CN105549587A - Train autopilot control method and train autopilot control system for rainy or snowy days - Google Patents
Train autopilot control method and train autopilot control system for rainy or snowy days Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a train autopilot control method and a train autopilot control system for rainy or snowy days. The method comprises the following steps: S1, judging whether trains in a target line are in a rain or snow environment; S2, sending a first instruction to all the trains in the target line to make all the trains stop if the trains are in a rain or snow environment; and S3, sending a second instruction to all the trains to make all the trains go into a preset mode and run under the condition that the traction is not greater than a preset traction and/or the braking force is not greater than a default braking force. With the method and the system, automatic change of the parameters of fully-automatic piloting trains in rainy or snowy days is realized, and safety driving of fully-automatic piloting trains in rainy or snowy days is ensured.
Description
Technical field
The present invention relates to signal control field, be specifically related to a kind of train automatic Pilot control method for sleet sky and system.
Background technology
Along with the fast development of urban track traffic, track traffic signal technology obtains significant progress.On the basis based on radio communication control technology, the features such as full-automatic unmanned driving's pattern is high with automaticity, and operation cost is low become the developing direction of future city track traffic.
Current domestic Shanghai No. 10 line, Beijing Airport line has achieved full-automatic unmanned driving's function of track traffic, and swallow room, Beijing line is also about to put into operation.Can realize omnidistance unmanned at full-automatic unmanned driving's pattern Train, signal system needs to consider the various scenes in operation process.Particularly when running into sleety weather, the characteristic such as the ground of environment is wet and slippery residing for train, easily there is slipping in vehicle, and the problem such as braking ratio reduction, therefore the car controlling strategy of train needs corresponding adjustment, the traffic safety ensureing train and the comfort level taken.
Summary of the invention
Technical matters to be solved by this invention is: how to realize the safe driving of full-automatic unmanned driving's train in sleet sky.
For above technical matters, the invention provides a kind of train automatic Pilot control method for sleet sky, comprising:
S1: judge whether the environment residing for the train in target line is sleety weather;
S2: when described environment is sleety weather, sends the first instruction to all trains in described target line, stops making described all trains;
S3: send the second instruction to described all trains, to make described all trains enter preset mode, makes it travel under tractive force is not more than the state that default tractive force and/or damping force is not more than default damping force.
Alternatively, described step S1 comprises:
Within the time of presetting, in described target line, the number of times of bogie idle running is greater than the first numerical value, and the number of times that described air damping is slided is greater than the train quantity of second value, the ratio accounting for the train quantity of main track operation in described target line is greater than preset ratio, judges that environment residing for the train in described target line is as sleety weather.
Alternatively, described default tractive force be make described train current environment do not occur the maximum drawbar pull that dallies and make the speed of described train equal current location target velocity required for tractive force among smaller value;
Described default damping force makes described train equal the smaller value among the damping force required for the target velocity of current location in current the environment maximum braking force that skidding does not occur and the speed made;
In the circuit preset, described train is when the speed of each position equals target velocity, and described train stops at the parking spot preset.
Alternatively, this train automatic Pilot control method being used for sleet sky also comprises:
S4: generate urgent overspeed protection curve for each train, is less than described urgent overspeed protection curve to make described train in the speed at each position place and corresponds to the velocity amplitude of this position and make described train, at current environment, the smaller value among the maximal rate of skidding not occur;
Described urgent overspeed protection curve is that described train is stopped before the barrier nearest apart from described train, and described train is in maximal rate corresponding to current location.
Alternatively, this train automatic Pilot control method being used for sleet sky also comprises:
S5: the train travelled under described preset mode, occurs that if continue the retarded velocity that bogie dallies, train in phenomenon or described train braking process is slided in air damping is less than default brake hard rate, transfers pilot steering to.
On the other hand, the invention provides a kind of train automatic Pilot control system for sleet sky, comprising: judge module, the first sending module, the first control module, the second sending module and the second control module;
Described judge module is for judging whether the environment residing for the train in target line is sleety weather;
Described first sending module is used for when described environment is sleety weather, sends the first instruction to all trains in described target line;
Described first control module is used for after receiving described first instruction, and described all trains are stopped;
Described second sending module is used for, after described train stops, sending the second instruction to described all trains;
Described second control module is used for after receiving described second instruction, makes described all trains enter preset mode, makes it travel under tractive force is not more than the state that default tractive force and/or damping force is not more than default damping force.
Preferably, described judge module is further used for:
Within the time of presetting, if the number of times of bogie idle running is greater than the first numerical value in described target line, and the number of times that described air damping is slided is greater than the train quantity of second value, the ratio accounting for the train quantity of main track operation in described target line is greater than preset ratio, judges that environment residing for the train in described target line is as sleety weather.
Preferably, described default tractive force be make described train current environment do not occur the maximum drawbar pull that dallies and make the speed of described train equal current location target velocity required for tractive force among smaller value;
Described default damping force makes described train equal the smaller value among the damping force required for the target velocity of current location in current the environment maximum braking force that skidding does not occur and the speed made;
In the circuit preset, described train is when the speed of each position equals target velocity, and described train stops at the parking spot preset.
Preferably, the train automatic Pilot control system for sleet sky also comprises: the 3rd control module;
Described 3rd control module is used for generating urgent overspeed protection curve for each train, is less than described urgent overspeed protection curve corresponds to the velocity amplitude of this position and make described train, at current environment, the smaller value between the maximal rate of skidding not occur to make described train in the speed at each position place;
Described urgent overspeed protection curve is that described train is stopped before the barrier nearest apart from described train, and described train is in maximal rate corresponding to current location.
Preferably, the train automatic Pilot control system for sleet sky also comprises: the 4th control module;
Described 4th control module is used for the train travelled under described preset mode, if occur, the retarded velocity that bogie dallies, train in phenomenon or described train braking process is slided in air damping is less than default brake hard rate, transfers pilot steering to.
Train automatic Pilot control method for sleet sky provided by the present invention, can be that the train of full-automatic unmanned driving is when running into sleety weather, travelling under being converted to preset mode, is that the tractive force of train is less than default tractive force or damping force is not more than default damping force.The method achieve the automatic change of sleet sky full-automatic driving Train Parameters, ensure that the safety traffic of sleet sky full-automatic driving train.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram of the train automatic Pilot control method for sleet sky that one embodiment of the invention provides;
Fig. 2 is the process flow diagram of the train automatic Pilot control method for sleet sky that one embodiment of the invention provides;
Fig. 3 a is that the automated driving system of the train travelled under the preset mode that provides of one embodiment of the invention is to the control method process flow diagram of tractive force;
Fig. 3 b is that the automated driving system of the train travelled under the preset mode that provides of one embodiment of the invention is to the control method process flow diagram of damping force;
Fig. 4 is the control method process flow diagram of the automatic protective system of the train travelled under the preset mode that provides of one embodiment of the invention;
Fig. 5 is the structured flowchart of the train automatic Pilot control system for sleet sky provided by the invention.
Embodiment
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1:
Be illustrated in figure 1 a kind of train automatic Pilot control method for sleet sky, comprise:
S1: judge whether the environment residing for the train in target line is sleety weather;
S2: when described environment is sleety weather, sends the first instruction to all trains in described target line, stops making described all trains;
S3: send the second instruction to described all trains, to make described all trains enter preset mode, makes it travel under tractive force is not more than the state that default tractive force and/or damping force is not more than default damping force.
It should be noted that: target line is that the parameters of the train travelled can by control center monitors to driving route.Control center is generally driving automated system TIAS.The parameters of train comprises the damping force etc. of the current tractive force of acceleration in the speed of train driving, driving process, train, train.
Judge whether the environment residing for the train in target line is sleety weather, the mode of judgement is not limited to driving automated system TIAS and occurs that abnormal occurrence carries out judging or being detected by the monitoring device outside car according to the train occurred.The abnormal occurrence that train occurs comprises idle running, skidding and train and occurs the phenomenons such as uncontrollable hypervelocity.
Alternatively, if TIAS detects the remaining often number of times preset of the idle running that train occurs or skidding, TIAS control train enters after preset mode or TIAS and on-the-spot attendant confirm and enters preset mode, to ensure the safety traffic of train.
When the environment residing for train is sleety weather, driving automated system TIAS sends the first instruction to train, stops making train.After train in traveling receives this instruction, reduce speed now until stop.
Alternatively, if if not all trains all enter default pattern within the time period of presetting, TIAS sends information, is used for reminding staff to take appropriate measures or making train completely exit preset mode.Or, reset to make all trains of default circuit all to enter preset mode.
Alternatively, when all trains enter preset mode and advance with preset mode, TIAS reports the transport condition of current train to the passenger of all trains by broadcast.
After train stops, to the state that control center's report train is current.If control center monitors trains all in target line and all stopped, send the second instruction to all trains, enter preset mode to make all trains.
Preset mode is the pattern in order to make train adapt to the setting of sleet environment.Because sleety weather causes ground in the environment residing for train wet and slippery, so after train enters preset mode, the parameters such as tractive force, damping force, speed of train all will change accordingly.
After entering preset mode, during acceleration, the tractive force of train is not more than default tractive force.During deceleration, the damping force of train is not more than default damping force.This establishing method is the driving safety in order to ensure train.
Be understandable that: when train stops, parameter matching is carried out to the pattern that train will enter.When entering preset mode from the train of normal mode traveling, first train stops, then the relevant car controlling parameter of configuration.After the parameter configuration of all trains completes, all trains controlling to preset circuit travel at preset mode.When entering normal mode from the train of preset mode traveling, first train stops, then the relevant car controlling parameter of configuration.After the parameter configuration of all trains completes, all trains controlling to preset circuit travel at normal mode.
The train automatic Pilot control method for sleet sky that the present embodiment provides, can be that the train of full-automatic unmanned driving is when running into sleety weather, travelling under being converted to preset mode, is that the tractive force of train is less than default tractive force or damping force is not more than default damping force.The method achieve the automatic change of sleet sky full-automatic driving Train Parameters, ensure that the safety traffic of sleet sky full-automatic driving train.
Embodiment 2:
The present embodiment provides a kind of determination methods for sleety weather in the train automatic Pilot control method in sleet sky based on embodiment.
Control center is within the time of presetting, detect that the number of times of bogie idle running in target line is greater than the first numerical value, and the number of times that described air damping is slided is greater than the train quantity of second value, the ratio accounting for the train quantity of main track operation in described target line is greater than preset ratio, judges that environment residing for the train in described target line is as sleety weather.
Such as: driving automated system TIAS detects in 3 minutes, detect in the train of main track operation in default circuit that having the train more than 40% that bogie idle running and 2 air damping at least one times occur slides, therefore judge that the environment residing for train preset in circuit is sleety weather, needs to make the train in default circuit enter preset mode.
Present embodiments provide a kind of decision method of sleety weather, the method can make to drive a vehicle the environment residing for train that automated system TIAS judges in circuit accurately, and determine the need of making the train in circuit run with preset mode, to ensure traffic safety.
Embodiment 3:
On the basis of embodiment 1, the value of the present embodiment to default tractive force and default damping force limits.
When train accelerates, the tractive force of train is not more than default tractive force.Default tractive force be make train current environment do not occur to dally phenomenon maximum drawbar pull and make the speed of train equal current location target velocity required for tractive force among smaller value;
When train deceleration, the damping force of train is not more than default damping force.Default damping force be make train current environment do not occur the maximum braking force that skids and make the speed of train equal current location target velocity required for damping force among smaller value;
In the circuit preset, described train is when the speed of each position equals target velocity, and described train stops at the parking spot preset.
It should be noted that: default tractive force is one less in two limits values.These two limits values are respectively: make train current environment do not occur to dally phenomenon maximum drawbar pull and make the speed of train equal current location target velocity required for tractive force among smaller value.Current environment is that sleet environment or the normal traveling of current environment on train cause impact, causes train to enter preset mode to ensure the safety traffic of train.
Train is made the maximum drawbar pull of idle running phenomenon not to occur, normally with region and Changes in weather at current environment.When the impact by region and weather, when the wet and slippery degree in the ground of environment residing for train increases, make the ground of train environment residing for current train that the maximum drawbar pull of skidding not occur just less.Such as: during sleety weather, 60% of the maximum drawbar pull making the ground of train environment residing for current train that skidding does not the occur state Train tractive force that to be train normally travel at rated power.
Make train travel speed in predeterminable range equal to make described train not occur the to dally tractive force required for maximal rate that phenomenon can reach.Travel speed is the current travel speed of train.In the distance preset, the tractive force required for target velocity that the speed making train current equals current location is another limits value of default tractive force.
Default damping force is one less in two limits values.These two limits values are respectively: the smaller value among the minimum damping force making train skidding not occur on the ground of environment residing for current train and the damping force required for target velocity making the speed of train equal current location.
During train braking, the minimum damping force making the ground of train environment residing for current train that skidding not occur is a limits value of default damping force, and the damping force required for target velocity making the speed of train equal current location is another limits value of default damping force.
In the circuit preset, train is when the speed of each position equals target velocity, and described train stops at the parking spot preset.The parking stall of presetting of train in the circuit preset is stopped, and the speed of train corresponding to current position is the target velocity of train.The speed in train each position in default circuit is calculated according to the distance of train start position and train and default parking spot.If the speed of train each position in default circuit equals target velocity, then, when train arrives the parking spot preset, train speed is just zero.
Alternatively, in order to ensure that tractive force and damping force accurately control, the tractive force of the restriction output of the method for adoption rate-Integrated Derivative (PID) and damping force, and the control of other car controlling parameter.
The present embodiment, based on embodiment 1, proposes the defining method of default tractive force and default damping force.Preset and ensure tractive force that train safe travels under the determination of tractive force considers sleety weather simultaneously and make train reach tractive force needed for target velocity as early as possible, on the basis ensureing train safe traveling, train is accelerated fast.Preset and ensure damping force that train safe travels under the determination of damping force considers sleety weather simultaneously and make train speed in predeterminable range be reduced to the damping force of target velocity, on the basis of guarantee train safe, train is slowed down as early as possible.
Embodiment 4:
Basis based on a kind of train automatic Pilot control method for sleet sky of embodiment 1 also comprises the present embodiment:
S4: generate urgent overspeed protection curve for each train, is less than described urgent overspeed protection curve to make described train in the speed at each position place and corresponds to the velocity amplitude of this position and make described train, at current environment, the smaller value among the maximal rate of skidding not occur.
It should be noted that: urgent overspeed protection curve is under the condition that train is stopped before the place at the barrier place nearest apart from described train, described train is in maximal rate corresponding to current location.Nearest barrier is the barrier that any obstruction train advances, can be hinder train to advance barrier, can also be that other anyly brings the object of potential safety hazard or occurent event.Train is the speed that train safe travels in the maximal rate that skidding do not occur current environment, the environment of this speed residing for train and fixed.This speed is seeing of resetting of environment residing for train, is different from the safe speed under normal traveling.
Further, in order to ensure the safety of passenger, in the process that train deceleration is advanced, also needing to ensure the retarded velocity of train, preventing the impact brought due to excessive retarded velocity.
Present embodiments provide in a kind of driving conditions, the method for limiting of the speed of a motor vehicle, further ensure the safety of train.
Embodiment 5:
Basis based on a kind of train automatic Pilot control method for sleet sky of embodiment 1 also comprises the present embodiment:
S5: the train travelled under preset mode, if occur, the retarded velocity that bogie dallies, train in phenomenon or described train braking process is slided in air damping is less than default brake hard rate, transfers pilot steering to.
It should be noted that: the train travelled under preset mode, occur bogie idle running if continue, air damping is slided in phenomenon any one, illustrate that preset mode Train can not safety traffic, so transfer pilot steering to.
Or, in the process of train braking, find that the retarded velocity of train is less than default brake hard rate, owing to not ensureing safety, so also need to transfer pilot steering to.
Alternatively, if exit the setup failed of preset mode to all fronts train, the attendant to all fronts, scene sends information, request manual intervention.Or, again reset, exit preset mode to make train completely.
The brake hard rate preset is fixed according to the environment of train and the performance of itself, is in train braking process, ensures the value of the minimum deceleration degree of safety, and the value of the brake hard rate such as preset is 0.6m/s
2.Usually, the retarded velocity of train braking is greater than brake hard rate.If the retarded velocity of train braking is less than brake hard rate, just need to transfer pilot steering to.
Present embodiments provide the scheme ensureing that the train safe in sleet sky travels further, if there is potential safety hazard, then exit preset mode and transfer pilot steering to.
Embodiment 6:
Fig. 2 is the process flow diagram of the train automatic Pilot control method for sleet sky that one embodiment of the invention provides.
Step 201: the detection system of vehicle detects bogie idle running or slipping;
Step 202: control center judges whether the environment residing for the train in circuit is sleety weather;
Step 203: the Vehicle Controller of train receives the instruction entering preset mode;
Step 204: train travels under preset mode;
Step 205: control center, according to the travel situations of train, judges whether to cancel preset mode;
Step 206: control center sends the instruction cancelling preset mode to train;
Step 207: train transfers normal traveling to.
It should be noted that: the detection system of vehicle can be information of vehicles and management system TCMS, information of vehicles and management system TCMS are dallied by the bogie of the vehicle detected or skidding sends to control center.
Control center can be driving automated system TIAS, and driving automated system TIAS, according to the number of times of the idle running of train generation bogie or skidding on circuit, judges that the environment residing for train travels the need of under preset mode.
When the automated system TIAS that drives a vehicle judges that train can travel under preset mode, the train to operation completely sends the instruction entering preset mode.
After the Vehicle Controller VOBC of each row train receives instruction, control train and stop.Train after stopping changes vehicle parameter, enters preset mode.It should be noted that, train, when stopping, after the vehicle parameter of coupling preset mode, being reported to driving automated system TIAS, after driving automated system TIAS determines that train completely all enters preset mode, is sent the instruction of launch train completely.
After train receives instruction, enter preset mode and travel.The bogie idle running that train can occur by the train in traveling or skidding are reported to driving automated system TIAS, if driving automated system TIAS has detected that bogie idle running or skidding still appear in train, send information, whether request exits preset mode.
If exit preset mode, driving automated system TIAS provides information, makes the train of operation completely transfer normal traveling to.
The train automatic Pilot control method for sleet sky that the present embodiment provides, can be that the train of full-automatic unmanned driving is when running into sleety weather, travelling under being converted to preset mode, is that the tractive force of train is less than default tractive force or damping force is not more than default damping force.The method achieve the automatic change of sleet sky full-automatic driving Train Parameters, ensure that the safety traffic of sleet sky full-automatic driving train.
Embodiment 7:
Fig. 3 a is that the automated driving system of the train travelled under the preset mode that provides of the present embodiment is to the control method process flow diagram of tractive force.
Step 301a: the train travelled under determining to make preset mode, the maximum drawbar pull of skidding does not occur;
Step 302a: determine to make the tractive force that the speed of train equals required for the target velocity of current location;
Step 303a: the tractive force of control train is not more than the smaller value in step 301a and step 302a in two tractive force;
Fig. 3 b is that the automated driving system of the train travelled under the preset mode that provides of one embodiment of the invention is to the control method process flow diagram of damping force.
Step 301b: the train travelled under determining to make preset mode, the maximum braking force of skidding does not occur;
Step 302b: make the damping force that the speed of train equals required for the target velocity of current location;
Step 303b: the tractive force of control train is not more than the smaller value in step 301b and step 302b in two damping force.
The default tractive force present embodiments provided and the defining method of default damping force.Preset and ensure tractive force that train safe travels under the determination of tractive force considers sleety weather simultaneously and make train reach tractive force needed for target velocity as early as possible, on the basis ensureing train safe traveling, train is accelerated fast.Preset and ensure damping force that train safe travels under the determination of damping force considers sleety weather simultaneously and make train speed in predeterminable range be reduced to the damping force of target velocity, on the basis of guarantee train safe, train is slowed down as early as possible.
Embodiment 8:
Fig. 4 is the control method process flow diagram of the automatic protective system of the train travelled under the preset mode that provides of one embodiment of the invention.
Step 401: generate urgent overspeed protection curve;
Step 402: at each position place of train driving, gets the urgent overspeed protection curve speed corresponding in this position and the current environment smaller value do not occurred in the maximal rate of skidding is maximum speed limit;
Step 403: the speed of control train is less than the limits value in step 402.
The method for limiting of the speed of a motor vehicle of the train travelled under the preset mode that the present embodiment provides, further ensures the safety of train.
Embodiment 9:
Be illustrated in figure 5 the structured flowchart of a kind of train automatic Pilot control system for sleet sky that the present embodiment provides, comprise: judge module 10, first sending module 20, first control module 30, second sending module 40 and the second control module 50;
Judge module 10 is for judging whether the environment residing for the train in target line is sleety weather;
First sending module 20, for when described environment is sleety weather, sends the first instruction to all trains in described target line;
First control module 30, for after receiving described first instruction, makes described all trains stop;
Second sending module 40, for after described train stops, sending the second instruction to all trains;
Second control module 50, for after receiving described second instruction, makes described all trains enter preset mode, makes it travel under tractive force is not more than the state that default tractive force and/or damping force is not more than default damping force.
It should be noted that: whether the environment residing for judge module 10 pairs of trains is that the judgment mode of sleety weather is not limited to bogie idle running and air damping is slided.
The train automatic Pilot control system for sleet sky that the present embodiment provides, the train of full-automatic unmanned driving can be made when running into sleety weather, travelling under being converted to preset mode, is that the tractive force of train is not more than default tractive force or damping force is not more than default damping force.The method achieve the automatic change of sleet sky full-automatic driving Train Parameters, ensure that the safety traffic of sleet sky full-automatic driving train.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1., for the train automatic Pilot control method in sleet sky, it is characterized in that, comprising:
S1: judge whether the environment residing for the train in target line is sleety weather;
S2: when described environment is sleety weather, sends the first instruction to all trains in described target line, stops making described all trains;
S3: send the second instruction to described all trains, to make described all trains enter preset mode, makes it travel under tractive force is not more than the state that default tractive force and/or damping force is not more than default damping force.
2. the train automatic Pilot control method for sleet sky according to claim 1, it is characterized in that, described step S1 comprises:
Within the time of presetting, in described target line, the number of times of bogie idle running is greater than the first numerical value, and the number of times that described air damping is slided is greater than the train quantity of second value, the ratio accounting for the train quantity of main track operation in described target line is greater than preset ratio, judges that environment residing for the train in described target line is as sleety weather.
3. the train automatic Pilot control method for sleet sky according to claim 1, is characterized in that,
Described default tractive force be make described train current environment do not occur the maximum drawbar pull that dallies and make the speed of described train equal current location target velocity required for tractive force among smaller value;
Described default damping force be make described train current environment do not occur the maximum braking force that skids and make the speed of described train equal current location target velocity required for damping force among smaller value;
In the circuit preset, described train is when the speed of each position equals target velocity, and described train stops at the parking spot preset.
4. the train automatic Pilot control method for sleet sky according to claim 1, is characterized in that, also comprise:
S4: generate urgent overspeed protection curve for each train, is less than described urgent overspeed protection curve to make described train in the speed at each position place and corresponds to the velocity amplitude of this position and make described train, at current environment, the smaller value among the maximal rate of skidding not occur;
Described urgent overspeed protection curve is that described train is stopped before the barrier nearest apart from described train, and described train is in maximal rate corresponding to current location.
5. the train automatic Pilot control method for sleet sky according to any one of Claims 1-4, is characterized in that, also comprise:
S5: the train travelled under described preset mode, occurs that if continue the retarded velocity that bogie dallies, train in phenomenon or described train braking process is slided in air damping is less than default brake hard rate, transfers pilot steering to.
6. for the train automatic Pilot control system in sleet sky, it is characterized in that, comprising: judge module, the first sending module, the first control module, the second sending module and the second control module;
Described judge module is for judging whether the environment residing for the train in target line is sleety weather;
Described first sending module is used for when described environment is sleety weather, sends the first instruction to all trains in described target line;
Described first control module is used for after receiving described first instruction, and described all trains are stopped;
Described second sending module is used for, after described train stops, sending the second instruction to described all trains;
Described second control module is used for after receiving described second instruction, makes described all trains enter preset mode, makes it travel under tractive force is not more than the state that default tractive force and/or damping force is not more than default damping force.
7. the train automatic Pilot control system for sleet sky according to claim 6, it is characterized in that, described judge module is further used for:
Within the time of presetting, if the number of times of bogie idle running is greater than the first numerical value in described target line, and the number of times that described air damping is slided is greater than the train quantity of second value, the ratio accounting for the train quantity of main track operation in described target line is greater than preset ratio, judges that environment residing for the train in described target line is as sleety weather.
8. the train automatic Pilot control system for sleet sky according to claim 6, is characterized in that,
Described default tractive force be make described train current environment do not occur the maximum drawbar pull that dallies and make the speed of described train equal current location target velocity required for tractive force among smaller value;
Described default damping force makes described train equal the smaller value among the damping force required for the target velocity of current location in current the environment maximum braking force that skidding does not occur and the speed made;
In the circuit preset, described train is when the speed of each position equals target velocity, and described train stops at the parking spot preset.
9. the train automatic Pilot control system for sleet sky according to claim 6, is characterized in that, also comprise: the 3rd control module;
Described 3rd control module is used for generating urgent overspeed protection curve for each train, is less than described urgent overspeed protection curve corresponds to the velocity amplitude of this position and make described train, at current environment, the smaller value between the maximal rate of skidding not occur to make described train in the speed at each position place;
Described urgent overspeed protection curve is that described train is stopped before the barrier nearest apart from described train, and described train is in maximal rate corresponding to current location.
10. the train automatic Pilot control system for sleet sky according to any one of claim 6 to 9, is characterized in that, also comprise: the 4th control module;
Described 4th control module is used for the train travelled under described preset mode, if occur, the retarded velocity that bogie dallies, train in phenomenon or described train braking process is slided in air damping is less than default brake hard rate, transfers pilot steering to.
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