicle-mounted environment sensing unit and the AI technology can be used for virtual track generation, can also be used for boundary intrusion recognition and obstacle recognition of pedestrians and vehicles and early warning and warning, can be consistent with the automatic driving development route of the existing vehicles, and can realize automatic driving of long-marshalling vehicles in mixed lanes and semi-independent lanes along with further improvement of the V2X technology, the environment sensing unit and the AI technology to push the automatic driving to land.

4. The long-marshalling rubber-tyred vehicle self-guiding, track following, electric centralization +domain +cloud control method is characterized in that:

the vehicle-mounted control equipment calculates the steering angle of the guide wheel in real time through the position deviation and the angle difference between the virtual track and the center point of the front axle and the vehicle speed, and performs real-time closed-loop regulation control through controlling the steering angle of the guide wheel and the collected steering angle of the guide wheel, so that the automatic tracking guide function is realized; the vehicle-mounted control equipment can track following and adjust the steering angle in real time by combining the steering angle of the guide shaft, the vehicle speed and the steering angle of the main shaft through the virtual track position difference and the angle difference between the central point of the rear shaft of the first-section vehicle in the running direction and the corresponding position; the vehicle-mounted control equipment can track following and adjust the steering angle in real time by combining the hinge included angle of the carriage and the previous carriage, the vehicle speed and the steering angle of the shaft through the virtual track position difference and the angle difference between the shaft center point of the rear vehicle and the corresponding position.

5. The long marshalling cart self-steering, track following, electrical concentration +domain +cloud control method according to claims 1 and 4, characterized by:

the speed sensor of the vehicle mounting shaft and the transverse angle sensor relative to the vehicle advancing direction measure the speed, the relative virtual orbit attitude of the vehicle body, the running direction and the like of the vehicle in real time, and can be used for positioning and measuring the speed by combining with the functions of low orbit satellite enhanced positioning and differential positioning, can be used for combining with environment perception and matching with a high-precision landform map or point cloud map to perform precise positioning or positioning calibration, vehicle body attitude determination and the like, and can be used for assisting with electromagnetic induction positioning to perform initial positioning and critical section positioning, so that the speed, the attitude, the position and the running direction of each carriage of the vehicle are reliably obtained, and the position coordinates and the running state of the central point of each shaft are converted in real time; the position and the motion state of each shaft center point are calculated according to the fusion of the environment sensing equipment, and the rear shaft center point can also be calculated according to the fixed size of the vehicle body, the included angle of the carriage and the determined shaft position and motion state;

6. The long marshalling cart self-steering, track following, electrical concentration +domain +cloud control method according to claims 1 and 4, characterized by:

when the whole wheel is driven by the hub motor/wheel side motor, the running direction guide shaft adopts the wire control steering, and the rear wheel can realize the active steering through the hub motor/wheel side motor; when the wheel hub motor/wheel side motor is not used for driving, the running direction guide shaft adopts the drive-by-wire steering, and the rear wheels move the steering pull rod by controlling the action of the steering machine so as to realize the active steering of the rear wheels; when the whole wheel is driven by the hub motor/wheel side motor, the transverse pull rod can be moved by controlling the action of the steering mechanism, so that active steering is realized as a redundant backup.

7. The long marshalling cart self-steering, track following, electrical concentration +domain +cloud control method according to claims 1 and 4, characterized by:

the rear wheels of the vehicle can recognize vehicle actions such as lane changing, turning or turning around according to the vehicle speed and the steering angle of the guide wheels, or can recognize the vehicle actions through a vehicle-mounted controller, or can acquire the vehicle actions through a pre-planned running track, the rear wheels can execute different steering control logics according to the vehicle speed and the vehicle actions, each steering shaft can independently plan a virtual track/virtual track, the virtual track of each rear wheel is kept to be overlapped with the virtual track of the guide wheels as much as possible during normal running, the virtual track set by each steering shaft can be misaligned during lane changing, turning or turning around, the rear wheels can be adjusted to be turned in the same direction as or in the opposite direction with the guide wheels according to requirements, and the steering angle is set according to requirements;

when the vehicle changes lanes, the rear wheels can be adopted to adjust the same direction steering with the guide wheels according to the needs in order to improve the running stability and riding comfort of the vehicle, and each steering shaft of the vehicle can independently make a virtual track and follow the running, so that the running stability and comfort of the vehicle are improved;

when a vehicle stops at a station, virtual track generation in the parking process in the station can be realized through an environment sensing unit and an accurate digital map matching positioning technology, so that virtual tracks are equivalent, but the vehicle is difficult to park close to the station due to superposition of tracking of each axle, the virtual tracks can be fitted independently through each axle, and meanwhile, the rear wheels can turn with the guide wheels, so that accurate parking and departure of the vehicle close to the station can be realized;

8. The long marshalling cart self-steering, track following, electrical concentration +domain +cloud control method according to claims 1 and 4, characterized by:

the virtual track is flexible to generate, is well suitable for sudden rerouting operation, virtual tracks of different vehicles can be overlapped in a time-sharing manner, flexible planning of bus operation lines is realized, and the vehicles can realize flexible virtual marshalling operation and de-marshalling operation through sharing of public transportation vehicle information, so that the transportation efficiency is improved;

the vehicle-mounted control device can recognize that the vehicle exceeds the tracking limit and recognizes dangerous alarm prompts similar to derailment, speed reduction adjustment and other corresponding processes through the position, the gesture, the vehicle speed and the steering angle of the vehicle in real time;

when the vehicle is driven manually, the navigation system of the display screen in the vehicle, the head-up display and the direct projection ground can indicate the virtual track for guiding; the rear wheels can track according to the virtual track, or can track according to the running track of the guide wheels, the steering angle of the guide wheels, the speed, the included angle of the carriage and the like;

9. The long marshalling cart self-steering, track following, electrical concentration +domain +cloud control method according to claims 1 and 4, characterized by:

the vehicle network topology and control can refer to a train communication network TCN, redundant buses or looped networks are adopted among the carriages of the vehicle to interact data, gateways are configured in the carriages of each boundary, vehicle grouping can be realized through initial running of the vehicle or through configuration solidification into equipment, further the vehicle can adopt a centralized + domain electrical architecture and cloud processing + real-time vehicle-ground communication, and flexible vehicle grouping and driving at two ends can be supported;

the driving and collecting unit is arranged in the cab, so that control and vehicle end separation are realized, double-end driving of the vehicle is easy to realize, and automatic driving is supported at the same time;

10. The long-marshalling cart self-guiding, track following, electrical concentration +domain +cloud control method according to claim 9, characterized by:

the long marshalling vehicle can adopt double-end driving configuration when the line is not provided with the head dropping field, and can adopt a single-end driving mode when the line is provided with the head dropping field, so that the cost is reduced;

the vehicle is propelled by adopting an electric driving mode, and when the motor can adopt a wheel motor or a wheel hub motor, double-end running and electric braking are realized through forward rotation and reverse rotation of the motor; the vehicle adopts the steering-by-wire and brake-by-wire technology, and when driving at two ends, the two ends are required to be respectively provided with steering-by-wire equipment and two sets of brake control equipment; one end of the virtual double-end driving mode is provided with a complete cockpit, the other end of the virtual double-end driving mode transmits the video data inside and outside the vehicle to the driving end, and the driving end can control the front-axis steering and other driving actions to realize rear-end driving.