A safety control method and system based on real-time positioning of tunnel vehicles

Abstract

The present invention relates to a safety control method and system based on real-time positioning of tunnel vehicles, and belongs to the technical field of tunnel vehicle safety control. The present invention draws the corresponding tunnel route according to the measured tunnel data, and uses the tunnel route drawn by the tunnel measurement data to map the vehicle to the drawn tunnel route according to the actual driving position of the vehicle, so as to realize the positioning of the vehicle in the tunnel; the positioning method is simple to implement, does not require the installation of additional network communication equipment, and requires a small amount of data. At the same time, the drawn tunnel route is also provided with marks representing the turning points and ramps of the tunnel, and the distance of the vehicle from the nearest mark in front of the vehicle is calculated by using the mark and the position of the vehicle mapped to the tunnel route. The vehicle is safely controlled by the distance and the speed, avoiding safety problems of the vehicle at the turning points and ramps of the tunnel. At the same time, the attitude sensor is used to monitor whether the vehicle is running off, which further improves the safety of the vehicle driving in the tunnel.

Description

Technical Field

[0001] The invention relates to a safety control method and system based on real-time positioning of tunnel vehicles, belonging to the technical field of tunnel vehicle safety control. Background Art

[0002] Trackless rubber-tyred vehicles are heavy-duty special vehicles used in underground equipment transportation, military industry, docks, bridge construction, and tunnel construction material transportation. The development of domestic tunnel rubber-tyred vehicles is in its early stages. The braking design of heavy-duty vehicles is a key part. Its performance is particularly important in long downhill tunnels, and separate brake wheels are often used. In addition, due to errors in the production of reduction motors and proportional valves, the left and right driving wheels will rotate at different speeds under the same conditions during vehicle driving, causing the vehicle to deviate. Most of these aspects require manual judgment of road conditions to brake the vehicle and correct the driving direction. Navigation-assisted driving can identify long downhill sections, turning sections, and determine whether the vehicle is yawed.

[0003] In recent years, with the development of science and technology, more and more research has been conducted on navigation-assisted driving of rubber-wheeled vehicles in China, such as the Chinese patent document with the announcement number CN203490506U, which discloses a vehicle-mounted laser automatic guidance control system, which uses a laser contour scanning device to determine the position coordinates of the vehicle in the tunnel, and can make the vehicle drive according to the artificially planned target path, thereby controlling the vehicle braking and deviation, but it requires an industrial computer to calculate data based on the imported tunnel contour model and road model, and the amount of data processed in real time is large. For this reason, some people have proposed to use the network communication of the positioning base station for positioning, such as the Chinese patent application document with the application publication number CN112504270A, which discloses a tunnel auxiliary vehicle positioning facility and method, by installing a UWB positioning base station in the tunnel, installing a positioning tag and an inertial navigation module on the vehicle, and using the communication between the positioning tag and the UWB positioning base station and the inertial navigation module to realize the positioning of the vehicle in the tunnel; although this solution can determine the position of the vehicle in the tunnel, it needs to build a network in the tunnel, which is costly and not conducive to promotion.

[0004] Therefore, the current positioning methods for vehicles in tunnels either require the construction of a network, which is costly, or require the processing of a large amount of data, which is complex and has poor real-time performance. Therefore, the existing problems of the current positioning methods for vehicles in tunnels have seriously affected the safety of vehicles traveling in tunnels. Summary of the invention

[0005] The purpose of the present invention is to provide a safety control method and system based on real-time positioning of tunnel vehicles, so as to solve the problems of high positioning cost and large amount of positioning data in the current tunnel vehicle safety control process.

[0006] In order to solve the above technical problems, the present invention provides a safety control method based on real-time positioning of tunnel vehicles, and the safety control method comprises the following steps:

[0007] 1) Measuring the mileage pile number, side pile measurement data and center pile measurement data of each work cycle shift of tunnel excavation, determining the direction of the tunnel pavement according to the side pile measurement data and / or the center pile measurement data, and determining the deflection angle between the tunnel excavation direction and the tunnel entrance position, determining the direction of the tunnel pavement and the deflection angle between the tunnel excavation direction and the tunnel entrance position according to the side pile measurement data and the center pile measurement data, determining the tunnel excavation mileage according to the mileage pile number, and drawing a tunnel route according to the mileage and deflection angle, including a marking point and a deflection angle and mileage relative to the calibrated position, wherein the marking point refers to the tunnel turning point and the ramp, the side pile measurement data includes the coordinates, offset and deflection of the side pile, and the center pile measurement data includes the coordinates of the center pile;

[0008] 2) Calibrate a posture sensor on the vehicle using the calibration position, wherein the posture sensor is used to measure the posture angle of the vehicle;

[0009] 3) Based on the calibrated attitude sensor, the attitude angle of the vehicle in the tunnel is obtained in real time, and the vehicle position is mapped to the drawn tunnel route according to the actual driving distance of the vehicle;

[0010] 4) Calculate the distance between the position of the vehicle mapped to the drawn tunnel line and the nearest marking point in front, and perform deceleration and braking control on the vehicle when the distance is less than a set threshold and the vehicle speed is greater than a set speed.

[0011] The present invention draws the corresponding tunnel route according to the measured tunnel data. When the vehicle is driving in the tunnel, the tunnel route drawn by the tunnel measurement data is used to map the vehicle to the drawn tunnel route according to the actual driving position of the vehicle, so as to realize the positioning of the vehicle in the tunnel; the positioning method is simple to realize, does not require the installation of additional network communication equipment, and requires a small amount of data. At the same time, the tunnel route drawn by the present invention is also provided with marks representing the turning points and ramps of the tunnel. The distance of the vehicle from the nearest mark in front of the vehicle is calculated by using the mark and the position of the vehicle mapped to the tunnel route. The vehicle is safely controlled by the distance and the vehicle speed, avoiding the safety problems of the vehicle at the turning points and ramps of the tunnel, and improving the safety of the vehicle driving in the tunnel.

[0012] Furthermore, the attitude sensor is a gyroscope or a three-axis angle sensor, which is installed at the center of gravity of the vehicle to measure the attitude angle of the vehicle.

[0013] The present invention uses a gyroscope or a three-axis angle sensor as a posture sensor, which is installed at the center of gravity of a vehicle for measurement, and can accurately measure the posture angle of the vehicle.

[0014] Furthermore, the method also includes determining whether the vehicle is swerving based on the measured vehicle lateral slip angle and wheel steering angle, and performing deviation correction control based on the determination result.

[0015] The present invention determines whether the vehicle is running off the track by comparing the difference between the vehicle's lateral slip angle and the wheel steering angle, and can quickly find out whether the vehicle has a tendency to run off the track, so that deviation correction control can be performed in time when the vehicle runs off the track, thereby ensuring the driving stability of the vehicle.

[0016] Furthermore, in step 2), the calibration position of the gyroscope or the three-axis angle sensor is used as its zero position during calibration.

[0017] In order to facilitate the calculation of the actual driving position of the vehicle based on the measured vehicle attitude angle, the present invention sets the position output by the measuring port as the zero position.

[0018] Furthermore, the step 1) is measured using a total station.

[0019] The present invention adopts a total station to measure the road in the tunnel, which can quickly and accurately obtain the distance and angle of the tunnel, and provide accurate data support for drawing the tunnel route.

[0020] Furthermore, in step 3), when mapping the vehicle position onto the drawn tunnel line, the actual distance traveled by the vehicle needs to be multiplied by the cosine of the angle between the actual driving route of the vehicle and the drawn tunnel line.

[0021] The present invention also provides a safety control system based on real-time positioning of tunnel vehicles, the control system includes a vehicle-mounted controller, a posture sensor and a vehicle speed sensor, wherein the posture sensor is used to be arranged at the center of gravity of the vehicle to measure the lateral deviation angle of the vehicle, and the vehicle speed sensor is used to measure the speed of the vehicle; the vehicle-mounted controller is used to obtain the mileage pile number, side pile measurement data and center pile measurement data of the tunnel excavation, determine the direction of the tunnel pavement according to the side pile measurement data and / or the center pile measurement data, and determine the deviation angle between the tunnel excavation direction and the tunnel entrance position, determine the tunnel excavation mileage according to the mileage pile number, and draw the tunnel route according to the mileage and the deviation angle The side stake measurement data includes the coordinates, offset and deflection of the side stakes, and the center stake measurement data includes the coordinates of the center stake; the vehicle position is mapped on the drawn tunnel route according to the attitude angle of the vehicle in the tunnel measured by the attitude sensor and the actual driving distance of the vehicle obtained by the speed sensor, and the distance between the position of the vehicle mapped on the drawn route and the nearest marking point in front is calculated, and the vehicle is slowed and braked when the distance is less than a set threshold and the vehicle speed is greater than a set speed; the drawn tunnel route includes marking points and the deflection angle and mileage relative to the calibrated position, wherein the marking points refer to the tunnel turns and / or ramps.

[0022] The positioning method adopted by the present invention is simple to implement, does not require the installation of additional network communication equipment, and requires a small amount of data. At the same time, the drawn tunnel line is also provided with marks representing the tunnel turns and ramps. The distance of the vehicle from the nearest mark in front of the vehicle is calculated using the mark and the position of the vehicle mapped to the tunnel line. The vehicle is safely controlled by the distance and the speed, avoiding safety problems of the vehicle at the tunnel turns and ramps, and improving the safety of the vehicle driving in the tunnel.

[0023] Furthermore, when mapping the vehicle position onto the drawn tunnel line, it is necessary to multiply the actual distance traveled by the vehicle by the cosine of the angle between the actual driving route of the vehicle and the drawn tunnel line.

[0024] Furthermore, the attitude sensor is a gyroscope or a three-axis angle sensor, which is installed at the center of gravity of the vehicle to measure the attitude angle of the vehicle.

[0025] Furthermore, the vehicle-mounted controller is also used to determine whether the vehicle is running off the track based on the measured vehicle lateral deviation angle and wheel steering angle, and perform deviation correction control based on the judgment result.

[0026] The present invention determines whether the vehicle is running off the track by comparing the difference between the vehicle's lateral slip angle and the wheel steering angle, and can quickly find out whether the vehicle has a tendency to run off the track, so that deviation correction control can be performed in time when the vehicle runs off the track, thereby ensuring the driving stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the installation position of the positioning device in the safety control system based on real-time positioning of tunnel vehicles of the present invention;

[0028] Figure 2 It is the actual tunnel route and the schematic diagram of the drawn tunnel route;

[0029] Figure 3 It is a schematic diagram of the mapping relationship between the actual driving route and the drawn tunnel route of the present invention;

[0030] Figure 4 It is a structural block diagram of a safety control system based on real-time positioning of tunnel vehicles according to the present invention;

[0031] Figure 5 It is a schematic diagram of a vehicle traveling on an arc section in the present invention;

[0032] 1 is the vehicle display, 2 is the steering encoder, 3 is the vehicle speed sensor, and 4 is the gyroscope / three-axis sensor. DETAILED DESCRIPTION

[0033] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0034] The present invention draws a corresponding tunnel route according to measured tunnel data. When a vehicle is driving in the tunnel, the tunnel route drawn using the tunnel measurement data is used to map the vehicle onto the drawn tunnel route according to the actual driving position of the vehicle for display, so that the driver can know the position of the vehicle in the tunnel in real time. At the same time, marks representing the turning points and ramps of the tunnel are also arranged on the drawn tunnel route. The distance between the vehicle and the nearest mark ahead is calculated using the marks and the position of the vehicle mapped onto the tunnel route. The vehicle is safely controlled by the distance and the vehicle speed, so as to avoid safety problems of the vehicle at the turning points and ramps of the tunnel and improve the safety of the vehicle driving in the tunnel.

[0035] System Example

[0036] like Figure 4 As shown, the system in this embodiment includes a vehicle controller, a gyroscope / three-axis sensor, a vehicle speed sensor, a steering encoder and a display screen. The output ends of the gyroscope / three-axis sensor, the vehicle speed sensor and the steering encoder are connected to the vehicle controller through a shielded cable; Figure 1 As shown, the gyroscope / three-axis sensor 4 is arranged at the center of gravity of the vehicle to measure the data on each axis of the vehicle, the vehicle speed sensor 3 is used to be installed at the vehicle driving hydraulic motor to measure the wheel rotation speed, the steering encoder 2 is used to be arranged at the wheel steering mechanism to measure the steering angle of the wheel, and the on-board controller draws the tunnel line using the tunnel measurement data, maps the vehicle to the drawn tunnel line according to the actual position of the vehicle and displays it through the on-board display screen 1, so as to intuitively locate the vehicle; at the same time, the vehicle is controlled accordingly for safety according to the distance between the mark set in advance on the tunnel line and the vehicle position and the degree of deflection of the vehicle, such as the on-board controller can control the vehicle by driving the proportional valve, the service brake proportional valve and the steering valve to improve the safety of the vehicle driving in the tunnel.

[0037] Specifically, when the on-board controller is drawing the tunnel route, it is necessary to obtain the measurement data of the tunnel's footage and mileage. The measurement data in this embodiment is obtained by the construction personnel using a total station. Tunnel measurement generally refers to the tunnel centerline positioning measurement (center pile data measurement). The wire measurement method can be used to introduce the control network outside the tunnel into the tunnel. In order to ensure the accuracy of the centerline positioning, a fitting wire is generally used, that is, adjacent control points are connected into a continuous broken line. The turning point of the broken line is the wire control point, and the broken line edge is the wire edge. The wire measurement is a measurement method that measures the side length and turning angle of each line segment, and then calculates the plane coordinates of each control point based on the known data. It is mainly used to verify control points or encrypt control points.

[0038] Before the tunnel is excavated, the coordinates of the control points outside the tunnel and the centerline control piles are included in the same coordinate system. Generally, the centerline of the line is used as the X-axis in a straight tunnel, and a tangent direction is used as the X-axis in a curved tunnel to establish a construction coordinate system. According to the results of the control points outside the tunnel, the coordinates and elevation of the control points at the entrance of the tunnel are calculated. At the same time, according to the design requirements, the excavation direction of the tunnel can be measured and set by the polar coordinate method or other methods, and the centerline positioning is introduced into the tunnel. As the tunnel excavation mileage increases, according to the tunnel excavation direction, the coordinates of each center pile of the tunnel are measured (the side pile coordinates are used when the center pile coordinate measurement is difficult). The coordinates of the control points and the centerline of the line to be measured in the tunnel are used to obtain the mileage and azimuth of each pile number through the written coordinate inversion program, that is, the interval and azimuth of two points on the straight line are calculated by the coordinates of two points. The curved tunnel can be treated as a circular curve or the transition curve can be approximated as a straight line when the accuracy requirements are met. The mileage, offset and deflection are obtained through coordinate inversion.

[0039] During measurement, the measurement position of the total station at the tunnel entrance is used as the calibration position, and the data at this position is used as the initial position data. To facilitate route drawing, the direction of the tunnel entrance can be used as the coordinate zero point; the total station is placed at the tunnel entrance and at various set positions by moving the station, so that the mileage, roll angle, and pitch angle information of the tunnel can be obtained, specifically including the mileage pile number of the tunnel relative to the tunnel entrance, the side pile measurement data, and the center pile measurement data. The side pile measurement data includes the coordinates, offset and deflection of the left pile and the coordinates, offset and deflection of the right pile. The center pile measurement data includes the coordinates of the center pile. The tunnel excavation mileage is determined according to the mileage pile number, and the tunnel route is drawn according to the mileage and deflection.

[0040] When drawing the route in the tunnel based on the measured data, a broken line is used to represent the tunnel route (such as Figure 2 As shown in the figure, the tunnel route drawn with a broken line can accurately represent the actual tunnel route). The turning points of the tunnel and the up and down ramps are the turning points of the broken line. These turning points are used as marking points for measuring mileage and are marked on the drawn tunnel route. Therefore, the drawn route information contains the deflection values ​​of the yaw angle and pitch angle relative to the tunnel entrance and the mileage, which can provide good support for the establishment of the tunnel road condition model.

[0041] After drawing the line in the tunnel, the on-board controller sends the corresponding program command and loads it to the on-board display screen for display. At the same time, in order to monitor the position of the vehicle in real time, it is necessary to calculate the actual distance traveled by the vehicle based on the speed detected by the speed sensor. At the same time, to facilitate subsequent calculations, the gyroscope / three-axis angle sensor will be calibrated first. During calibration, the gyroscope / three-axis angle sensor is placed at the calibration position, and the measured value of the gyroscope / three-axis angle sensor at this time is set to 0, that is, the calibration position is used as the zero position of the gyroscope / three-axis angle sensor. The vehicle attitude angle includes the vehicle's yaw angle (direction angle) in the horizontal direction, the vehicle's pitch angle in the vertical direction, and the vehicle's roll angle around the center axis of the vehicle body. Figure 3 The β value in is related to the yaw angle (direction angle) in the horizontal direction of the vehicle, and the β value is the angle between the vehicle's direction angle and the tunnel excavation direction. After calibration, the on-board controller collects the lateral deflection angle data measured by the gyroscope / three-axis angle sensor installed at the center of gravity of the vehicle body according to the set step length during the vehicle's driving process, and calculates the actual driving distance based on the vehicle speed sensor, and maps the actual driving route of the vehicle to the drawn tunnel route. The mapping relationship is as follows Figure 3 As shown, the relationship is as follows:

[0042] ΔL A cos∠β=ΔL a

[0043] Where ΔL A is the actual distance traveled by the vehicle during the current collection period, ΔL a is the distance mapped by the vehicle on the drawn tunnel line during the current acquisition period, and β is the horizontal yaw angle of the vehicle during the current acquisition period ( Figure 3 The dashed line in the figure) and the tunnel direction ( Figure 3 The solid line in the figure). Through this mapping method, any point A on the actual driving route of the vehicle can be mapped to the corresponding position on the tunnel line (recorded as point a), so that the real-time position of the vehicle can be mapped to the drawn tunnel line. In order to facilitate the driver to view in real time, it can be displayed in real time on the on-board display screen. Since the drawn tunnel line is set with marking points (broken line turning points), these marking points represent the key positions of the tunnel. Through these marking points, the driver can also intuitively know the current road conditions of the vehicle.

[0044] Based on the positioning results of the above-mentioned vehicles, the on-board controller can perform safety control of the vehicle. When the vehicle is driving in a tunnel, at key positions of the tunnel, such as the turning point of the tunnel, the downhill of the tunnel, the uphill of the tunnel, etc., if the control is improper, it will bring great safety hazards. The roads in the tunnel are generally not very wide. If the speed of the vehicle is not reduced to the set range at the turning point of the tunnel, corresponding safety accidents such as rollover and collision will be caused due to the turning. Therefore, the safety of driving in the tunnel is very important. On the basis of vehicle positioning, the present invention uses the real-time positioning results to calculate the distance of the vehicle from the nearest mark in front of the vehicle, that is, the mileage on the mapped route is subtracted from the mileage of the nearest key point of the vehicle along the vehicle direction on the drawn tunnel route. If the distance is less than the set threshold, such as 50 meters, and the speed is greater than the set speed, such as 50Km / h, it is considered that the probability of a safety risk ahead is relatively large, and the vehicle needs to be controlled in advance. When performing safety control, the speed reduction braking control can be performed by controlling the opening and closing degree of the drive proportional valve and the service brake valve, and the vehicle can be decelerated in advance so that when the vehicle reaches the critical point, the vehicle can be reduced to below the safe speed and pass the critical point safely, thereby improving the safety of the vehicle.

[0045] In addition, the present invention can also perform correction control on the vehicle when the vehicle is running off the track. Specifically, the on-board controller determines whether the vehicle is running off the track (especially in the case of an arc section, such as Figure 5 As shown in the figure, when the wheel steering angle is at zero, and the lateral slip angle or roll angle data gradually increases or decreases, it is judged that the vehicle is in a deviation state. At this time, the on-board controller outputs the control steering proportional valve and the drive proportional valve to perform timely deviation correction processing, which reduces the driver's behavior of frequently adjusting the driving direction and ensures the stability of the vehicle's driving.

[0046] When the vehicle is traveling on an arc section, Figure 5 As shown, if only the vehicle deviation control is required, a dual-axis angle sensor can be installed on the vehicle to replace the original gyroscope / three-axis angle sensor. When the wheel steering angle is at zero, if the roll angle value of the angle sensor gradually increases or decreases, the on-board controller determines that the vehicle is in a deviation state, and then performs deviation correction control. When the body posture angle measured by the gyroscope / three-axis angle sensor has a large value of drift or zero deviation stability, the present invention needs to add a three-axis angle sensor / gyroscope at the center of mass (center of gravity) of the vehicle body, and during the driving process of the vehicle, the two gyroscopes / three-axis angle sensors are alternately powered on and off at regular intervals. The measurement cumulative error of the gyroscope / three-axis angle sensor is reduced by initialization processing during the power-off process, thereby improving the accuracy of positioning and the reliability of safety control.

[0047] Method Embodiment

[0048] The present invention first measures the footage and mileage of the tunnel relative to the tunnel entrance position, and uses this to draw the tunnel route. The drawn tunnel route includes the deflection angle, mileage and set marking points relative to the calibrated position, wherein the marking points refer to the tunnel turning points and / or ramps; then the calibrated position is used to calibrate the attitude sensor on the vehicle, and the attitude sensor is used to measure the lateral deviation angle of the vehicle; then the deflection angle of the vehicle in the tunnel is obtained in real time based on the calibrated attitude sensor, and the vehicle position is mapped on the drawn tunnel route according to the actual driving distance of the vehicle; finally, according to the driving direction of the vehicle, the distance between the position of the vehicle mapped to the drawn route and the nearest marking point in front is calculated, and when the distance is less than the set threshold and the vehicle speed is greater than the set vehicle speed, the vehicle is subjected to deceleration braking control. The specific implementation of this method has been described in detail in the system embodiment, and will not be repeated here.

Claims

1. A safety control method based on real-time positioning of tunnel vehicles, characterized in that: The safety control method comprises the following steps: 1) Measuring the mileage pile number, side pile measurement data and center pile measurement data of each work cycle shift of tunnel excavation, determining the tunnel pavement direction according to the side pile measurement data and / or the center pile measurement data, and determining the deflection angle between the tunnel excavation direction and the tunnel entrance position, determining the tunnel excavation mileage according to the mileage pile number, and drawing the tunnel route according to the mileage and deflection angle, wherein the drawn tunnel route includes marking points and the deflection angle and mileage relative to the calibrated position, wherein the marking points refer to the turning points and ramps of the tunnel, the side pile measurement data includes the coordinates, offset and deflection of the side piles, and the center pile measurement data includes the coordinates of the center pile; 2) Calibrate a posture sensor on the vehicle using the calibration position, wherein the posture sensor is used to measure the posture angle of the vehicle; 3) Based on the calibrated attitude sensor, the attitude angle of the vehicle in the tunnel is obtained in real time, and the vehicle position is mapped to the drawn tunnel route according to the actual driving distance of the vehicle; 4) Calculate the distance between the position of the vehicle mapped to the drawn tunnel line and the nearest marking point in front, and perform deceleration and braking control on the vehicle when the distance is less than a set threshold and the vehicle speed is greater than a set speed.

2. The safety control method based on real-time positioning of tunnel vehicles according to claim 1 is characterized in that: The attitude sensor is a gyroscope or a three-axis angle sensor, which is installed at the center of gravity of the vehicle to measure the attitude angle of the vehicle.

3. The safety control method based on real-time positioning of tunnel vehicles according to claim 1 is characterized in that: The method also includes determining whether the vehicle is deviating based on the measured vehicle lateral deviation angle and wheel steering angle, and performing deviation correction control based on the determination result.

4. The safety control method based on real-time positioning of tunnel vehicles according to claim 2 is characterized in that: In step 2), the calibrated position of the gyroscope or the three-axis angle sensor is used as its zero position during calibration.

5. The safety control method based on real-time positioning of tunnel vehicles according to claim 1 is characterized in that: The step 1) uses a total station to perform measurement.

6. The safety control method based on real-time positioning of tunnel vehicles according to claim 1 is characterized in that: In step 3), when mapping the vehicle position onto the drawn tunnel line, the actual distance traveled by the vehicle needs to be multiplied by the cosine of the angle between the actual driving route of the vehicle and the drawn tunnel line.

7. A safety control system based on real-time positioning of tunnel vehicles, characterized in that: The control system includes a vehicle-mounted controller, a posture sensor and a vehicle speed sensor, wherein the posture sensor is used to be arranged at the center of gravity of the vehicle to measure the lateral deviation angle of the vehicle, and the vehicle speed sensor is used to measure the speed of the vehicle; the vehicle-mounted controller is used to obtain the mileage pile number, the side pile measurement data and the center pile measurement data of the tunnel excavation, determine the tunnel pavement direction according to the side pile measurement data and / or the center pile measurement data, determine the deviation angle between the tunnel excavation direction and the tunnel entrance position, determine the tunnel excavation mileage according to the mileage pile number, and draw the tunnel route according to the mileage and the deviation angle, the side pile measurement data includes The coordinates, offset and deflection of the side stakes, and the center stake measurement data include the coordinates of the center stake; the vehicle position is mapped on the drawn tunnel route based on the vehicle's attitude angle in the tunnel measured by the attitude sensor and the actual driving distance of the vehicle obtained by the speed sensor, and the distance between the position of the vehicle mapped to the drawn route and the nearest marking point in front is calculated. When the distance is less than the set threshold and the vehicle speed is greater than the set speed, the vehicle is subjected to slow braking control; the drawn tunnel route includes marking points and the deflection angle and mileage relative to the calibrated position, where the marking points refer to the tunnel turns and ramps.

8. The safety control system based on real-time positioning of tunnel vehicles according to claim 7 is characterized in that: When mapping the vehicle position onto the drawn tunnel line, the actual distance traveled by the vehicle needs to be multiplied by the cosine of the angle between the actual vehicle route and the drawn tunnel line.

9. The safety control system based on real-time positioning of tunnel vehicles according to claim 7, characterized in that: The attitude sensor is a gyroscope or a three-axis angle sensor, which is installed at the center of gravity of the vehicle to measure the attitude angle of the vehicle.

10. The safety control system based on real-time positioning of tunnel vehicles according to claim 7, characterized in that: The vehicle-mounted controller is also used to determine whether the vehicle is running off the track based on the measured vehicle lateral deviation angle and wheel steering angle, and to perform deviation correction control based on the determination result.

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