Vehicle marshalling operation method based on digital track shortcut system

Abstract

The invention discloses a vehicle marshalling operation method based on a digital track shortcut system, and the method comprises the steps: enabling a vehicle-mounted system to carry out the task matching through a database according to an operation task issued by a ground system, and carrying out the vehicle marshalling operation according to a vehicle operation path plan and speed plan set by a digital track; a task matched with the vehicle-mounted system comprises running instruction information of a current task vehicle and set time information of each magnetic nail point; in the process that the vehicle executes the task, the vehicle-mounted system compares the real-time operation time with the set time of positioning of the magnetic nail point where the vehicle-mounted system is located, if the actual operation time is delayed, the speed needs to be increased to catch up the set time, and if the actual operation time is advanced, the speed needs to be decreased to match the set time. According to the vehicle marshalling operation method based on the digital track shortcut system, for the vehicles based on the digital track system, the vehicle operation time is restrained by monitoring and positioning the vehicle operation time in real time, and the conditions of vehicle collision and inaccurate planning can be effectively prevented.

Description

Technical Field

[0001] The invention relates to a vehicle marshaling operation method based on a digital rail rapid transit system. Background Art

[0002] Digital Rail Rubber-Tyred Tram (DRT) is a new type of public transportation developed based on modern tram technology. It uses electromagnetic markers, visual navigation and satellite navigation technology to achieve digital track guidance, allowing the vehicle to travel along the predetermined route without physical tracks. The vehicle is equipped with various sensors such as inertial navigation, cameras, millimeter-wave radar, lidar, etc., which provide many ways to obtain the vehicle's posture and environmental perception, and various electric actuators, such as drive motors, electronic steering systems (EPS) and electronic braking systems (EBS), etc., their application provides technical convenience for the development of autonomous driving.

[0003] Currently, DRT mostly uses medium-capacity vehicles to meet the needs of large passenger flows, but the passenger flow is not always high, so there is a problem of idle resources for such vehicles; and the normal departure time is 10-15 minutes per trip, so passengers who miss the previous trip will have to wait for a long time. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a vehicle marshaling operation method based on a digital rail rapid transit system, which can ensure the safety of marshaling vehicle operation and the punctuality of the operation plan, ensure the accuracy of the marshaling vehicle operation time and prevent vehicle collisions, and avoid planned delays.

[0005] The technical solution to achieve the above purpose is: a vehicle marshaling operation method based on a digital rail rapid transit system, comprising the following steps:

[0006] S1, route planning and speed planning: after the digital track is constructed, the vehicle operation route planning and speed planning are completed according to the operation task planning; the digital track is composed of discrete magnetic pin points;

[0007] S2, time synchronization: After the vehicle is started, the vehicle system automatically synchronizes with the world time to ensure the consistency of the vehicle system time;

[0008] S3, running time initialization: the vehicle system plans the inter-station operation as a task. When the corresponding task is completed, the vehicle's current task running time is reset to 0, and the time is reset when the next task is started;

[0009] S4, data interaction: During the operation of vehicle marshaling, the vehicle obtains the location, task execution, and speed information of the preceding vehicle through vehicle-ground communication; when vehicles between groups are running, the leading vehicle of the rear group obtains the operation information of the trailing vehicle of the front group; when vehicles within the group are running, the following vehicle obtains the operation information of the preceding vehicle;

[0010] S5, time control and safety protection: According to the operation tasks issued by the ground system, the on-board system matches the tasks through the database. According to the vehicle operation route planning and speed planning of the digital track, the tasks matched by the on-board system include the operation instruction information of the current task vehicle and the established time information of each magnetic pin point; during the vehicle's execution of the task, the on-board system compares the real-time operation time with the established time of the magnetic pin point where it is located. If the actual operation time lags behind, the speed needs to be increased to catch up with the established time. If the actual operation time is ahead, the speed needs to be reduced to match the established time; during the operation, the on-board system obtains the position of the preceding vehicle transmitted by the ground system, and calculates the distance between the vehicles in combination with the electronic map of the current task to ensure driving safety; if the vehicle-ground communication is abnormal during the operation, the on-board system calculates the position of the preceding vehicle based on the preceding vehicle information obtained in the previous cycle to ensure safety; if the preceding vehicle fails and the vehicle-ground communication is abnormal, the on-board system integrates the preceding vehicle position calculation and perception information to complete safety protection.

[0011] The above-mentioned vehicle marshaling operation method based on the digital rail rapid transit system, wherein the vehicle is accurately positioned by reading the magnetic nail points during operation, and the current real-time running time and the established time difference of the vehicle arriving at the magnetic nail point according to the speed plan are accurately obtained, thereby completing the precise control of the on-board system time.

[0012] In the above-mentioned vehicle marshaling operation method based on the digital rail rapid transit system, the predetermined time determination process is as follows:

[0013] S11, determine the running speed of each scene segment according to the operation task planning;

[0014] S12, determining the predetermined time for each magnetic pin point according to the magnetic pin point layout distance, the algorithm preview distance, the planned speed at the algorithm preview distance, and the acceleration of the speed to reach the target;

[0015] S13, writing the calculated predetermined time into the corresponding magnetic pin point on the electronic map of each operation task;

[0016] In the above-mentioned vehicle marshaling operation method based on a digital rail rapid transit system, the algorithm preview distance is an operation plan that the vehicle control system needs to consider a fixed distance of the road ahead in order to make a decision in order to ensure driving safety and comfort.

[0017] In the above-mentioned vehicle marshaling operation method based on a digital rail rapid transit system, in step S5, the perception information is processed by a fusion of multiple sensors on the environmental information on the vehicle's driving path, and finally outputs whether there is an obstacle in front of the vehicle and the distance between the vehicle and the obstacle.

[0018] In the above-mentioned vehicle marshaling operation method based on a digital rail rapid transit system, the sensors include a laser radar, a millimeter wave radar and a camera.

[0019] The vehicle marshaling operation method based on the digital rail rapid transit system of the present invention realizes the constraint of vehicle operation time by real-time monitoring of vehicle operation time and positioning for vehicles based on the digital rail system, and can effectively prevent vehicle collision and untimely schedule. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of vehicle operation data interaction;

[0021] Figure 2 The vehicle operation timing diagram of the vehicle marshaling operation method based on the digital rail rapid transit system of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solution of the present invention, the specific implementation methods thereof are described in detail below in conjunction with the accompanying drawings:

[0023] See also Figure 1 and Figure 2 The best embodiment of the present invention is a vehicle marshaling operation method based on a digital rail rapid transit system, comprising the following steps:

[0024] S1, route planning and speed planning: After the digital track is built, the vehicle route planning (electronic map) and speed planning are completed according to the operation task planning; the digital track is composed of discrete magnetic pin points. The vehicle is accurately positioned by reading the magnetic pin points during operation, and accurately obtains the current real-time running time and the established time difference between the vehicle's arrival at the magnetic pin point according to the speed planning, so as to complete the precise control of the vehicle system time. The established time determination process is as follows:

[0025] (1) Determine the operating speed of each scene segment based on the operational task plan;

[0026] (2) Determine the set time for each magnetic pin point based on the magnetic pin point layout distance, the algorithm preview distance, the planned speed at the algorithm preview distance, and the acceleration of the speed to reach the target;

[0027] (3) The calculated set time is written into the corresponding magnetic pin point on the electronic map (vehicle operation route planning) of each operation task.

[0028] The algorithm preview distance is the operation plan that the vehicle control system needs to consider a fixed distance of the road ahead in order to make decisions to ensure driving safety and comfort.

[0029] S2, time synchronization: After the vehicle is started, the vehicle system automatically synchronizes with the world time to ensure the consistency of the vehicle system time.

[0030] S3, running time initialization: The vehicle system plans the inter-station operation as a task. When the corresponding task is completed, the vehicle's current task running time is reset to 0, and the time is restarted when the next task is started.

[0031] S4, data interaction: During the vehicle grouping operation, the vehicle obtains the positioning, task execution, and speed information of the preceding vehicle through vehicle-ground communication; when vehicles between groups are running, the leading vehicle of the rear group obtains the operation information of the trailing vehicle of the front group; when vehicles within a group are running, the following vehicle obtains the operation information of the preceding vehicle.

[0032] S5, time control and safety protection: According to the operation tasks issued by the ground system, the on-board system matches the tasks through the database. According to the vehicle operation route planning and speed planning of the digital track, the tasks matched by the on-board system include the operation instruction information of the current task vehicle and the established time information of each magnetic pin point; during the vehicle's execution of the task, the on-board system compares the real-time operation time with the established time of the magnetic pin point where it is located. If the actual operation time lags behind, the speed needs to be increased to catch up with the established time. If the actual operation time is ahead, the speed needs to be reduced to match the established time; during the operation, the on-board system obtains the position of the preceding vehicle transmitted by the ground system, and calculates the distance between the vehicles in combination with the electronic map of the current task to ensure driving safety; if the vehicle-ground communication is abnormal during the operation, the on-board system calculates the position of the preceding vehicle based on the preceding vehicle information obtained in the previous cycle to ensure safety; if the preceding vehicle fails and the vehicle-ground communication is abnormal, the on-board system integrates the preceding vehicle position calculation and perception information to complete safety protection.

[0033] In summary, the vehicle marshaling operation method based on the digital rail rapid transit system of the present invention, for vehicles based on the digital rail system, can effectively prevent vehicle collisions and planned delays by real-time monitoring of vehicle running time and positioning, and can ensure the safety of marshaling vehicle operation and the punctuality of the operation plan, ensure the accuracy of the marshaling vehicle running time and prevent vehicle collisions, thereby avoiding planned delays.

[0034] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A vehicle marshaling operation method based on a digital rail rapid transit system, characterized in that: The following steps are involved: S1, route planning and speed planning: after the digital track is constructed, the vehicle operation route planning and speed planning are completed according to the operation task planning; the digital track is composed of discrete magnetic pin points; S2, time synchronization: After the vehicle is started, the vehicle system automatically synchronizes with the world time to ensure the consistency of the vehicle system time; S3, running time initialization: the vehicle system plans the inter-station operation as a task. When the corresponding task is completed, the vehicle's current task running time is reset to 0, and the time is reset when the next task is started; S4, data interaction: During the operation of vehicle marshaling, the vehicle obtains the location, task execution, and speed information of the preceding vehicle through vehicle-ground communication; when vehicles between groups are running, the leading vehicle of the rear group obtains the operation information of the trailing vehicle of the front group; when vehicles within the group are running, the following vehicle obtains the operation information of the preceding vehicle; S5, time control and safety protection: According to the operation tasks issued by the ground system, the on-board system matches the tasks through the database. According to the vehicle operation route planning and speed planning of the digital track, the tasks matched by the on-board system include the operation instruction information of the current task vehicle and the established time information of each magnetic pin point. During the vehicle's execution of the task, the on-board system compares the real-time operation time with the established time of the magnetic pin point where it is located. If the actual operation time lags behind, the speed needs to be increased to catch up with the established time. If the actual operation time is ahead, the speed needs to be reduced to match the established time. During the operation, the on-board system obtains the location of the preceding vehicle transmitted by the ground system and calculates the distance between the vehicles in combination with the electronic map of the current task to ensure driving safety. If the vehicle-ground communication is abnormal during operation, the on-board system will calculate the position of the preceding vehicle based on the preceding vehicle information obtained in the previous cycle to ensure safety; if the preceding vehicle fails and the vehicle-ground communication is abnormal, the on-board system will integrate the preceding vehicle position calculation and perception information to complete safety protection.

2. A vehicle marshaling operation method based on a digital rail rapid transit system according to claim 1, characterized in that: The vehicle can accurately obtain its position by reading the magnetic pin points during operation, and accurately obtain the current real-time running time and the established time difference between the vehicle's current positioning and the magnetic pin point based on the speed plan, so as to complete the precise control of the vehicle system time.

3. The vehicle marshaling operation method based on the digital rail rapid transit system according to claim 1, characterized in that: The established time determination process is as follows: S11, determine the running speed of each scene segment according to the operation task planning; S12, determining the predetermined time for each magnetic pin point according to the magnetic pin point layout distance, the algorithm preview distance, the planned speed at the algorithm preview distance, and the acceleration of the speed to reach the target; S13, writing the calculated predetermined time into the corresponding magnetic pin point on the electronic map of each operation task.

4. A vehicle marshaling operation method based on a digital rail rapid transit system according to claim 3, characterized in that: The algorithm preview distance is the operation plan that the vehicle control system needs to consider a fixed distance of the road ahead in order to make decisions to ensure driving safety and comfort.

5. The vehicle marshaling operation method based on the digital rail rapid transit system according to claim 1, characterized in that: In step S5, the perception information is obtained by fusing the environmental information on the vehicle's driving path through a variety of sensors, and finally outputting information on whether there is an obstacle in front of the vehicle and the distance between the vehicle and the obstacle.

6. A vehicle marshaling operation method based on a digital rail rapid transit system according to claim 5, characterized in that: The sensors include laser radar, millimeter wave radar and camera.

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