CN105549587B - A kind of train automatic Pilot control method and system for sleet sky - Google Patents
A kind of train automatic Pilot control method and system for sleet sky Download PDFInfo
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- CN105549587B CN105549587B CN201510903898.8A CN201510903898A CN105549587B CN 105549587 B CN105549587 B CN 105549587B CN 201510903898 A CN201510903898 A CN 201510903898A CN 105549587 B CN105549587 B CN 105549587B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of train automatic Pilot control method and system for sleet sky, this method includes：S1：Judge whether the environment residing for the train in target line is sleety weather；S2：When the environment is sleety weather, all trains into the target line send the first instruction, so that all trains stop；S3：The second instruction is sent to all trains, so that all trains enter preset mode, it is made to be travelled in the state that tractive force is not more than default tractive force and/or brake force is not more than default brake force.This method and system realize the automatic change of sleet sky full-automatic driving Train Parameters, ensure that the safety traffic of sleet sky full-automatic driving train.
Description
Technical field
The present invention relates to signal control fields, and in particular to a kind of train automatic Pilot control method for sleet sky and
System.
Background technology
With the fast development of urban track traffic, track traffic signal technology obtains significant progress.Based on nothing
On the basis of line Communication Control Technology, with high degree of automation, the features such as operation cost is low, becomes full-automatic unmanned driving's pattern
The developing direction of future city rail traffic.
Country's Shanghai No. 10 line, Beijing Airport line have been achieved with full-automatic unmanned driving's function of rail traffic at present, north
Flycatcher room line will also put into operation.Whole unmanned, signal system may be implemented in full-automatic unmanned driving's pattern Train
System needs to consider the various scenes during operation.Especially when encountering sleety weather, due to the ground of train local environment
The problems such as characteristics such as wet and slippery, vehicle is susceptible to slipping and braking ratio reduction, therefore the control vehicle strategy of train needs phase
The adjustment answered ensures the traffic safety of train and the comfort level of seating.
Invention content
The technical problem to be solved by the present invention is to：How to realize that full-automatic unmanned driving's train is driven in the safety of sleet sky
It sails.
For the above technical problem, the present invention provides a kind of train automatic Pilot control method for sleet sky, packets
It includes：
S1：Judge whether the environment residing for the train in target line is sleety weather；
S2：When the environment is sleety weather, all trains into the target line send the first instruction, so that
All trains stop；
S3：The second instruction is sent to all trains, so that all trains enter preset mode, it is made to draw
Power, which is not more than no more than default tractive force and/or brake force in the state of default brake force, to travel.
Optionally, the step S1 includes：
Within the preset time, the number that bogie dallies in the target line is more than the first numerical value, and the air
The train quantity that the number slided is more than second value is braked, the ratio of the train quantity of main track operation in the target line is accounted for
More than preset ratio, judge the environment residing for the train in the target line for sleety weather.
Optionally, the default tractive force be the maximum drawbar pull for making the train not dally in current environment and
The speed of the train is set to be equal to the smaller value among the required tractive force of target velocity of current location；
The default brake force is the maximum braking force for making the train not skid in current environment and the speed made
Degree is equal to the smaller value among the required brake force of target velocity of current location；
In preset circuit, for the train when the speed of each position is equal to target velocity, the train is default
Parking position stop.
Optionally, which further includes：
S4：Urgent overspeed protection curve is generated for each train, so that speed of the train at each position is small
In the urgent overspeed protection curve correspond to the position at velocity amplitude and make the train current environment do not occur beat
Smaller value among sliding maximum speed；
The urgent overspeed protection curve is that the train is made to stop before away from the nearest barrier of the train, the row
Vehicle is in the corresponding maximum speed in current location.
Optionally, which further includes：
S5：In the train of the preset mode downward driving, if continue to occur bogie idle running, phenomenon is slided in air damping or
The deceleration of train is less than preset emergency braking rate during train braking described in person, switchs to pilot steering.
On the other hand, the present invention provides a kind of train automatic driving control systems for sleet sky, including：Judge mould
Block, the first sending module, the first control module, the second sending module and the second control module；
The judgment module is used to judge whether the environment residing for the train in target line to be sleety weather；
First sending module is used for when the environment is sleety weather, all trains into the target line
Send the first instruction；
First control module is used for after receiving first instruction, and all trains is made to stop；
Second sending module is used for after train stopping, and the second instruction is sent to all trains；
Second control module is used for after receiving second instruction, so that all trains is entered and is preset mould
Formula makes it be travelled in the state that tractive force is not more than default tractive force and/or brake force is not more than default brake force.
Preferably, the judgment module is further used for：
Within the preset time, if the number that bogie dallies in the target line is more than the first numerical value, and the sky
The number that gas braking is slided is more than the train quantity of second value, accounts for the ratio of the train quantity of main track operation in the target line
Example is more than preset ratio, judges the environment residing for the train in the target line for sleety weather.
Preferably, the default tractive force be the maximum drawbar pull for making the train not dally in current environment and
The speed of the train is set to be equal to the smaller value among the required tractive force of target velocity of current location；
The default brake force is the maximum braking force for making the train not skid in current environment and the speed made
Degree is equal to the smaller value among the required brake force of target velocity of current location；
In preset circuit, for the train when the speed of each position is equal to target velocity, the train is default
Parking position stop.
Preferably, further include for the train automatic driving control system of sleet sky：Third control module；
The third control module is used to generate urgent overspeed protection curve for each train, so that the train is every
Speed at one position is less than the velocity amplitude and the train is made to work as that the urgent overspeed protection curve corresponds at the position
Smaller value between the maximum speed of slipping phenomenon does not occur for preceding environment；
The urgent overspeed protection curve is that the train is made to stop before away from the nearest barrier of the train, the row
Vehicle is in the corresponding maximum speed in current location.
Preferably, further include for the train automatic driving control system of sleet sky：4th control module；
4th control module is used for the train in the preset mode downward driving, if there is bogie idle running, air
The deceleration for braking train during sliding phenomenon or the train braking is less than preset emergency braking rate, switchs to manually drive
It sails.
Train automatic Pilot control method provided by the present invention for sleet sky can be full-automatic unmanned driving
Train is converted to preset mode downward driving when encountering sleety weather, be train tractive force be less than preset tractive force or
Brake force is not more than preset brake force.The method achieve the automatic changes of sleet sky full-automatic driving Train Parameters, ensure
The safety traffic of sleet sky full-automatic driving train.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the train automatic Pilot control method provided by one embodiment of the present invention for sleet sky；
Fig. 2 is the flow chart of the train automatic Pilot control method provided by one embodiment of the present invention for sleet sky；
Fig. 3 a are the automated driving systems of the train of preset mode downward driving provided by one embodiment of the present invention to traction
The control method flow chart of power；
Fig. 3 b are the automated driving systems of the train of preset mode downward driving provided by one embodiment of the present invention to braking
The control method flow chart of power；
Fig. 4 is the controlling party of the automatic protective system of the train of preset mode downward driving provided by one embodiment of the present invention
Method flow chart；
Fig. 5 is the structure diagram provided by the present invention for the train automatic driving control system of sleet sky.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment 1：
It is a kind of train automatic Pilot control method for sleet sky as shown in Figure 1, including：
S1：Judge whether the environment residing for the train in target line is sleety weather；
S2：When the environment is sleety weather, all trains into the target line send the first instruction, so that
All trains stop；
S3：The second instruction is sent to all trains, so that all trains enter preset mode, it is made to draw
Power, which is not more than no more than default tractive force and/or brake force in the state of default brake force, to travel.
It should be noted that：Target line is that the parameters of the train of traveling can be by control center monitors to lane
Road.Control centre is usually the automated system TIAS that drives a vehicle.The parameters of train include the speed of train driving, driving process
In acceleration, the current tractive force of train, train brake force etc..
Judge whether the environment residing for the train in target line is sleety weather, and the mode of judgement is not limited to driving automatically
Change system TIAS according to the train of appearance occur abnormal phenomenon carry out judge or by vehicle outside monitoring device be detected.Row
The abnormal phenomenon that vehicle occurs includes that idle running, skidding and train phenomena such as uncontrollable hypervelocity occur.
Optionally, if TIAS detects the often remaining preset number of the idle running that train occurs or skidding, TIAS
Control train enters after preset mode or TIAS confirm with live attendant and enters preset mode, to ensure train
Safety traffic.
When environment residing for the train is sleety weather, driving automated system TIAS sends out the first instruction to train, with
Train is set to stop.After train in traveling receives the instruction, reduce speed now until stopping.
Optionally, if if not all trains enter preset pattern within a preset period,
TIAS sends out prompt message, for reminding staff to take appropriate measures or all fronts train being made to exit preset mode.Or
Person resets so that all trains of default circuit enter preset mode.
Optionally, when all trains enter preset mode and are advanced with preset mode, TIAS is by broadcasting to all
The passenger of train reports the transport condition of current train.
After train stops, the state current to control centre's report train.If control centre monitors institute in target line
Some trains all stopped, and the second instruction be sent to all trains, so that all trains enter preset mode.
Preset mode is to make train adapt to the pattern set by sleet environment.Since sleety weather causes residing for train
Environment in ground it is wet and slippery, so after train enters preset mode, the parameters such as tractive force, brake force, speed of train are all
Changed accordingly.
Into after preset mode, when acceleration, the tractive force of train is not more than preset tractive force.When deceleration, the system of train
Power is not more than preset brake force.The setting method is to ensure the driving safety of train.
It can be understood that：When train stops, parameter matching is carried out to the pattern that train will enter.From normal mode
When the train of traveling enters preset mode, train stops first, then the related control vehicle parameter of configuration.When the parameter of all trains is matched
After the completion of setting, all trains for presetting circuit are controlled in preset mode traveling.The train travelled from preset mode enters normal mode
When formula, train stops first, then the related control vehicle parameter of configuration.After the completion of the parameter configuration of all trains, controls and preset line
All trains on road are travelled in normal mode.
The train automatic Pilot control method for sleet sky that the present embodiment is provided, can be full-automatic unmanned driving
Train when encountering sleety weather, be converted to preset mode downward driving, be train tractive force be less than preset tractive force or
Person's brake force is not more than preset brake force.The method achieve the automatic changes of sleet sky full-automatic driving Train Parameters, protect
The safety traffic of sleet sky full-automatic driving train is demonstrate,proved.
Embodiment 2：
The present embodiment provides sleet sky in a kind of train automatic Pilot control method for sleet sky based on embodiment
The judgment method of gas.
Control centre detects that the number that bogie dallies in target line is more than the first numerical value within the preset time,
And the number that the air damping is slided accounts for the train of main track operation in the target line more than the train quantity of second value
The ratio of quantity is more than preset ratio, judges the environment residing for the train in the target line for sleety weather.
Such as：Driving automated system TIAS was detected in 3 minutes, was detected in default circuit in the train of main track operation
Have more than 40% train occur at least once bogie idle running and 2 air damping slide, therefore judge preset circuit in row
Environment residing for vehicle is sleety weather, needs that the train in default circuit is made to enter preset mode.
A kind of determination method of sleety weather is present embodiments provided, this method can make the automated system TIAS that drives a vehicle
The accurately environment residing for the train in judgement circuit, and decide whether to make the train in circuit to be run with preset mode,
To ensure traffic safety.
Embodiment 3：
On the basis of embodiment 1, the present embodiment is defined the value for presetting tractive force and default brake force.
When train accelerates, the tractive force of train is not more than default tractive force.Default tractive force makes train current
Environment does not occur the maximum drawbar pull of idle running phenomenon and makes the speed of train is required equal to the target velocity of current location to lead
Smaller value among gravitation；
When train deceleration, the brake force of train is not more than default brake force.Default brake force makes train current
The maximum braking force and make the speed of train equal to the required brake force of target velocity of current location that environment does not skid
Among smaller value；
In preset circuit, for the train when the speed of each position is equal to target velocity, the train is default
Parking position stop.
It should be noted that：Default tractive force is one smaller in two limits values.The two limits values are respectively：Make
Train is fast in the target that the maximum drawbar pull of idle running phenomenon does not occur and the speed of train is made to be equal to current location for current environment
Spend the smaller value among required tractive force.Current environment is the normal row of sleet environment or current environment to train
It sails and causes influence, cause train to enter preset mode to ensure the safety traffic of train.
Make train that the maximum drawbar pull of idle running phenomenon not occur in current environment, typically with region and Changes in weather.
It is influenced when by region and weather, when the wet and slippery degree in ground of train local environment increases, makes train residing for current train
The ground of environment is smaller not the maximum drawbar pull that slipping phenomenon occurs.Such as：When sleety weather, make train in current train
The maximum drawbar pull that slipping phenomenon does not occur for the ground of local environment is train train in the state of rated power normally travel
The 60% of tractive force.
So that train travel speed in pre-determined distance is equal to makes the train that the attainable maximum of phenomenon institute that dallies not occur
The required tractive force of speed.Travel speed is the current travel speed of train.In preset distance, make the speed that train is current
Degree is equal to another limits value that the required tractive force of target velocity of current location is default tractive force.
Default brake force is one smaller in two limits values.The two limits values are respectively：Make train current
The minimum brake force of slipping phenomenon does not occur and makes the speed of train equal to the target of current location for the ground of train local environment
Smaller value among the required brake force of speed.
When train braking, make train that the minimum brake force of slipping phenomenon not occur on the ground of current train local environment
It is a limits value of default brake force, it is pre- so that the speed of train is equal to the required brake force of target velocity of current location
It is equipped with another limits value of power.
In preset circuit, when the speed of each position is equal to target velocity, the train stops train preset
Truck position stops.Preset parking stall of the train in preset circuit is set to stop, speed of the train corresponding to current position
Degree is the target velocity of train.Train is calculated at a distance from default parking position default according to train start position and train
The speed in each position in circuit.If the speed of each position of train in default circuit is equal to target velocity, when
When train reaches preset parking position, train speed is just zero.
Optionally, in order to ensure that tractive force and brake force accurately control, using the method for proportional-integral-differential (PID)
Limit the control of the tractive force and brake force and other control vehicle parameters of output.
The present embodiment is based on embodiment 1, it is proposed that the determination method of default tractive force and default brake force.Default tractive force
Determination simultaneously consider under sleety weather ensure train safety traffic tractive force and so that train is reached target velocity institute as early as possible
The tractive force needed makes train quickly accelerate on the basis of ensureing train safety traffic.The determination of default brake force considers simultaneously
Ensure the brake force of train safety traffic under sleety weather and so that train speed in pre-determined distance is reduced to target velocity
Brake force makes train slow down as early as possible on the basis of ensureing train safety.
Embodiment 4：
The present embodiment also wraps on the basis of a kind of train automatic Pilot control method for sleet sky based on embodiment 1
It includes：
S4：Urgent overspeed protection curve is generated for each train, so that speed of the train at each position is small
In the urgent overspeed protection curve correspond to the position at velocity amplitude and make the train current environment do not occur beat
Smaller value among the maximum speed of sliding phenomenon.
It should be noted that：Urgent overspeed protection curve is to make train away from the ground where the nearest barrier of the train
Under conditions of stopping before point, the train is in the corresponding maximum speed in current location.Nearest barrier is any obstruction train
The barrier of advance can be the barrier for hindering train to advance, can also be other any objects for bringing security risk or
The occurent event of person.The maximum speed that slipping phenomenon does not occur in current environment for train is the speed of train safety traffic
It spends, depending on environment of the speed residing for train.The speed is seen according to what train local environment was reset, is different from
Safe speed under normally travel.
Further, during in order to ensure that the safety of passenger, train deceleration are advanced, it is also necessary to ensure the deceleration of train
Degree, prevents the impact brought due to excessive deceleration.
It present embodiments provides in a kind of driving conditions, the method for limiting of speed further ensures the safety of train.
Embodiment 5：
The present embodiment also wraps on the basis of a kind of train automatic Pilot control method for sleet sky based on embodiment 1
It includes：
S5：In the train of preset mode downward driving, if there is bogie idle running, phenomenon or the row are slided in air damping
The deceleration of train is less than preset emergency braking rate in vehicle braking process, switchs to pilot steering.
It should be noted that：In the train of preset mode downward driving, if continuing to occur bogie idle running, air damping is slided
Any one of phenomenon illustrates that preset mode Train cannot drive safely, so switching to pilot steering.
Alternatively, during train braking, it is found that the deceleration of train is less than preset emergency braking rate, due to cannot
Ensure safety, so being also required to switch to pilot steering.
Optionally, if exiting the setup failed of preset mode to all fronts train, letter is sent out to the attendant of live all fronts
Breath asks manual intervention.Alternatively, resetting again, so that all fronts train exits preset mode.
Preset emergency braking rate be depending on the environment of train and the performance of itself, during being train braking,
Ensure the value of the minimum deceleration degree of safety, such as the value of preset emergency braking rate is 0.6m/s2.In general, train braking subtracts
Speed is more than emergency braking rate.If the deceleration of train braking is less than emergency braking rate, it is necessary to switch to pilot steering.
The scheme for present embodiments providing the train safety traffic for being further ensured that sleet sky, if there is security risk,
It exits preset mode and switchs to pilot steering.
Embodiment 6：
Fig. 2 is the flow chart of the train automatic Pilot control method provided by one embodiment of the present invention for sleet sky.
Step 201：The detecting system of vehicle detects bogie idle running or slipping；
Step 202：Control centre judges whether the environment residing for the train in circuit is sleety weather；
Step 203：The Vehicle Controller of train receives the instruction into preset mode；
Step 204：Train is in preset mode downward driving；
Step 205：Control centre judges whether to cancel preset mode according to the travel situations of train；
Step 206：Control centre sends the instruction for cancelling preset mode to train；
Step 207：Train switchs to normally travel.
It should be noted that：The detecting system of vehicle can be information of vehicles and management system TCMS, information of vehicles and pipe
The bogie idle running or slipping phenomenon of the vehicle detected are sent to control centre by reason system TCMS.
Control centre can be driving automated system TIAS, and driving automated system TIAS occurs according to train on circuit
Bogie dallies or the number of slipping phenomenon, judges whether the environment residing for train needs in preset mode downward driving.
When driving automated system TIAS judgements train can be in preset mode downward driving, to the train hair of all fronts operation
It is fed into the instruction of preset mode.
After the Vehicle Controller VOBC of each row train receives instruction, control train stops.Train after stopping changes
Vehicle parameter, into preset mode.It should be noted that train is when stopping, and after the vehicle parameter for matching preset mode, Xiang Hang
Vehicle automated system TIAS is reported, and after the automated system TIAS that drives a vehicle determines that the train of all fronts enters preset mode, is sent out
The instruction of all fronts launch train.
After train receives instruction, travelled into preset mode.Train in traveling can make somebody a mere figurehead the steering that train occurs
Turn or slipping phenomenon is reported to driving automated system TIAS, if driving automated system TIAS has detected that train still occurs
Bogie dallies or slipping phenomenon, sends out prompt message, and whether request exits preset mode.
If exiting preset mode, driving automated system TIAS provides prompt message, and the train completely runed is made to switch to just
Often traveling.
The train automatic Pilot control method for sleet sky that the present embodiment is provided, can be full-automatic unmanned driving
Train when encountering sleety weather, be converted to preset mode downward driving, be train tractive force be less than preset tractive force or
Person's brake force is not more than preset brake force.The method achieve the automatic changes of sleet sky full-automatic driving Train Parameters, protect
The safety traffic of sleet sky full-automatic driving train is demonstrate,proved.
Embodiment 7：
Fig. 3 a are control of the automated driving system of the train of preset mode downward driving provided in this embodiment to tractive force
Method flow diagram.
Step 301a：Determining makes the train of preset mode downward driving, and the maximum drawbar pull of slipping phenomenon does not occur；
Step 302a：Determine the required tractive force of target velocity for making the speed of train be equal to current location；
Step 303a：The tractive force of train is controlled no more than smaller in two tractive force in step 301a and step 302a
Value；
Fig. 3 b are the automated driving systems of the train of preset mode downward driving provided by one embodiment of the present invention to braking
The control method flow chart of power.
Step 301b：Determining makes the train of preset mode downward driving, and the maximum braking force of slipping phenomenon does not occur；
Step 302b：The speed of train is set to be equal to the required brake force of target velocity of current location；
Step 303b：The tractive force of train is controlled no more than smaller in two brake force in step 301b and step 302b
Value.
The determination method of the default tractive force and default brake force that present embodiments provide.The determination of default tractive force is simultaneously
It considers the tractive force for ensureing train safety traffic under sleety weather and train is made to reach the tractive force needed for target velocity as early as possible,
On the basis of ensureing train safety traffic, train is made quickly to accelerate.The determination of default brake force considers sleety weather simultaneously
The lower brake force and train speed in pre-determined distance is made to be reduced to the brake force of target velocity for ensureing that train drives safely, is being protected
On the basis of demonstrate,proving train safety, train is made to slow down as early as possible.
Embodiment 8：
Fig. 4 is the controlling party of the automatic protective system of the train of preset mode downward driving provided by one embodiment of the present invention
Method flow chart.
Step 401：Generate urgent overspeed protection curve；
Step 402：At each position of train driving, take urgent overspeed protection curve in the position corresponding speed and
It is limitation speed that smaller value in the maximum speed of slipping phenomenon, which does not occur, for current environment；
Step 403：The speed of train is controlled less than the limits value in step 402.
The method for limiting of the speed of the train of preset mode downward driving provided in this embodiment, further ensures train
Safety.
Embodiment 9：
It is illustrated in figure 5 a kind of structural frames of train automatic driving control system for sleet sky provided in this embodiment
Figure, including：Judgment module 10, the first sending module 20, the first control module 30, the second sending module 40 and the second control module
50；
Judgment module 10 is used to judge whether the environment residing for the train in target line to be sleety weather；
First sending module 20 is used for when the environment is sleety weather, all trains hair into the target line
Send the first instruction；
First control module 30 is used for after receiving first instruction, and all trains is made to stop；
Second sending module 40 is used for after train stopping, and the second instruction is sent to all trains；
Second control module 50 is used for after receiving second instruction, and all trains is made to enter preset mode,
It is set to be travelled in the state that tractive force is not more than default tractive force and/or brake force is not more than default brake force.
It should be noted that：Whether judgment module 10 is that the judgment mode of sleety weather is not limited to the environment residing for train
Bogie dallies and air damping is slided.
The train automatic driving control system for sleet sky that the present embodiment is provided, can make full-automatic unmanned driving
Train when encountering sleety weather, be converted to preset mode downward driving, be train tractive force be not more than preset tractive force
Or brake force is not more than preset brake force.The method achieve the automatic change of sleet sky full-automatic driving Train Parameters,
It ensure that the safety traffic of sleet sky full-automatic driving train.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of train automatic Pilot control method for sleet sky, which is characterized in that including：
S1：Judge whether the environment residing for the train in target line is sleety weather；
S2：When the environment is sleety weather, all trains into the target line send the first instruction, so that described
All trains stop；
S3：Send the second instruction to all trains so that all trains enter preset mode, make its tractive force not
It is not more than in the state of default brake force more than default tractive force and/or brake force and travels；
Wherein, the default tractive force is the maximum drawbar pull for making the train not dally in current environment and makes described
The speed of train is equal to the smaller value among the required tractive force of target velocity of current location；
The default brake force is the maximum braking force for making the train not skid in current environment and makes the train
Speed be equal to current location the required brake force of target velocity among smaller value；
In preset circuit, when the speed of each position is equal to target velocity, the train stops the train preset
Truck position stops.
2. the train automatic Pilot control method according to claim 1 for sleet sky, which is characterized in that the step
S1 includes：
Within the preset time, the number that bogie dallies in the target line is more than the first numerical value, and air damping is slided
Number be more than the train quantity of second value, account for the train quantity of main track operation in the target line ratio be more than it is default
Ratio judges the environment residing for the train in the target line for sleety weather.
3. the train automatic Pilot control method according to claim 1 for sleet sky, which is characterized in that further include：
S4：Urgent overspeed protection curve is generated for each train, so that speed of the train at each position is less than institute
State the velocity amplitude and the train is made not skid in current environment that urgent overspeed protection curve corresponds at the position
Smaller value among maximum speed；
The urgent overspeed protection curve is that the train is made to stop before away from the nearest barrier of the train, and the train exists
The corresponding maximum speed in current location.
4. the train automatic Pilot control method according to any one of claims 1 to 3 for sleet sky, feature exists
In further including：
S5：In the train of the preset mode downward driving, if continuing to occur bogie idle running, phenomenon or institute are slided in air damping
The deceleration for stating train during train braking is less than preset emergency braking rate, switchs to pilot steering.
5. a kind of train automatic driving control system for sleet sky, which is characterized in that including：Judgment module, first send
Module, the first control module, the second sending module and the second control module；
The judgment module is used to judge whether the environment residing for the train in target line to be sleety weather；
First sending module is used for when the environment is sleety weather, and all trains into the target line are sent
First instruction；
First control module is used for after receiving first instruction, and all trains is made to stop；
Second sending module is used for after train stopping, and the second instruction is sent to all trains；
Second control module is used for after receiving second instruction, so that all trains is entered preset mode, is made
It is travelled in the state that tractive force is not more than default tractive force and/or brake force is not more than default brake force；
Wherein, the default tractive force is the maximum drawbar pull for making the train not dally in current environment and makes described
The speed of train is equal to the smaller value among the required tractive force of target velocity of current location；
The default brake force is the maximum braking force for making the train not skid in current environment and the speed etc. made
Smaller value among the required brake force of target velocity of current location；
In preset circuit, when the speed of each position is equal to target velocity, the train stops the train preset
Truck position stops.
6. the train automatic driving control system according to claim 5 for sleet sky, which is characterized in that the judgement
Module is further used for：
Within the preset time, if the number that bogie dallies in the target line is more than the first numerical value, and air damping is slided
Capable number is more than the train quantity of second value, and the ratio for accounting for the train quantity of main track operation in the target line is more than in advance
If ratio, judge the environment residing for the train in the target line for sleety weather.
7. the train automatic driving control system according to claim 5 for sleet sky, which is characterized in that further include：
Third control module；
The third control module is used to generate urgent overspeed protection curve for each train, so that the train is at each
The speed at the place of setting is less than the velocity amplitude and make the train current that the urgent overspeed protection curve corresponds at the position
Smaller value between the maximum speed of slipping phenomenon does not occur for environment；
The urgent overspeed protection curve is that the train is made to stop before away from the nearest barrier of the train, and the train exists
The corresponding maximum speed in current location.
8. being used for the train automatic driving control system of sleet sky according to claim 5 to 7 any one of them, feature exists
In further including：4th control module；
4th control module is used for the train in the preset mode downward driving, if there is bogie idle running, air damping
The deceleration for sliding train during phenomenon or the train braking is less than preset emergency braking rate, switchs to pilot steering.
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| CN107054412B (en) * | 2017-04-30 | 2018-03-30 | 中南大学 | UAV Intelligent measurement and method for early warning and the system of a kind of bogies for railway vehicles ice and snow |
| CN108674447A (en) * | 2018-05-02 | 2018-10-19 | 北京交通大学 | Operation control method for train under special external environment |
| CN109229160B (en) * | 2018-08-29 | 2020-09-18 | 交控科技股份有限公司 | Automatic control method and device for train coping with severe weather and vehicle-mounted equipment |
| CN110936982B (en) * | 2018-09-21 | 2023-01-06 | 比亚迪股份有限公司 | Full-automatic train driving control method and device and unmanned train signal system |
| CN109625035B (en) * | 2018-12-20 | 2021-04-27 | 交控科技股份有限公司 | Method and device for processing train operation mode of tunnel ground mixed line |
| CN109625037B (en) * | 2018-12-20 | 2020-10-23 | 交控科技股份有限公司 | Prompting method and device for entering rain and snow mode in full-automatic unmanned driving mode |
| CN112141172B (en) * | 2019-06-28 | 2022-01-07 | 比亚迪股份有限公司 | Rain and snow mode setting method and system and controller |
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| CN113734233B (en) * | 2020-05-29 | 2022-12-09 | 比亚迪股份有限公司 | Train control method and system for switching rain and snow modes without stopping |
| CN114194249B (en) * | 2020-09-17 | 2023-02-07 | 比亚迪股份有限公司 | Train driving control method and control system |
| CN113212497B (en) * | 2021-06-03 | 2022-11-04 | 上海电气泰雷兹交通自动化系统有限公司 | Method for accurately monitoring emergency braking rate of operating train |
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