CN105346563B - Railway vehicle anti-collision system and method based on absolute displacement - Google Patents
Railway vehicle anti-collision system and method based on absolute displacement Download PDFInfo
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- CN105346563B CN105346563B CN201510680164.8A CN201510680164A CN105346563B CN 105346563 B CN105346563 B CN 105346563B CN 201510680164 A CN201510680164 A CN 201510680164A CN 105346563 B CN105346563 B CN 105346563B
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- 238000001514 detection method Methods 0.000 claims abstract description 24
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
- B61L23/18—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a railway vehicle anti-collision system and method based on absolute displacement. The railway vehicle anti-collision system and method solve the problems that in the prior art, anti-collision control is not accurate enough and potential collision hazards exist. The system comprises at least two railway vehicles running on the same rail. A speed and displacement information collection unit, a network connection unit, a position state detection unit, a change trend relation judgment unit, a front-back position relation judgment unit, a running state analysis unit and an anti-collision strategy output unit are arranged on each railway vehicle. The movement relation between the two railway vehicles is judged by detecting the front-back position relation between the railway vehicles and the railway vehicle absolute displacement value change trend relation, the current limited speed is calculated, and the current limited speed is compared with the current speed, so that whether anti-collision control is output or not can be judged. The railway vehicle anti-collision system and method have the beneficial effects that the running states of the railway vehicles are analyzed and judged through the absolute displacement value, the distance and movement relation between the railway vehicles is accurately analyzed, accurate data are provided for anti-collision calculation, and the anti-collision control accuracy is improved.
Description
Technical field
The present invention relates to a kind of anticollision technical field, more particularly, to a kind of little, precise control by track, the influence of topography
The high rail vehicle collision avoidance system based on absolute displacement of degree and method.
Background technology
As the rapid growth of mileage is runed in railway electrification, the quantity of railcar is also increased rapidly therewith, and railcar exists
Safe pressure when operation, construction operation is also increased dramatically.Although by the every bursting tube for strengthening, improving railcar
Reason system, largely reduces unsafe factor of the railcar in operation, operation process, but or there is behaviour violating the regulations
Make, manage the important hidden danger that driving, job safety are jeopardized in blind area etc..
It is therefore desirable to development and exploitation are suitable for the anticollision device, collision-prevention device of the features such as vehicle track running, operation, for meeting mesh
Anticollision between front railcar requires, eliminates the hidden danger that railcar occurs mutual collision accident, ensure railcar in operation, operation
During safety.
It is general in existing anticollision control that the distance between railcar is obtained to calculate using GPS device, and set using GPS
Easily affected by conditions such as track routes, terrain environments when standby so that the result of calculating is inaccurate, and distance between railcar
It is inaccurate to affect follow-up anticollision control, it is likely to result in railcar and collides, causes the accident.
The content of the invention
During the present invention mainly solves prior art, anticollision control is not accurate enough, also there is a problem of colliding hidden danger, carries
Supply a kind of little by track, the influence of topography, the high rail vehicle collision avoidance system based on absolute displacement of control accuracy.
Present invention also offers a kind of little by track, the influence of topography, the high track based on absolute displacement of control accuracy
Vehicle collision avoidance method.
The present invention is applied to railcar etc. and means in state from wheel movement special equipment from wheel movement special equipment, railcar etc.
The railcar run on ferrum Business Line, road maintainance machinery, Operation Van and other have more than 80km/h self-operating abilities detection,
Maintenance of equipment, hereinafter referred to as railcar.
What the above-mentioned technical problem of the present invention was mainly addressed by following technical proposals：It is a kind of to be based on absolute displacement
Rail vehicle collision avoidance system, including at least two operation railcars on the same track, be provided with speed in railcar
Degree displacement information collecting unit, the network connection unit for carrying out communicating between railcar, location status detector unit, variation tendency
Relation judging unit, front and back position relation judging unit, running state analysis unit, anti-collision strategy output unit, network connection
Unit is connected with speed displacement information acquisition unit, variation tendency relation judging unit and front and back position relation judging unit respectively
Connection, speed displacement information acquisition unit are connected with variation tendency relation judging unit and front and back position relation judging unit respectively
Connection, location status detector unit is connected with variation tendency relation judging unit respectively and front and back position relation judging unit connects
Connect, variation tendency relation judging unit and front and back position relation judging unit are connected with running state analysis unit respectively, run
State analysis unit is connected with anti-collision strategy output unit；
Speed displacement information acquisition unit：The speed of service of acquisition railcar, velocity phase and railcar is absolute in real time
Displacement data；
Location status detector unit：Whether detection railcar is even hung with other railcars；
Variation tendency relation judging unit：The change of absolute displacement values between railcar is determined according to even extension and absolute displacement values
Change trend relation；
Front and back position relation judging unit：Front and back position relation between railcar is determined according to even extension and traffic direction；
Running state analysis unit：According to the change of front and back position relation and railcar absolute displacement values between railcar
Trend relation judges the movement relation between two railcars；
Anticollision strategy output unit：According to the movement relation between railcar, current restriction speed is calculated, by current
Speed relatively judges whether to export anti-collision control with the current speed ratio that limits.The present invention adopts the speed displacement information acquisition unit can be with
For GYK equipment, absolute displacement values can be exported, absolute displacement values change numerical value increasing or decreasing according to traffic direction and also accordingly change
Become and running velocity can be exported.Speed displacement information acquisition unit can also be other sensors testing equipment.Each rail
Speed displacement information acquisition unit is both provided with road car, and the running status of other railcars is obtained by network connection unit,
That is the information such as absolute displacement values, speed of service.Running state analysis unit is according to the absolute displacement values of Adjacent vehicles by judging
And the running status being calculated between railcar, i.e. track workshop movement relation and track vehicle headway.The present invention is using speed
Degree displacement information collecting unit, by absolute displacement values analysis judge vehicle track running state, compare using GPS device calculating away from
From overcoming is affected larger problem by conditions such as track routes, terrain environments, accurately distance and motion between analysis railcar
Relation, calculates for anticollision and provides accurate data, improves anticollision control accuracy.
Used as a kind of preferred version, between the vehicle, location status detector unit includes contact switch, contact switch difference
On railcar rear and front end.In order to analyze between two railcars movement relation and apart from when, in the case of need to being affiliated in advance
Confirm front and back position relation between two railcars.Between vehicle, location status detector unit is used for detecting that this car exists in front or adjacent car
Before.When two railcars are mutually affiliated to, contact switch also contacts with each other, and contact switch issues a signal to processing unit, processing unit
Judge after receiving signal that this sends the contact switch place end of signal company and hangs another railcar, then according to output absolute displacement values
Phase place judge adjacent car be this Herba Plantaginis or after.
A kind of rail vehicle collision-proof method based on absolute displacement, comprises the following steps：
S1. railcar is separately run, and anticollision detection starts；
S2. according to even front and back position relation and absolute displacement values variation tendency relation detection rail between extension state lower railway car
Movement relation between road car, while according to the distance between the absolute displacement values of each railcar, detection railcar；
S3. according to the movement relation between railcar, judge whether to implement anticollision, according to current if anticollision is implemented
Apart from export-restriction speed between railcar, by the comparison with present speed, choose whether to export anticollision control.
The present invention adopts speed displacement information acquisition unit, judges vehicle track running state by absolute displacement values analysis,
Compare using GPS device computed range, overcoming is affected larger problem by conditions such as track routes, terrain environments, accurately divide
Distance and movement relation between analysis railcar, calculate for anticollision and provide accurate data, improve anticollision control accuracy.
Used as a kind of preferred version, step S2 includes the judgement for connecting extension state between railcar, and judge process is：If rail
Road car wherein end thereof contacts switch triggering, then the contact switch place end and adjacent car for judging this car triggering are connected to the hanging.Contact is opened
Close triggering and then judge that, in even extension state, contact switch is even hung status signal and is sent to front and back position relation judging unit and change
Change trend relation judging unit.
Used as a kind of preferred version, between railcar, front and back position relation judge process is：Detection railcar direct of travel,
Ruo Benche relative with direct of travel one end company hangs with adjacent car, judges on direct of travel this parking stall in front, adjacent parking stall in rear, instead
Hang with adjacent car in this car direct of travel one end company, then in rear, adjacent parking stall is in front for this parking stall.
Used as a kind of preferred version, between railcar, absolute displacement values variation tendency relation judge process is：Detection track
The current direct of travel of car, and the respective absolute displacement values of railcar are connected to the hanging, if railcar absolute displacement values variation tendency is all
Be incremental, then absolute displacement values are judged between railcar for homophase and be all positive；If being all to successively decrease, judge between railcar
Absolute displacement values are homophase and are all reverse；Ruo Benche absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then judge track
Between car, absolute displacement values are for anti-phase, and this car is positive, and adjacent car is reverse；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement
Value is incremented by, then judge that absolute displacement values are for anti-phase between railcar, and this car is reversely, and adjacent car is positive.
As a kind of preferred version, in step S2, detect that the method for the movement relation between railcar includes：
A. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all incremented by and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then front, adjacent truck position is rear for this truck position；If the railcar absolute displacement values of motion successively decrease, this car rear,
Adjacent car is front；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical,
And this truck position, front, adjacent truck position is rear；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running direction phases
Together, and this car is rear, adjacent car is front；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then the motion of two railcars
It is in opposite direction, rear car each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Front truck each other；
B. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all to successively decrease and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then rear, adjacent truck position is front for this truck position；If the railcar absolute displacement values of motion successively decrease, this car front,
Adjacent car is rear；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical,
And this truck position, rear, adjacent truck position is front；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running direction phases
Together, and this car is front, adjacent car is rear；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then the motion of two railcars
It is in opposite direction, front truck each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Rear car each other；
C. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all incremented by and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then rear, adjacent truck position is front for this truck position；If the railcar absolute displacement values of motion successively decrease, this car front,
Adjacent car is rear；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then this truck position is in rear, adjacent truck position
Front；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical, and this car, front, adjacent car is rear；
Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and the motion of two railcars
It is in opposite direction, front truck each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Rear car each other；
D. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all to successively decrease and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then front, adjacent truck position is rear for this truck position；If the railcar absolute displacement values of motion successively decrease, this car rear,
Adjacent car is front；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical,
And this truck position, front, adjacent truck position is rear；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running direction phases
Together, and this car is rear, adjacent car is front；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then the motion of two railcars
It is in opposite direction, rear car each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Front truck each other；
E. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in front, adjacent parking stall
Put rear；Ruo Benche absolute displacement values successively decrease, then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values are incremented by,
Then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values successively decrease, front, adjacent truck position is rear for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track runnings are in opposite direction,
Rear car each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track runnings are in opposite direction, each other front truck；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this car, front, adjacent car is rear；
Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, and two car traffic directions are identical, then two vehicle track running direction phases
Together, and this car is rear, adjacent car is front；
F. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value successively decreases, and adjacent car absolute displacement values are incremented by, and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in rear, adjacent parking stall
Put front；Ruo Benche absolute displacement values successively decrease, then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values are incremented by,
Then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values successively decrease, rear, adjacent truck position is front for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion conversely,
Front truck each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, rear car each other；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in rear, adjacent car
Position is front；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this
Front, adjacent car is rear for truck position；
G. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value successively decreases, and adjacent car absolute displacement values are incremented by, and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in front, adjacent parking stall
Put rear；Ruo Benche absolute displacement values successively decrease, then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values are incremented by,
Then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values successively decrease, front, adjacent truck position is rear for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion conversely,
Rear car each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, front truck each other；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in front, adjacent car
Position is rear；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this
Rear, adjacent car is front for truck position；
H. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in rear, adjacent parking stall
Put front；Ruo Benche absolute displacement values successively decrease, then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values are incremented by,
Then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values successively decrease, rear, adjacent truck position is front for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion conversely,
Front truck each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, rear car each other；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in rear, adjacent car
Position is front；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this
Front, adjacent truck position is rear for truck position.
As a kind of preferred version, include the step of the distance between detection railcar in step S2：
S21., when railcar departs from and even hangs, minute book car and adjacent car depart from respective absolute displacement values when even hanging respectively,
And using the absolute displacement values position of record as respective basic point；
S22. this car calculates difference M of the absolute displacement values between current location and its basic point, adjacent car calculate current location with
Difference N of the absolute displacement values between its basic point, difference M of absolute displacement values is compared with difference N of absolute displacement values, is obtained two and is worth
The absolute value of difference be the distance between this car and adjacent car.
Used as a kind of preferred version, the detailed process for exporting anticollision control in step S3 includes：
S31. judge the movement relation between railcar,
If current this car is consistent with adjacent car traffic direction, current this parking stall in adjacent car rear, then according to current this car and neighbour
The distance between car is calculated and limits speed；
If current this car is consistent with adjacent car traffic direction, this car actual highest is then transported by current this parking stall in adjacent front side
Row speed limit is used as restriction speed；
If current this car with adjacent car traffic direction conversely, current this car is run in opposite directions with adjacent car, according to currently this car and
The distance between adjacent car is calculated and limits speed；
If current this car with adjacent car traffic direction conversely, current this car and adjacent car trailing movement, by this car actual highest
Operation speed limit is used as restriction speed；
S32. the calculating of speed is limited according to below equation：
It is calculated current restriction speed v0, wherein SzFor the distance between Ben Che and adjacent car, remaining parameter is known.
In formula
SzThe distance between braking distance is this car with adjacent car, m；
SkIdling stopping distance, m；
SeActive braking distance, m；
v0Initial speed at brake application is i.e. current to limit speed, km/h；
vmBraking end speed, km/h；
tkIdling braking time, s；
Brake shoe (brake lining) conversion friction coefficient；
Train equivalent braking ratio；
βcCoefficient of service braking；
w0Specific train datum drag, N/kN；
ijBraking location adds thousand fraction of the gradient.
Limit speed calculation parameter as shown in the table：
Note 1：In table, n is a traction number, ijAdd thousand fraction of the gradient for braking location, in idling braking time computing formula, on
Ramp ijTake 0；
Note 2：V in conversion friction coefficient and Unit basic resistance formula, by v=(v0+vmThe value of)/2；
Note 3：Regardless of type, brake hard idling braking time presses 2.5s calculating to unit train number；
Note 4：Foundation in this table《Regulations of railway technical operation》With《Train traction computing code》The content of formulation, with institute's evidence
Code changes and changes.
Note 5：Railcar is with reference to freight car braking calculating parameter.
Note 6：Idling braking time needs to consider the factors such as communication delay.
S33. current this car and adjacent car whether traffic direction conversely, and for opposite operation, if not into lower step, if then
Current this car of detection limits speed with whether the speed sum of adjacent car is more than, if judged result then exports anticollision control, if
Otherwise return to step S32；
S34. whether this car present speed is detected more than speed is limited, if otherwise return to step S32, if then exporting anti-collision
Hit control；
Anticollision control includes alarm mode and control motor vehicle braking system.
Alarm mode is：Using sound, display alarm railcar driver according to the restriction speed controlling car speed for exporting,
And different grades of early warning output is provided according to dangerous situation.
Controlling motor vehicle braking system is：Be linked into the braking control system of railcar, according to current restriction speed with work as
The relation of front speed, the corresponding warning of output, service braking, brake hard control.The warning, service braking, brake hard control
It is made as conventional anticollision rate-determining steps.
As a kind of preferred version, abnormality processing step is all included in step S1-S3, abnormality processing step includes：
The velocity information of Current vehicle can not be collected, or in exceeding schedule time, is not received by effective speed letter
Breath, system export warning message by sound, by way of showing, and the cycle plays at certain intervals, until collecting effectively
Velocity information；
The displacement information of Current vehicle can not be collected, or in exceeding schedule time, is not received by effective displacement letter
Breath, system export warning message by sound, by way of showing, and the cycle plays at certain intervals, until collecting effectively
Displacement information；
Effectively neighbour's car data information is not received by the appointed time, then it is assumed that radio communication fails, then system will
With sound, display mode output prompt messages, and the cycle plays at certain intervals, until radio communication recovers normal.
Operate under anticollision state, it may appear that abnormal conditions, need to make corresponding reaction as the case may be.
Therefore, it is an advantage of the invention that：The present invention adopts speed displacement information acquisition unit, is analyzed by absolute displacement values
Judge vehicle track running state, compare using GPS device computed range, overcome by the condition shadow such as track routes, terrain environment
The larger problem of sound, accurately distance and movement relation between analysis railcar, calculate for anticollision and provide accurate data, carry
High anticollision control accuracy.
Description of the drawings
Accompanying drawing 1 is a kind of structural frames diagram of the present invention；
Accompanying drawing 2 is a kind of schematic flow sheet of the inventive method.
1- speed displacement information acquisition unit 2- location status detector unit 3- network connection units 4- variation tendency is closed
It is judging unit 5- front and back position relation judging unit 6- running state analysis unit 7- anti-collision strategy output units
Specific embodiment
Below by embodiment, and accompanying drawing is combined, technical scheme is described in further detail.
Embodiment：
A kind of rail vehicle collision avoidance system based on absolute displacement of the present embodiment, as shown in figure 1, transport including at least two
Row railcar on the same track, railcar are from wheel movement special equipment.Speed displacement information is provided with railcar
Collecting unit 1, the network connection unit 3 for carrying out communicating between railcar, location status detector unit 2, variation tendency relation are sentenced
Disconnected unit 4, front and back position relation judging unit 5, running state analysis unit 6, anti-collision strategy output unit 7, network connection list
Unit 3 is connected with speed displacement information acquisition unit, variation tendency relation judging unit 4 and front and back position relation judging unit 5 respectively
Connect, speed displacement information acquisition unit is connected with variation tendency relation judging unit 4 and front and back position relation judging unit 5 respectively
Connection, location status detector unit 2 are connected with variation tendency relation judging unit 4 and front and back position relation judging unit 5 respectively,
Variation tendency relation judging unit 4 and front and back position relation judging unit 5 are connected with running state analysis unit 6 respectively, operation
State analysis unit 6 is connected with anti-collision strategy output unit 7；
Speed displacement information acquisition unit：The speed of service of acquisition railcar, velocity phase and railcar is absolute in real time
Displacement data；
Location status detector unit：Whether detection railcar is even hung with other railcars；Position between vehicle in the present embodiment
State detection unit 4 adopts contact switch, contact switch to include two, is separately mounted on railcar rear and front end.
Variation tendency relation judging unit：The change of absolute displacement values between railcar is determined according to even extension and absolute displacement values
Change trend relation；
Front and back position relation judging unit：Front and back position relation between railcar is determined according to even extension and traffic direction；
Running state analysis unit：According to the change of front and back position relation and railcar absolute displacement values between railcar
Trend relation judges the movement relation between two railcars；
Anticollision strategy output unit：According to the movement relation between railcar, current restriction speed is calculated, by current
Speed relatively judges whether to export anti-collision control with the current speed ratio that limits.
A kind of rail vehicle collision-proof method based on absolute displacement, as shown in Fig. 2 comprise the following steps：
Step S1. railcar is separately run, and anticollision detection starts.
Step S2. is according to even front and back position relation and the inspection of absolute displacement values variation tendency relation between extension state lower railway car
The movement relation surveyed between railcar, while according to the distance between the absolute displacement values of each railcar, detection railcar.
Wherein between railcar, front and back position relation and absolute displacement values variation tendency relation are obtained under even extension state, then
Before separate operation, including the judgement to connecting extension state between railcar, judge process is：If railcar wherein end thereof contacts
Switch triggering, then the contact switch place end and adjacent car for judging this car triggering are connected to the hanging.
After judging that railcar is in even extension state, front and back position relation and absolute displacement value changes between railcar are determined
Trend relation.
Between railcar, front and back position relation judge process is：Detection railcar direct of travel, Ruo Benche and direct of travel
Relative one end company hangs with adjacent car, judges on direct of travel this parking stall in front, adjacent parking stall in rear, otherwise in this car direct of travel
One end company hangs with adjacent car, then in rear, adjacent parking stall is in front for this parking stall.
Between railcar, absolute displacement values variation tendency relation judge process is：The current direct of travel of detection railcar, with
And the respective absolute displacement values of railcar are connected to the hanging, if railcar absolute displacement values variation tendency is all to be incremented by, judge track
Between car, absolute displacement values are homophase and are all positive；If being all to successively decrease, judge that absolute displacement values are homophase between railcar
And be all reverse；Ruo Benche absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then judge absolute displacement values between railcar
For anti-phase, and this car is positive, and adjacent car is reverse；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then judge track
Between car, absolute displacement values are for anti-phase, and this car is reversely, and adjacent car is positive.
The method of the movement relation between detection railcar includes：
A. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all incremented by and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then front, adjacent truck position is rear for this truck position；If the railcar absolute displacement values of motion successively decrease, this car rear,
Adjacent car is front；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical,
And this truck position, front, adjacent truck position is rear；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running direction phases
Together, and this car is rear, adjacent car is front；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then the motion of two railcars
It is in opposite direction, rear car each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Front truck each other；
B. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all to successively decrease and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then rear, adjacent truck position is front for this truck position；If the railcar absolute displacement values of motion successively decrease, this car front,
Adjacent car is rear；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical,
And this truck position, rear, adjacent truck position is front；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running direction phases
Together, and this car is front, adjacent car is rear；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then the motion of two railcars
It is in opposite direction, front truck each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Rear car each other；
C. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all incremented by and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then rear, adjacent truck position is front for this truck position；If the railcar absolute displacement values of motion successively decrease, this car front,
Adjacent car is rear；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then this truck position is in rear, adjacent truck position
Front；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical, and this car, front, adjacent car is rear；
Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and the motion of two railcars
It is in opposite direction, front truck each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Rear car each other；
D. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and neighbour
The absolute displacement values of car are all to successively decrease and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the absolute position of railcar of motion
Shifting value is incremented by, then front, adjacent truck position is rear for this truck position；If the railcar absolute displacement values of motion successively decrease, this car rear,
Adjacent car is front；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical,
And this truck position, front, adjacent truck position is rear；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running direction phases
Together, and this car is rear, adjacent car is front；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then the motion of two railcars
It is in opposite direction, rear car each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction,
Front truck each other；
E. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in front, adjacent parking stall
Put rear；Ruo Benche absolute displacement values successively decrease, then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values are incremented by,
Then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values successively decrease, front, adjacent truck position is rear for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track runnings are in opposite direction,
Rear car each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track runnings are in opposite direction, each other front truck；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this car, front, adjacent car is rear；
Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, and two car traffic directions are identical, then two vehicle track running direction phases
Together, and this car is rear, adjacent car is front；
F. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value successively decreases, and adjacent car absolute displacement values are incremented by, and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in rear, adjacent parking stall
Put front；Ruo Benche absolute displacement values successively decrease, then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values are incremented by,
Then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values successively decrease, rear, adjacent truck position is front for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion conversely,
Front truck each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, rear car each other；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in rear, adjacent car
Position is front；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this
Front, adjacent car is rear for truck position；
G. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value successively decreases, and adjacent car absolute displacement values are incremented by, and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in front, adjacent parking stall
Put rear；Ruo Benche absolute displacement values successively decrease, then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values are incremented by,
Then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values successively decrease, front, adjacent truck position is rear for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion conversely,
Rear car each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, front truck each other；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in front, adjacent car
Position is rear；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this
Rear, adjacent car is front for truck position；
H. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then this truck position is in rear, adjacent parking stall
Put front；Ruo Benche absolute displacement values successively decrease, then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values are incremented by,
Then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values successively decrease, rear, adjacent truck position is front for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion conversely,
Front truck each other；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, rear car each other；Ruo Benche
Absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in rear, adjacent car
Position is front；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this
Front, adjacent truck position is rear for truck position.
Meanwhile, the distance between railcar is calculated according to the absolute displacement values of each railcar, step includes：
S21., when railcar departs from and even hangs, minute book car and adjacent car depart from respective absolute displacement values when even hanging respectively,
And using the absolute displacement values position of record as respective basic point；
S22. this car calculates difference M of the absolute displacement values between current location and its basic point, adjacent car calculate current location with
Difference N of the absolute displacement values between its basic point, difference M of absolute displacement values is compared with difference N of absolute displacement values, is obtained two and is worth
The absolute value of difference be the distance between this car and adjacent car.
S3. according to the movement relation between railcar, judge whether to implement anticollision, according to current if anticollision is implemented
Apart from export-restriction speed between railcar, by the comparison with present speed, choose whether to export anticollision control, its process
Including：
S31. judge the movement relation between railcar,
If current this car is consistent with adjacent car traffic direction, anticollision is implemented in adjacent car rear in current this parking stall, then basis is worked as
The distance between front car and adjacent car are calculated and limit speed；
If current this car is consistent with adjacent car traffic direction, anticollision is implemented, then by this car in adjacent front side in current this parking stall
Actual highest operation speed limit is used as restriction speed；
If current this car with adjacent car traffic direction conversely, current this car is run in opposite directions with neighbour's car, enforcement anticollision, then basis
The distance between current this car and adjacent car are calculated and limit speed；
If current this car is with adjacent car traffic direction conversely, current this car and adjacent car trailing movement, implement anticollision, then incite somebody to action this
The actual highest operation speed limit of car is used as restriction speed.
If not four kinds of situations above, then operation terminates.
S32. limit being calculated as according to below equation for speed：
It is calculated current restriction speed v0, wherein SzFor the distance between Ben Che and adjacent car, remaining parameter is known.
In formula
SzThe distance between braking distance is this car with adjacent car, m；
SkIdling stopping distance, m；
SeActive braking distance, m；
v0Initial speed at brake application is i.e. current to limit speed, km/h；
vmBraking end speed, km/h；
tkIdling braking time, s；
Brake shoe (brake lining) conversion friction coefficient；
Train equivalent braking ratio；
βcCoefficient of service braking；
w0Specific train datum drag, N/kN；
ijBraking location adds thousand fraction of the gradient.
Limit speed calculation parameter as shown in the table：
Note 1：In table, n is a traction number, ijAdd thousand fraction of the gradient for braking location, in idling braking time computing formula, on
Ramp ijTake 0；
Note 2：V in conversion friction coefficient and Unit basic resistance formula, by v=(v0+vmThe value of)/2；
Note 3：Regardless of type, brake hard idling braking time presses 2.5s calculating to unit train number；
Note 4：Foundation in this table《Regulations of railway technical operation》With《Train traction computing code》The content of formulation, with institute's evidence
Code changes and changes.
Note 5：Railcar is with reference to freight car braking calculating parameter.
Note 6：Idling braking time needs to consider the factors such as communication delay.
S33. after calculating and obtaining and limit speed, current this car and adjacent car whether traffic direction conversely, and for opposite operation,
Lower step is entered if not, if then whether the speed sum of current this car of detection and adjacent car is more than restriction speed, if judged result
It is then to export anticollision control, if otherwise return to step S32；
S34. whether this car present speed is detected more than speed is limited, if otherwise return to step S32, if then exporting anti-collision
Hit control；
Anticollision control includes alarm mode and control motor vehicle braking system.
Alarm mode is：Using sound, display alarm railcar driver according to the restriction speed controlling car speed for exporting,
And different grades of early warning output is provided according to dangerous situation.
Controlling motor vehicle braking system is：Be linked into the braking control system of railcar, according to current restriction speed with work as
The relation of front speed, the corresponding warning of output, service braking, brake hard control.
Abnormality processing step is included in step S1-S3 all in addition, abnormality processing step includes：
The velocity information of Current vehicle can not be collected, or in exceeding schedule time, is not received by effective speed letter
Breath, system export warning message by sound, by way of showing, and the cycle plays at certain intervals, until collecting effectively
Velocity information；
The displacement information of Current vehicle can not be collected, or in exceeding schedule time, is not received by effective displacement letter
Breath, system export warning message by sound, by way of showing, and the cycle plays at certain intervals, until collecting effectively
Displacement information；
Effectively neighbour's car data information is not received by the appointed time, then it is assumed that radio communication fails, then system will
With sound, display mode output prompt messages, and the cycle plays at certain intervals, until radio communication recovers normal.
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodiment
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used speed displacement information acquisition unit, location status detector unit, network connection list herein
The terms such as unit, variation tendency relation judging unit, but it is not precluded from the probability using other terms.Using these terms only
It is for the essence for more easily describing and explaining the present invention；Being construed as any additional restriction is all and this
Bright spirit is contrary.
Claims (10)
1. a kind of rail vehicle collision avoidance system based on absolute displacement, it is characterised in that：Operate in including at least two same
Railcar on track, is provided with speed displacement information acquisition unit (1) in railcar, carries out the net that communicates between railcar
Network connection unit (3), location status detector unit (2), variation tendency relation judging unit (4), front and back position relation judge single
First (5), running state analysis unit (6), anti-collision strategy output unit (7), network connection unit respectively with speed displacement information
The connection of collecting unit, variation tendency relation judging unit and front and back position relation judging unit, speed displacement information acquisition unit
It is connected with variation tendency relation judging unit respectively and the connection of front and back position relation judging unit, location status detector unit difference
It is connected with variation tendency relation judging unit and front and back position relation judging unit, variation tendency relation judging unit and anteroposterior position
The relation judging unit of putting is connected with running state analysis unit respectively, and running state analysis unit is connected with anti-collision strategy output unit
Connect；
Speed displacement information acquisition unit：The absolute displacement of the speed of service, velocity phase and railcar of railcar is obtained in real time
Data；
Location status detector unit：Whether detection railcar is even hung with other railcars；
Variation tendency relation judging unit：Determine that the change of absolute displacement values between railcar becomes according to even extension and absolute displacement values
Gesture relation；
Front and back position relation judging unit：Front and back position relation between railcar is determined according to even extension and traffic direction；
Running state analysis unit：According to the variation tendency of front and back position relation and railcar absolute displacement values between railcar
Relation judges the movement relation between two railcars；
Anticollision strategy output unit：According to the movement relation between railcar, current restriction speed is calculated, by present speed
Relatively judge whether to export anti-collision control with the current speed ratio that limits.
2. a kind of rail vehicle collision avoidance system based on absolute displacement according to claim 1, is characterized in that the car
Between, location status detector unit (2) includes contact switch, and contact switch is separately mounted on railcar rear and front end.
3. a kind of rail vehicle collision-proof method based on absolute displacement, using system in claim 1 or 2 any one, which is special
Levying is：Comprise the following steps：
S1. railcar is separately run, and anticollision detection starts；
S2. according to even front and back position relation and absolute displacement values variation tendency relation detection railcar between extension state lower railway car
Between movement relation, while according to the absolute displacement values of each railcar, the distance between detection railcar；
S3. according to the movement relation between railcar, judge whether to implement anticollision, according to current orbit if anticollision is implemented
Apart from export-restriction speed between car, by the comparison with present speed, choose whether to export anticollision control.
4. a kind of rail vehicle collision-proof method based on absolute displacement according to claim 3, is characterized in that step S2
Include connecting the judgement of extension state between railcar, judge process is：If railcar wherein end thereof contacts switch triggering, judges
The contact switch place end of this car triggering is connected to the hanging with adjacent car.
5. a kind of rail vehicle collision-proof method based on absolute displacement according to claim 4, is characterized in that railcar
Between front and back position relation judge process be：Detection railcar direct of travel, Ruo Benche relative with direct of travel one end are even hung
There is adjacent car, this parking stall being judged on direct of travel in front, adjacent parking stall is in rear, otherwise hangs with neighbour in this car direct of travel one end company
Car, then in rear, adjacent parking stall is in front for this parking stall.
6. a kind of rail vehicle collision-proof method based on absolute displacement according to claim 4, is characterized in that railcar
Between absolute displacement values variation tendency relation judge process be：The current direct of travel of detection railcar, and it is connected to the hanging railcar
Respective absolute displacement values, if railcar absolute displacement values variation tendency is all to be incremented by, judge absolute displacement between railcar
It is worth for homophase and is all positive；If being all to successively decrease, judge between railcar absolute displacement values for homophase and be all reverse；If this
Car absolute displacement values are incremented by, and adjacent car absolute displacement values successively decrease, then judge that absolute displacement values are for anti-phase between railcar, and this car is just
To adjacent car is reverse；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then judge absolute displacement between railcar
It is worth for anti-phase, and this car is reversely, adjacent car is positive.
7. a kind of rail vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, its feature
It is to detect that the method for the movement relation between railcar includes in step S2：
A. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and adjacent car
Absolute displacement values are all incremented by and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the railcar absolute displacement values of motion
It is incremented by, then front, adjacent truck position is rear for this truck position；If the railcar absolute displacement values of motion successively decrease, this car is in rear, adjacent car
Front；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical, and this
Front, adjacent truck position is rear for truck position；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical,
And this car, rear, adjacent car is front；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then two railcar motion sides
To conversely, rear car each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction, mutually
For front truck；
B. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and adjacent car
Absolute displacement values are all to successively decrease and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the railcar absolute displacement values of motion
It is incremented by, then rear, adjacent truck position is front for this truck position；If the railcar absolute displacement values of motion successively decrease, this car is in front, adjacent car
Rear；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical, and this
Rear, adjacent truck position is front for truck position；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical,
And this car, front, adjacent car is rear；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then two railcar motion sides
To conversely, front truck each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction, mutually
For rear car；
C. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and adjacent car
Absolute displacement values are all incremented by and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the railcar absolute displacement values of motion
It is incremented by, then rear, adjacent truck position is front for this truck position；If the railcar absolute displacement values of motion successively decrease, this car is in front, adjacent car
Rear；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then rear, adjacent truck position exists for this truck position
Before；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical, and this car, front, adjacent car is rear；If
This car absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and two railcar motion sides
To conversely, front truck each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction, mutually
For rear car；
D. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：This car and adjacent car
Absolute displacement values are all to successively decrease and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, no matter Ben Che or adjacent car motion, if the railcar absolute displacement values of motion
It is incremented by, then front, adjacent truck position is rear for this truck position；If the railcar absolute displacement values of motion successively decrease, this car is in rear, adjacent car
Front；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track running directions are identical, and this
Front, adjacent truck position is rear for truck position；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track running directions are identical,
And this car, rear, adjacent car is front；Ruo Benche absolute displacement values are incremented by, adjacent car absolute displacement values successively decrease, then two railcar motion sides
To conversely, rear car each other；Ruo Benche absolute displacement values successively decrease, adjacent car absolute displacement values are incremented by, then two railcars are in opposite direction, mutually
For front truck；
E. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：The absolute displacement of this car
Value is incremented by, and adjacent car absolute displacement values successively decrease, and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then front, adjacent truck position exists for this truck position
Afterwards；Ruo Benche absolute displacement values successively decrease, then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values are incremented by, this
Rear, adjacent truck position is front for truck position；If adjacent car absolute displacement values successively decrease, front, adjacent truck position is rear for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then two vehicle track runnings are in opposite direction, each other
Rear car；Ruo Benche and adjacent car absolute displacement values all successively decrease, then two vehicle track runnings are in opposite direction, each other front truck；Ruo Benche is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this car, front, adjacent car is rear；If this
Car absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this car, rear, adjacent car exists
Before；
F. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：The absolute displacement of this car
Value is successively decreased, and adjacent car absolute displacement values are incremented by, and the preceding situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then rear, adjacent truck position exists for this truck position
Before；Ruo Benche absolute displacement values successively decrease, then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values are incremented by, this
Front, adjacent truck position is rear for truck position；If adjacent car absolute displacement values successively decrease, rear, adjacent truck position is front for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion are conversely, each other
Front truck；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, rear car each other；Ruo Benche is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in rear, adjacent truck position
Front；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this parking stall
Put front, adjacent car is rear；
G. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：The absolute displacement of this car
Value is successively decreased, and adjacent car absolute displacement values are incremented by, and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then front, adjacent truck position exists for this truck position
Afterwards；Ruo Benche absolute displacement values successively decrease, then rear, adjacent truck position is front for this truck position；If adjacent car absolute displacement values are incremented by, this
Rear, adjacent truck position is front for truck position；If adjacent car absolute displacement values successively decrease, front, adjacent truck position is rear for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion are conversely, each other
Rear car；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, front truck each other；Ruo Benche is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in front, adjacent truck position
Rear；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this parking stall
Put rear, adjacent car is front；
H. when in step S2, between absolute displacement values variation tendency relation and railcar, front and back position relation is：The absolute displacement of this car
Value is incremented by, and adjacent car absolute displacement values successively decrease, and the posterior situation of this car：
When two railcars are all in resting state, the information determined according to step S2 is the position relationship of two railcars；
When the state of only one railcar movement, Ruo Benche absolute displacement values are incremented by, then rear, adjacent truck position exists for this truck position
Before；Ruo Benche absolute displacement values successively decrease, then front, adjacent truck position is rear for this truck position；If adjacent car absolute displacement values are incremented by, this
Front, adjacent truck position is rear for truck position；If adjacent car absolute displacement values successively decrease, rear, adjacent truck position is front for this truck position；
When two railcars are all moved, Ruo Benche and adjacent car absolute displacement values are all incremented by, then the two railcar directions of motion are conversely, each other
Front truck；Ruo Benche and adjacent car absolute displacement values all successively decrease, then the two railcar directions of motion are conversely, rear car each other；Ruo Benche is absolute
Shift value is incremented by, and adjacent car absolute displacement values successively decrease, then two vehicle track running directions are identical, and this truck position is in rear, adjacent truck position
Front；Ruo Benche absolute displacement values successively decrease, and adjacent car absolute displacement values are incremented by, then two vehicle track running directions are identical, and this parking stall
Put front, adjacent truck position is rear.
8. a kind of rail vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, its feature
It is that the step of detecting the distance between railcar in step S2 includes：
S21., when railcar departs from and even hangs, minute book car and adjacent car depart from respective absolute displacement values when even hanging respectively, and will
The absolute displacement values position of record is used as respective basic point；
S22. this car calculates difference M of the absolute displacement values between current location and its basic point, and adjacent car calculates current location and its base
Difference N of the absolute displacement values between point, difference M of absolute displacement values is compared with difference N of absolute displacement values, obtains the difference of two values
Absolute value be the distance between this car and adjacent car.
9. a kind of rail vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, its feature
It is that the detailed process for exporting anticollision control in step S3 includes：
S31. judge the movement relation between railcar,
If current this car is consistent with adjacent car traffic direction, current this parking stall in adjacent car rear, then according to current this car and neighbour's car it
Between distance calculate limit speed；
If current this car is consistent with adjacent car traffic direction, the operation of this car actual highest is then limited by current this parking stall in adjacent front side
Speed is used as restriction speed；
If current this car with adjacent car traffic direction conversely, current this car is run in opposite directions with adjacent car, according to current this car and neighbour's car
The distance between calculate limit speed；
If current this car is with adjacent car traffic direction conversely, current this car and adjacent car trailing movement, this car actual highest is run
Speed limit is used as restriction speed；
S32. the calculating of speed is limited according to below equation：
In formula
SzThe distance between braking distance is this car with adjacent car, m；
SkIdling stopping distance, m；
SeActive braking distance, m；
v0Initial speed at brake application is i.e. current to limit speed, km/h；
vmBraking end speed, km/h；
tkIdling braking time, s；
Brake shoe conversion friction coefficient；
θhTrain equivalent braking ratio；
βcCoefficient of service braking；
w0Specific train datum drag, N/kN；
ijBraking location adds thousand fraction of the gradient；
It is calculated current restriction speed v0, remaining parameter is known；
S33. current this car and adjacent car whether traffic direction conversely, and for opposite operation, if not into lower step, if then detecting
Current this car limits speed with whether the speed sum of adjacent car is more than, if judged result then exports anticollision control, if otherwise
Return to step S32；
S34. whether this car present speed is detected more than speed is limited, if otherwise return to step S32, if then exporting anticollision control
System；
Anticollision control includes alarm mode and control motor vehicle braking system；
Alarm mode is：Using sound, display alarm railcar driver according to the restriction speed controlling car speed for exporting, and
Different grades of early warning output is provided according to dangerous situation；
Controlling motor vehicle braking system is：The braking control system of railcar is linked into, according to current restriction speed and current speed
The relation of degree, the corresponding warning of output, service braking, brake hard control.
10. a kind of rail vehicle collision-proof method based on absolute displacement according to any one of claim 3-6, its feature
It is all to include abnormality processing step in step S1-S3, abnormality processing step includes：
The velocity information of Current vehicle can not be collected, or effective velocity information is not received by exceeding schedule time,
System exports warning message by sound, by way of showing, and the cycle plays at certain intervals, until collecting effective speed
Degree information；
The displacement information of Current vehicle can not be collected, or effective displacement information is not received by exceeding schedule time,
System exports warning message by sound, by way of showing, and the cycle plays at certain intervals, until collecting effective position
Shifting information；
Effectively neighbour's car data information is not received by the appointed time, then it is assumed that radio communication fails, then system will be with sound
Sound, display mode output prompt messages, and the cycle plays at certain intervals, until radio communication recovers normal.
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| CN105329262B (en) * | 2015-10-19 | 2017-03-29 | 杭州创联电子技术有限公司 | Rail vehicle collision avoidance system and method based on absolute displacement |
| CN109606428A (en) * | 2018-12-06 | 2019-04-12 | 中国铁道科学研究院集团有限公司运输及经济研究所 | Railway plane shunting service intelligent safety protection system based on satellite positioning |
| CN110803193A (en) * | 2019-10-17 | 2020-02-18 | 高新兴创联科技有限公司 | Safety control method for shunting of rail transit engineering vehicle section |
| CN110588721A (en) * | 2019-10-22 | 2019-12-20 | 中车株洲电力机车有限公司 | Anti-collision method and device for railway vehicle |
| CN111845862B (en) * | 2020-07-14 | 2021-08-31 | 北京交通大学 | Train safety tracking protection method and device based on relative speed |
| CN112172870B (en) * | 2020-10-19 | 2023-01-03 | 中车青岛四方机车车辆股份有限公司 | Vehicle braking method and device and train |
| CN112644561B (en) * | 2021-01-04 | 2023-02-21 | 北京全路通信信号研究设计院集团有限公司 | Train tracking capacity determination method based on relative speed tracking model |
| CN112849224A (en) * | 2021-02-05 | 2021-05-28 | 中铁十一局集团第三工程有限公司 | Mobile blocking method applied to train in new railway engineering |
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