CN107977000A - A kind of railway locomotive automated driving system - Google Patents
A kind of railway locomotive automated driving system Download PDFInfo
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- CN107977000A CN107977000A CN201711174283.1A CN201711174283A CN107977000A CN 107977000 A CN107977000 A CN 107977000A CN 201711174283 A CN201711174283 A CN 201711174283A CN 107977000 A CN107977000 A CN 107977000A
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 138
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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Abstract
The present invention relates to a kind of railway locomotive automated driving system, wherein signal message acquisition module is responsible for gathering the locomotive information needed for railway locomotive automatic Pilot, and train ATO systems are transferred to, and train operator is sent to by human-computer interaction module and is monitored control；The optimized handling gear sequence of locomotive control is calculated according to the locomotive information that signal message acquisition module is sent for train ATO systems, locomotive control control command sequence is issued into human-computer interaction module, human-computer interaction module notifies train operator to carry out hand/automatic handling safety switching according to locomotive control control command sequence；Train ATO systems receive the instruction of train operator by human-computer interaction module, and according to instruction by hand/automatic switch set.Train ATO systems have been carried out the good locomotive control manipulation sequence that merges, can be optimized by the present invention with existing onboard system, and the automatic Pilot that sequence realize railway locomotive can be manipulated according to locomotive control.
Description
Technical field
The present invention relates to railway traffic control field, more particularly, to a kind of railway locomotive automated driving system.
Background technology
Railway locomotive has the characteristics that huge freight volume, speed, transportation range are long as the common vehicles.With
The rapid growth of the flow of personnel amount and goods flow amount between each department, locomotive driving is proposed it is more safe and stable,
Energy saving requirement., there is traveling average speed is low, security is poor, parking is inaccurate etc. in the railway locomotive driven for non-automated
Shortcoming, and the driving technology of driver seriously affects train operating conditions.Driver driving technology is by long-term practice, constantly accumulation warp
Test, and only get used on a circuit driving, it is difficult to the control effect being optimal.Therefore, it is real for current condition
The demand of existing railway locomotive automatic Pilot is more and more urgent.
ATO systems are simply applied in urban track traffic at present, and inter-city passenger rail ATO systematic researches are with respect to blank.City
Border railway is relative to urban track traffic, and environmental factor is increasingly complex changeable, and operating range is longer, and line arrangement is increasingly complex,
Thus realize the automatic Pilot difficulty bigger of railway locomotive.
The content of the invention
In order to solve the problems in the prior art, the purpose of the present invention is to, there is provided a kind of railway locomotive automated driving system, its
Train ATO systems can well be merged with existing onboard system, with reference to locomotive information, circuit given state information and reality
When operation information, realize the automatic Pilot of railway locomotive.
The purpose of the present invention is achieved through the following technical solutions：
The present invention provides a kind of railway locomotive automated driving system, it includes：
Signal message acquisition module, human-computer interaction module and train ATO systems；
The signal message acquisition module is responsible for gathering the locomotive information needed for railway locomotive automatic Pilot, and is transferred to row
Car ATO systems；And train operator is sent information to by human-computer interaction module and is monitored control；
Locomotive is calculated by optimization according to the locomotive information that signal message acquisition module is sent in the train ATO systems
The optimized handling gear sequence of control, human-computer interaction module, human-computer interaction mould are issued by the locomotive control control command sequence
Block notifies train operator to carry out hand/automatic handling safety switching according to the locomotive control control command sequence；
The train ATO systems by human-computer interaction module receive train operator instruction, and according to described instruction by hand/
Automatic switch set.
It is highly preferred that the signal message acquisition module includes：
Train scheduling centralized direction control system, vehicle-mounted locomotive running monitor device, train microcomputer network control system and
Remote signal transmitting device；
The train scheduling centralized direction control system is responsible for collection scheduling command information；And information is transmitted to described man-machine
Interactive module is transferred to the train ATO systems to notify train operator, and by the remote signal transmitting device；
The vehicle-mounted locomotive running monitor device is responsible for gathering line information and locomotive real-time operating conditions information；And will letter
Breath is transmitted to the human-computer interaction module to be presented to train operator, while is sent to the train ATO systems；
The train microcomputer network control system is used to obtain performance of locomotive characteristic information；And information is transmitted to described man-machine
Interactive module is sent to the train ATO systems to be presented to train operator.
It is highly preferred that the human-computer interaction module includes：Interactive unit；Train operator is by the interactive unit to described
Train ATO systems send manual/auto control instruction；After the train ATO systems receive manual/auto control instruction, press
Hand/automatic switch set is manipulated for manually handle or automatically according to the control instruction.
It is highly preferred that the human-computer interaction module includes：
Speech ciphering equipment, the motive power control command information that the speech ciphering equipment reception signal message acquisition module is transmitted to is simultaneously
Notify to be used to monitor train operation state to train operator；
And/or
LKJ displays, the LKJ displays receive the locomotive real-time operating conditions that the signal message acquisition module is transmitted to
Information is simultaneously presented to train operator for monitoring train operation state；
And/or
TCMS displays, the TCMS displays receive the performance of locomotive feature letter that the signal message acquisition module is transmitted to
Cease and be presented to train operator and be used to monitor train operation state.
It is highly preferred that the human-computer interaction module includes：Air damping executor；The air damping executor is according to row
The air damping control action of car driver sends control command to train ATO systems；The train ATO systems receive manipulation and refer to
It is manually handle by hand/automatic switch set after order.
It is highly preferred that the human-computer interaction module further includes：Driver controller；The driver controller is according to train operator
The operational motion of gear joystick is manipulated, manually handle instruction is sent to train ATO systems；The train ATO systems according to
Hand/automatic switch set is manually handle by the manual operation instruction.
It is highly preferred that the control command signal format of the train ATO systems output and the driver controller of existing locomotive
The control command signal format of output is identical.
It is highly preferred that the train ATO systems include：
Real-time, interactive unit and optimization calculation unit；
The train ATO systems are received for certainly by the real-time, interactive unit from the signal message acquisition module
The locomotive information that dynamic control calculates；The optimization calculation unit is optimized using the locomotive information under multi-restriction Multi-Objective
Calculate, obtain locomotive control control command sequence.
The real-time, interactive unit notifies train operator according to the locomotive control by being interacted with human-computer interaction module
Control command sequence processed realizes hand/automatic handling safety switching；
The real-time, interactive unit obtains the operational motion letter of train operator by being interacted with human-computer interaction module
Number, and according to the operational motion signal by hand/manipulate set automatically.
It is highly preferred that the optimization calculation unit optimizes calculating using the locomotive information under multi-restriction Multi-Objective
Process include：
First using the historical data of locomotive information and driver driving locomotive as input, sequential mode mining technology mining is used
Driver behavior, instructs current goal optimization to calculate, pre-planning locomotive driving gear and rate curve, obtain initial locomotive and drive automatically
Sail Optimal Curve；
Secondly, according to real-time reception to locomotive information double optimization tune is carried out on the initial optimization curve of pre-planning
It is whole so that locomotive automatic Pilot Optimal Curve meets speed limit, timetable, time deviation requirement；
On the basis of the locomotive automatic Pilot Optimal Curve after based on speed limit, timetable, time deviation adjustment, for frequent
Gearshift and switch gear requirement step by step and modification generation is adjusted to Optimal Curve meets the locomotive of multi-constraint condition and drive automatically
Sail optimized handling curve.
The present invention has the following technical effect that it can be seen from the technical solution of the invention described above：
The present invention farthest combines the existing car-mounted device of China's locomotive, according to the concrete condition of rail route,
By train ATO systems and existing onboard system carried out it is good merge, vehicle-mounted monitoring system, train including original locomotive
The acquisition of information and shared and man-machine interaction unit the system integration of microcomputer network control system and scheduling system.
The control command signal format of train ATO systems output and the control command of the driver controller output of existing locomotive
Signal format is identical.So output of train ATO systems simulation driver controller, can minimize to existing locomotive control
Change, and reasonably substitute the driver controller of existing locomotive.
The optimization calculations incorporated of train ATO systems considers locomotive information, circuit given state information and real-time traffic information,
The locomotive control that can be optimized manipulates sequence, and sequence can be manipulated according to locomotive control and realizes that the automatic of railway locomotive is driven
Sail.
Brief description of the drawings
Fig. 1 is the structure diagram of railway locomotive automated driving system of the present invention.
Embodiment
Technical scheme is described in further details below with reference to attached drawing.
Embodiment one
The present invention provides a kind of railway locomotive automated driving system, and the railway locomotive automated driving system combination locomotive is existing
Car-mounted device, i.e., be connected with existing vehicle-mounted locomotive running monitor device, train microcomputer network control system and driver controller
Connect, receive many information such as the performance of locomotive, operation conditions, line conditions, dispatch control, simulation driver driving operation is defeated
Go out the optimized handling instruction of locomotive, including air damping manipulates control, realizes that locomotive accurately reasonably automates Driving control, together
When reach monitoring driver operation, realize with driver's real-time, interactive, control and automatically control manually flexible switching, ensured locomotive
Safe operation.
The structure of the railway locomotive automated driving system as shown in Figure 1, including：Signal message acquisition module, human-computer interaction
Module and train ATO systems.
Signal message acquisition module is mainly responsible for the locomotive information needed for collection railway locomotive automatic Pilot, and is transferred to row
Car ATO systems.Synchronous signal information acquisition module sends information to driver also by human-computer interaction module, so that driver carries out
Monitoring control.Machine is calculated by optimization according to the locomotive information that signal message acquisition module is sent in the train ATO systems
The optimized handling gear sequence of car control, human-computer interaction module, human-computer interaction are issued by the locomotive control control command sequence
Module notifies train operator to carry out hand/automatic handling safety switching according to the locomotive control control command sequence；Train ATO systems
System by human-computer interaction module receive train operator control instruction or control command, and according to described instruction by hand/automatically
Converter set.
The function of modules is specific as follows：
First, signal message acquisition module
The signal message acquisition module is broadly divided into three parts：Train scheduling centralized direction control system, vehicle-mounted locomotive
Running monitor device, train microcomputer network control system and remote signal transmitting device.
Train scheduling centralized direction control system mainly completes transmission, record and the analysis of dispatch control information, including row
Car running schedule, time out of the station, down time, target velocity, target range and traffic order information etc..The train scheduling
Centralized direction control system includes terrestrial transmission equipment (such as wheel detector, ground-plane antenna, ground network system) and car
Carry transmission equipment (such as onboard sensor and car antenna).By these terrestrial transmission equipment and vehicle-mounted transmission equipment on the one hand
Scheduling information is transmitted to human-computer interaction module, human-computer interaction module is notified to train operator based on existing speech ciphering equipment；It is another
Aspect, scheduling information is transferred in train ATO systems by remote signal transmitting device.The remote signal transmitting device is divided into
Two transmitting elements, the first transmitting element are used to scheduling information is sent to machine by general packet radio service GPRS network
Car；Second transmitting element is used to scheduling information is sent to locomotive by Wireless LAN wlan network.
Vehicle-mounted locomotive running monitor device, such as LKJ2000, CTCS2 equipment, are mainly responsible for collection line information and locomotive
Real-time operating conditions information.On the one hand line information and locomotive real-time operating conditions information are transmitted to human-computer interaction mould by the device
Block, row driver is presented information to by LKJ displays, and operation conditions is grasped so that driver monitors in real time, on the other hand will letter
Breath is sent to train ATO systems.
Train microcomputer network control system, such as CTMS are connected by Serial Port Line or CAN bus, for obtaining locomotive letter
Breath, main to include performance of locomotive characteristic information, on the one hand performance of locomotive characteristic information is transmitted to human-computer interaction module, people by the system
Performance of locomotive characteristic information is presented to train operator by machine interactive module by TCMS displays；On the other hand it is the performance of locomotive is special
Reference breath is transferred to train ATO systems.
2nd, human-computer interaction module
Human-computer interaction module includes interactive unit and hand/automatic switch, can also include speech ciphering equipment, LKJ displays
With one or more in TCMS displays.
Train operator by speech ciphering equipment, LKJ displays and TCMS displays, receive scheduling, train real-time operating conditions,
Line information and performance of locomotive characteristic information, real time monitoring control train operating conditions.
In order to realize train operator's active operation train, which still further comprises air damping executor
Or driver controller.
Train operator can by interactive unit, air damping executor and driver controller respectively with train ATO systems
Interact.Specific implementation situation is as follows：
Train operator sends manual/auto control instruction by interactive unit to train ATO systems, and train ATO systems connect
After receiving manual/auto control instruction, hand/automatic switch set is manipulated for manually handle or automatically according to instruction.
It is possible that the excessively high hidden danger of speed, train operator need to start in the case empty during train driving
Gas brake operators carry out brake operating, and air damping executor is acted to train ATO systems according to the brake operating of train operator
System sends air damping control command, is manual by hand/automatic switch set after train ATO systems receive control command
Manipulate.
Train operator operates selector lever as desired by driver controller, and driver controller receives driver control action
Afterwards, manually handle order is sent to train ATO, is manually handle by hand/automatic switch set.
Above-mentioned hand/automatic switch is a relay sequence, and the output with the driver controller of existing locomotive respectively connects
Mouth, the output interface of train ATO systems are connected, into row data communication.The control command signal format of train ATO systems output
It is identical with the control command signal format that the driver controller of existing locomotive exports.By hand/automatic switch, by control command
Signal makes the train ATO systems in the application be listed in existing locomotive completely in driver controller and train ATO intersystem handovers
Driver controller, realize manual drive and automatically control the handoff-security of driving, and driver controller has the control of higher
Power.
3rd, train ATO systems
Train ATO systems are the nucleus modules of the railway locomotive automated driving system of the application.Train ATO systems and department
Machine control input is arranged side by side, but lower than the control of driver.Train ATO systems mainly include optimization calculation unit and hand in real time
Mutual unit.
Wherein, optimization calculation unit is mainly responsible for two steps of pre-planning and smart steering, and optimal locomotive is calculated
Gear sequence is manipulated, the Format Series Lines is identical with the information output format of existing locomotive driver controller.Real-time, interactive list
Member is interacted with trainman, realizes the automatic handling safety switching of hand.
Train ATO system modules can receive following two category information by real-time, interactive unit：
One type information is the locomotive information for automatically controlling calculating.
The scheduling information that is received by real-time, interactive unit from train scheduling centralized direction control system, transport from vehicle-mounted locomotive
The train real-time operating conditions and line information of the reception of row monitoring device, the locomotive received from train microcomputer network control system
Can characteristic information.Train ATO systems receive this kind of locomotive information, are carried out by optimization calculation unit under multi-restriction Multi-Objective
Optimization calculates, and obtains locomotive control control command sequence.
In calculating process is optimized, train ATO systems going through with locomotive information, line information and driver driving locomotive first
History data are input, use sequential mode mining technology mining driver behavior, for instructing current goal optimization to calculate, pre-planning
Locomotive driving gear and rate curve, i.e. initial optimization curve.Secondly, according to circuit speed-limiting messages, the scheduling signals received
Double optimization adjustment is carried out on the initial optimization curve of pre-planning etc. information so that locomotive automatic Pilot Optimal Curve meets limit
The requirement such as speed, timetable, time deviation.In addition to above-mentioned restrictive condition, locomotive should also meet the safety that operates steadily, in base
After speed limit, timetable, time deviation adjustment, for shift hunting and switch gear requirement step by step and Optimal Curve is adjusted
Trimming changes the final pre-planning optimized handling curve that generation meets multi-constraint condition.And in train travelling process, train ATO systems
System receives temporary speed limitation and temporary scheduling signal message, using smart steering algorithm such as pid control algorithm, is calculated works as in real time
Preceding optimal manipulation gear sequence, can there are during error in train marshalling list, load-carrying, rolling stock characterisitic parameter and extraneous factor
Ensure the optimum results of system.In the optimization calculating process of train ATO systems, specifically used locomotive operation physical model is such as
Under：
T (0)=0, t (S)=T
V (0)=v (S)=0
Wherein, S is the distance of train operation, and T is the run time of scheduling, and x is the current location of train and 0≤x≤S, v
Or v (x) is the current driving speed of train, p (x) is the traction power of train, and M is the gross load hauled amount of train, w0(v) it is
Unit operation datum drag when train speed is v, r is train pipe pressure reduction, v0For the initial velocity of braking, bb(r, v, v0) be
The unit of escapement is made a concerted effort, and θ (s) is the train weight density function at the s of distance train head, and g (x-s) represents distance train head s
The circuit additional drag at place, LeIt is the length of train,Represent weighted units additional drag, t then represents to arrange
The time of running of car.
Wherein the second category information is driver's interactive information that train ATO systems receive.
Train ATO systems input port and the delivery outlet of man-machine interaction unit, air damping executor and driver controller
It is connected, train ATO systems receive driver control instruction, and hand/automatic switch is carried out corresponding set according to instruction.
Train operator sends manual control instruction by interactive unit, and train ATO systems are received by real-time, interactive unit
Hand/automatic switch is switched to manual control of the gear sequence after the instruction, receives the output of driver controller as train control
Gear sequence processed.Train operator can also be sent by interactive unit and automatically control instruction, after train ATO systems receive the instruction
Hand/automatic switch is switched to automatic control gear sequence, is exported by the control sequence of train ATO system optimization computing units
As Train Control gear sequence.Driver starts air damping executor, and ATO systems receive the output of air damping executor, will
Hand/automatic switch is switched to manual control of the gear sequence, receives driver's air damping and manipulates.Driver directly manipulates driver's control
Device, it by the set of hand automatic switch is manually handle that train ATO systems, which are received after driver controller manipulates, is controlled by train operator
Train.
From the above, it is seen that the present invention is based on the existing car-mounted device of China's locomotive, by train ATO systems with
Existing onboard system is combined, and considers locomotive, circuit given state information and real-time traffic information, and scheduling signals
Instruction, optimal control operation, simulation driver's control, while realize that train ATO systems and driver control safe seamless switching.
Although the present invention is disclosed as above with preferred embodiment, embodiment does not limit the present invention.This hair is not being departed from
Any equivalence changes done in bright spirit and scope or retouching, also belong to the protection domain of the present invention.Therefore the present invention
Protection domain should be using the content that claims hereof is defined as standard.
Claims (9)
- A kind of 1. railway locomotive automated driving system, it is characterised in that the railway locomotive automated driving system, including：Signal message acquisition module, human-computer interaction module and train ATO systems；The signal message acquisition module is responsible for gathering the locomotive information needed for railway locomotive automatic Pilot, and is transferred to train ATO systems；And train operator is sent information to by human-computer interaction module and is monitored control；Locomotive control is calculated by optimization according to the locomotive information that signal message acquisition module is sent in the train ATO systems Optimized handling gear sequence, the locomotive control control command sequence is issued into human-computer interaction module, human-computer interaction module leads to Know that train operator carries out hand/automatic handling safety switching according to the locomotive control control command sequence；The train ATO systems receive the instruction of train operator by human-computer interaction module, and according to described instruction by hand/automatic Converter set.
- A kind of 2. railway locomotive automated driving system according to claim 1, it is characterised in that the signal message collection Module includes：Train scheduling centralized direction control system, vehicle-mounted locomotive running monitor device, train microcomputer network control system and long-range Signal transmitting apparatus；The train scheduling centralized direction control system is responsible for collection scheduling command information；And information is transmitted to the human-computer interaction Module is transferred to the train ATO systems to notify train operator, and by the remote signal transmitting device；The vehicle-mounted locomotive running monitor device is responsible for gathering line information and locomotive real-time operating conditions information；And information is passed To the human-computer interaction module to be presented to train operator, while it is sent to the train ATO systems；The train microcomputer network control system is used to obtain performance of locomotive characteristic information；And information is transmitted to the human-computer interaction Module is sent to the train ATO systems to be presented to train operator.
- A kind of 3. railway locomotive automated driving system according to claim 1, it is characterised in thatThe human-computer interaction module includes：Interactive unit；Train operator is sent out by the interactive unit to the train ATO systems Send manual/auto control instruction；After the train ATO systems receive manual/auto control instruction, hand/automatic switch is put according to the control instruction Position is manually handle or automatic manipulation.
- A kind of 4. railway locomotive automated driving system according to claim 3, it is characterised in that the human-computer interaction module Including：Speech ciphering equipment, the speech ciphering equipment receive the motive power control command information that the signal message acquisition module is transmitted to and notify It is used to monitor train operation state to train operator；And/orLKJ displays, the LKJ displays receive the locomotive real-time operating conditions information that the signal message acquisition module is transmitted to And it is presented to train operator and is used to monitor train operation state；And/orTCMS displays, the performance of locomotive characteristic information that the TCMS displays reception signal message acquisition module is transmitted to is simultaneously Train operator is presented to be used to monitor train operation state.
- A kind of 5. railway locomotive automated driving system according to claim 3 or 4, it is characterised in thatThe human-computer interaction module includes：Air damping executor；The air damping executor is according to the air of train operator Braking maneuver acts to train ATO systems and sends control command；It is manually handle by hand/automatic switch set after the train ATO systems receive control command.
- A kind of 6. railway locomotive automated driving system according to claim 1 or 3, it is characterised in thatThe human-computer interaction module further includes：Driver controller；The driver controller manipulates gear control according to train operator The operational motion of handle, manually handle instruction is sent to train ATO systems；Hand/automatic switch set is manually handle according to the manual operation instruction by the train ATO systems.
- A kind of 7. railway locomotive automated driving system according to claim 6, it is characterised in that the train ATO systems The control command signal format that the driver controller of the control command signal format of output and existing locomotive exports is identical.
- A kind of 8. railway locomotive automated driving system according to claim 1, it is characterised in that the train ATO systems Including：Real-time, interactive unit and optimization calculation unit；The train ATO systems are received for controlling automatically by the real-time, interactive unit from the signal message acquisition module Make the locomotive information calculated；The optimization calculation unit optimizes meter using the locomotive information under multi-restriction Multi-Objective Calculate, obtain locomotive control control command sequence.The real-time, interactive unit notifies train operator to be grasped according to the locomotive control by being interacted with human-computer interaction module Vertical command sequence realizes hand/automatic handling safety switching；The real-time, interactive unit obtains the operational motion signal of train operator by being interacted with human-computer interaction module, and According to the operational motion signal by hand/manipulate set automatically.
- A kind of 9. railway locomotive automated driving system according to claim 8, it is characterised in that the optimization calculation unit Being optimized the process of calculating under multi-restriction Multi-Objective using the locomotive information is included：First using the historical data of locomotive information and driver driving locomotive as input, driven using sequential mode mining technology mining Operation, instructs current goal optimization to calculate, pre-planning locomotive driving gear and rate curve, it is excellent to obtain initial locomotive automatic Pilot Change curve；Secondly, according to real-time reception to locomotive information double optimization adjustment is carried out on the initial optimization curve of pre-planning, make Obtain locomotive automatic Pilot Optimal Curve and meet speed limit, timetable, time deviation requirement；On the basis of the locomotive automatic Pilot Optimal Curve after based on speed limit, timetable, time deviation adjustment, for shift hunting And step by step switch gear requirement to Optimal Curve be adjusted modification generation meet multi-constraint condition locomotive automatic Pilot it is excellent Change and manipulate curve.
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| CN110341731A (en) * | 2019-07-22 | 2019-10-18 | 河南思维轨道交通技术研究院有限公司 | A kind of locomotive driver controller Operations Simulation Facility |
| CN110539757A (en) * | 2018-11-29 | 2019-12-06 | 中车长春轨道客车股份有限公司 | high-speed train operation control method and system |
| CN110949456A (en) * | 2019-12-23 | 2020-04-03 | 济南维优科技开发有限公司 | Information acquisition method on railway code-free line |
| WO2020119281A1 (en) * | 2018-12-14 | 2020-06-18 | 株洲中车时代电气股份有限公司 | Locomotive driving mode switching method, apparatus, and medium |
| CN111824213A (en) * | 2019-04-18 | 2020-10-27 | 中车株洲电力机车研究所有限公司 | Automatic driving method and system for heavy-duty locomotive |
| CN111824214A (en) * | 2019-04-18 | 2020-10-27 | 中车株洲电力机车研究所有限公司 | Automatic driving active safety control method and system for heavy-duty locomotive |
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