CN111923965B - Automatic driving method, system and equipment for locomotive - Google Patents
Automatic driving method, system and equipment for locomotive Download PDFInfo
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- CN111923965B CN111923965B CN201910393775.2A CN201910393775A CN111923965B CN 111923965 B CN111923965 B CN 111923965B CN 201910393775 A CN201910393775 A CN 201910393775A CN 111923965 B CN111923965 B CN 111923965B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/40—Handling position reports or trackside vehicle data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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Abstract
The invention discloses a method, a system and equipment for automatically driving a locomotive, wherein the method comprises the following steps: acquiring running information of a train; the driving information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval; retrieving corresponding pre-stored manipulation data from a pre-stored manipulation data area according to the driving information; driving control is carried out on the train according to prestored operation data; the corresponding pre-stored operation data is retrieved from the pre-stored operation data area according to the running information, the operation data of an excellent driver retrieved by the current running information of the train can be utilized, the operation data of a certain position point can be referred in real time when the automatic driving system of the locomotive plans an operation curve, the operation data of each time of the locomotive tends to the excellent driver level, the operation level difference among drivers is eliminated, the loss of the locomotive caused by improper driving operation of the drivers is reduced, and the average operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to an automatic driving method, system and equipment for a locomotive.
Background
With the development of modern society science and technology, the more widely the rail train is used originally, often be provided with train automatic driving system in the rail train to supplementary navigating mate operation train.
The locomotive automatic driving system aims at replacing most operations of locomotive drivers, aims at replacing the operations of excellent drivers, improves the driver operation consistency level, improves the safety and the stability of a train, and improves the operation efficiency. Therefore, how to utilize the control data of excellent drivers to improve the control level of the automatic driving system of the locomotive and further improve the safety and the stability of the train is a problem which needs to be solved urgently nowadays.
Disclosure of Invention
The invention aims to provide an automatic driving method, system and equipment of a locomotive, which are used for improving the train control level and improving the safety and stability of a train by utilizing the retrieved excellent driver operation data.
In order to solve the technical problem, the invention provides an automatic driving method of a locomotive, which comprises the following steps:
acquiring running information of a train; the running information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval;
retrieving corresponding pre-stored manipulation data from a pre-stored manipulation data area according to the driving information;
and controlling the train to drive according to the prestored operation data.
Optionally, the pre-stored operation data includes section area number data, station section information data, side track information data, section passing curve reference data, section start-stop curve reference data, prompt information data, special section information data, and end information data.
Optionally, when the location information of the pre-stored operation data is a distance beyond a station center, the driving control of the train is performed according to the pre-stored operation data, including:
and determining the relative zero displacement of the prestored operation data according to the relative zero distance from the train to the current station center and the distance of the prestored operation data over the station center.
Optionally, when the driving information includes the traffic number, the current station number, and the next station number, the retrieving, according to the driving information, corresponding pre-stored manipulation data from a pre-stored manipulation data area includes:
according to the traffic route number, searching to obtain the initial address of the station interval information table of the target station interval in the initial address index table data area of the station interval information table of the corresponding target station interval;
finding out a station interval information table of the target station interval according to the initial address of the station interval information table;
retrieving to obtain information data of the target station interval according to the station interval information table, the current station number and the next station number;
and retrieving the pre-stored manipulation data from the pre-stored manipulation data area according to the information data.
Optionally, before retrieving the start address of the station section information table of the target station section in the start address index table data area of the station section information table of the corresponding target station section according to the traffic route number, the method further includes:
judging whether the pre-stored operation data area contains the pre-stored operation data or not according to the traffic route number;
and if so, executing the step of searching and obtaining the initial address of the station interval information table of the target station interval in the initial address index table data area of the station interval information table of the corresponding target station interval according to the traffic route number.
Optionally, the information data includes data start address information of the target station interval;
correspondingly, the pre-stored manipulation data area comprises a data end mark corresponding to the pre-stored manipulation data.
Optionally, when the driving information further includes the train number, before retrieving, according to the road number, a start address of the station section information table of the target station section in the start address index table data area of the station section information table of the corresponding target station section, the method further includes:
determining a data area of an initial address index table of the station interval information table according to the train number; the data area of the initial address index table of the station interval information table is an initial address index table data area of an uplink traffic route station interval information table or an initial address index table data area of a downlink traffic route station interval information table.
Optionally, the determining, according to the train number, a data area of an initial address index table of the station interval information table includes:
judging whether the remainder of dividing the train number by 2 is 0 or not;
if yes, searching to obtain a data area of an initial address index table of the uplink traffic route station interval information table;
and if not, searching to obtain a data area of the initial address index table of the descending traffic route station interval information table.
The invention also provides an automatic driving system of a locomotive, comprising:
the acquisition module is used for acquiring the running information of the train; the running information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval;
the retrieval module is used for retrieving corresponding prestored operation data from a prestored operation data area according to the running information;
and the control module is used for controlling the driving of the train according to the prestored operation data.
In addition, the present invention also provides an automatic driving apparatus for a locomotive, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the locomotive autopilot method as set forth in any one of the above when the computer program is executed.
The invention provides an automatic driving method of a locomotive, which comprises the following steps: acquiring running information of a train; the driving information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval; retrieving corresponding pre-stored manipulation data from a pre-stored manipulation data area according to the driving information; driving control is carried out on the train according to prestored operation data;
therefore, the corresponding prestored operation data is retrieved from the prestored operation data area according to the running information, the operation data of an excellent driver retrieved by the current running information of the train can be utilized, the operation data of a certain position point can be referred in real time when the automatic driving system of the locomotive plans an operation curve, the operation data of each time of the locomotive tends to the excellent driver level, the operation level difference among drivers is eliminated, the loss of the locomotive caused by improper driving operation of the drivers is reduced, and the average operation efficiency is improved. In addition, the invention also provides an automatic driving system and equipment of the locomotive, and the system and the equipment also have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for automatically driving a locomotive according to an embodiment of the present invention;
fig. 2 is a data organization structure of pre-stored manipulation data according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for automatically operating a locomotive according to an embodiment of the present invention;
fig. 4 is a structural diagram of an automatic driving system of a locomotive according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating an automatic driving method for a locomotive according to an embodiment of the present invention. The method can comprise the following steps:
step 101: acquiring running information of a train; the driving information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval.
It is understood that the purpose of this step may be to obtain current driving information of the train, so as to retrieve the pre-stored operation data required by the current control of the automatic driving system by using the driving information. Specifically, the specific content of the running information acquired by the processor in the train in this step may be set by the designer according to the practical scenario and the user requirement, that is, the running information may be set according to the data retrieval algorithm used to retrieve the pre-stored operation data corresponding to the running information in step 102, for example, the running information may include at least one of a road number, a train number, a current station number, and a next station number in a target station interval, as long as the processor can retrieve the corresponding pre-stored operation data by using the acquired running information, which is not limited in this embodiment.
Specifically, the specific mode of acquiring the running information of the train by the processor in this step may be set by a designer, for example, the running information of the train may be acquired at preset time intervals; the running information of the train can also be acquired after the train leaves the station, that is, the running information is acquired after the station number of the current station changes, which is not limited in this embodiment.
Step 102: and retrieving corresponding prestored operation data from the prestored operation data area according to the running information.
The pre-stored operation data area in this step may be a data area in which operation data (operation curve data) of all excellent drivers are stored; the pre-stored operation data in this step may be operation data corresponding to the running information of the train in the pre-stored operation data area, such as pre-stored operation data of a target station interval of the train.
It will be appreciated that the purpose of this step may be to retrieve pre-stored steering data corresponding to the driving information from a pre-stored steering data field for the processor. The specific retrieval mode in the step, namely the setting of the data retrieval algorithm, can be set by a designer according to a practical scene and user requirements, for example, the driving information can be directly utilized to carry out violence retrieval on all pre-stored operation data in the pre-stored operation data area until the pre-stored operation data corresponding to the driving information is retrieved; the retrieval time can also be reduced by setting an index table, such as a station section data address index table for retrieving prestored operation data of a target station section in a prestored operation data area, a station section information table for storing information data of the target station section, and a station section information table start address index table for retrieving the station section information table of the target station section. That is, the processor may first retrieve the station section information table of the target station section through the initial address index table of the station section information table; then, information data of the target station interval is searched through the station interval information table; therefore, the pre-stored operation data of the target station interval is retrieved through the station interval data address index table by using the information data. If the running information includes a traffic route number, a current station number and a next station number, the step can include that according to the traffic route number, a station interval information table initial address index table data area of a corresponding target station interval is searched to obtain a station interval information table initial address of the target station interval; finding out a station interval information table of a target station interval according to the initial address of the station interval information table; according to the station interval information table, the current station number and the next station number, retrieving to obtain information data of the target station interval; pre-stored manipulation data is retrieved from a pre-stored manipulation data area based on the information data. The embodiment is not limited to this as long as the processor can retrieve the corresponding pre-stored steering data from the pre-stored steering data area by using the driving information.
Correspondingly, in order to further facilitate the retrieval of the pre-stored operation data, the data organization structure of the pre-stored operation data in this embodiment may adopt a manner shown in fig. 2, that is, the station section data address index table, the station section information table (station section information) and the station section information table start address index table may be divided into two tables according to the ascending and descending of the train, for example, the station section data address index table may be divided into an ascending bus station section data address index table and a descending bus station section data address index table. That is, the step may further include determining whether the train is ascending or descending to find the corresponding index table and station section information table, for example, the train number or the ascending/descending mark in the running information may be used to determine the ascending/descending of the train.
Further, in order to avoid invalid retrieval, the step may further include the step of determining whether the pre-stored steering data area contains the pre-stored steering data, for example, whether the pre-stored steering data area contains the pre-stored steering data may be determined by using the traffic number of the target station interval in the driving information.
It should be noted that, in order to facilitate the retrieval and use of the pre-stored operation data in the pre-stored operation data area, the pre-stored operation data in this step may include area code data, station area information data, side track information data, area passing curve reference data, area start-stop curve reference data, prompt information data, special area information data, and end information data. That is, the processor may modularize the pre-stored manipulation data into 8 modules during the storage process of the pre-stored manipulation data: the system comprises an interval area number data module, a station interval information data module, a side line station track information data module, an interval passing curve reference data module, an interval start-stop curve reference data module, a prompt information data module, a special section information data module and an end information data module.
Step 103: and controlling the train to drive according to the prestored operation data.
It is understood that this step may be performed by a processor in the train to perform driving control (train control) on the train by using the retrieved pre-stored operation data. The specific mode of the processor for controlling the train to drive according to the prestored operation data in the step can be set by a designer according to a practical scene and user requirements, for example, the processor can directly plan a current or later operating curve of a certain point according to the prestored operation data to realize automatic driving; the pre-stored operating data can also be compared and analyzed with the current or later original operating curve, so as to determine the operating curve which is more suitable for planning. The present embodiment does not set any limit to this.
It should be noted that, in order to position the locomotive, the electronic map subsystem of the automatic driving system based on the LKJ2000 basic line data performs a processing of unifying the reference point and the zero point on the data, and in order to reduce the periodic variation of the distance accumulated error reference zero point, the pre-stored manipulation data in this embodiment may not directly describe the position information of the data by using the relative zero point displacement, but describe the stable and unchangeable distance passing through the center of the station, so that the problem that the LKJ line data and the pre-stored manipulation data cannot be used in the same coordinate system occurs, and therefore, the distance passing through the station attribute of the pre-stored manipulation data needs to be converted into the relative zero point displacement attribute.
That is, when the retrieved location information of the pre-stored steering data is the distance beyond the center of the station, the step may include: and determining the relative zero displacement of the prestored operation data according to the relative zero distance from the train to the current station center and the distance of the prestored operation data crossing the station center, so that the retrieved prestored operation data can be normally used by an automatic driving processor of the train based on the LKJ-2000 type monitoring equipment.
In the embodiment of the invention, the corresponding pre-stored operation data is retrieved from the pre-stored operation data area according to the running information, so that the operation data of excellent drivers retrieved according to the current running information of the train can be utilized, the operation data of a certain position point can be referred in real time when the automatic driving system of the locomotive plans an operation curve, the operation data of each time of the locomotive tends to the excellent driver level, the operation level difference among drivers is eliminated, the locomotive loss caused by improper driving operation of the drivers is reduced, and the average operation efficiency is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating another method for automatically driving a locomotive according to an embodiment of the present invention. The method can comprise the following steps:
step 201: acquiring running information of a train; the driving information comprises a traffic number, a train number, a current station number and a next station number of a target station interval.
The step is similar to step 101, and is not described herein again.
Step 202: judging whether the pre-stored operation data area contains corresponding pre-stored operation data or not according to the traffic route number; if yes, go to step 203.
It can be understood that the purpose of this step may be that the processor determines whether the pre-stored manipulation data area includes the corresponding pre-stored manipulation data by using the acquired intersection number of the target station interval, that is, whether the corresponding pre-stored manipulation data can be found from the pre-stored manipulation data area, so as to avoid continuing the retrieval in case that the pre-stored manipulation data area does not include the corresponding pre-stored manipulation data.
Specifically, the specific manner in which the processor determines whether the pre-stored manipulation data area contains the corresponding pre-stored manipulation data according to the traffic route number in this step may be set by the designer according to the practical scenario and the user's requirement, and as shown in fig. 2, the processor may use the traffic route number in the destination station area as the keyword for retrieval in this step, and retrieve the validity of the traffic route number in the data traffic route valid flag data area by using the keyword. For example, the number of the traffic route between the target stations is JrAnd the effective intersection set is J ═ Ji，Ji+1，Ji+2…, (i is 0, 1, 2, …), the result of the search can be used
To indicate if JrIf the intersection with J is not empty, the retrieval result in the step is valid, and the step 203 can be entered for continuous retrieval; if the intersection is empty,the search fails without having to continue.
Correspondingly, the effective intersection set in the data intersection effective sign data area may include an intersection number corresponding to each pre-stored operation data in the pre-stored operation data area.
Step 203: and determining a data area of the initial address index table of the station interval information table according to the train number.
The data area of the initial address index table of the station interval information table is the data area of the initial address index table of the uplink traffic route station interval information table or the data area of the initial address index table of the downlink traffic route station interval information table.
It is understood that the purpose of this step may be that the processor determines whether the train is ascending or descending by using the train number of the train, i.e. determines the train type, so as to determine the data area of the start address index table of the station section information table to be used for next retrieval, i.e. determine whether the data area of the start address index table of the station section information table is the data area of the start address index table of the ascending traffic route station section information table or the data area of the start address index table of the descending traffic route station section information table.
Specifically, the specific mode of determining the data area of the start address index table of the station section information table, that is, the specific mode of determining the ascending or descending of the train, according to the train number in this step can be set by a designer, for example, the train number is N, and the processor can be configured by the designer
And determining whether the uplink and downlink flag (updown flag) of the target station interval is uplink (route _ up) or downlink (route _ down), so that after the uplink and downlink flag is obtained, the data area (the data area of the initial address index table of the information table of the uplink and downlink station interval or the data area of the initial address index table of the information table of the downlink and uplink station interval) of the target station interval can be searched.
That is, the step may be to determine whether the remainder of dividing the train number by 2 is 0; if yes, searching to obtain a data area of an initial address index table of an interval information table of the uplink traffic route station; if not, searching to obtain the initial address index table data area of the downlink traffic road station interval information table.
Step 204: and according to the traffic route number, searching and obtaining the initial address of the station interval information table of the target station interval in the initial address index table data area of the station interval information table of the corresponding target station interval.
The purpose of this step may be to retrieve the start address of the station section information table by using the traffic route number of the target station section. E.g. the number of the traffic routes between destination stations is JrAccording to the sequential storage principle of data organization structure and the byte number occupied by each initial address, if the byte number occupied by the initial address is 4, the byte position offset in the data area of the initial address index table of the information table of the station section can be searched to be Jr4 to JrThe 4+3 data is the start address of the station section information table.
Step 205: and finding out the station interval information table of the target station interval according to the initial address of the station interval information table.
It is understood that the purpose of this step is to retrieve the station section information table of the target station section by using the obtained start address of the station section information table. Specifically, the specific manner of retrieving the corresponding station section information table by using the start address of the station section information table in this step may be implemented by using the same or similar manner as the data search in the prior art, and this embodiment does not limit this.
Step 206: and retrieving to obtain the information data of the target station interval according to the station interval information table, the current station number and the next station number.
It is understood that the purpose of this step may be to retrieve information data of the target station section based on the obtained station section information table, and the retrieval key is the current station number and the next station number. For example, the set of the current station numbers of all station intervals of the line of the traffic route is Tc＝{Tc1，Tc2，Tc3…, the next station number one-to-one corresponding to the current station number is sequentially Tc1n，Tc2n，Tc3n… the current station number of the target interval is TciAnd the next station number is TcinLet T beciAnd set TcThe intersection is not empty and the intersection element is TcrIf the next station number corresponding to the element is TcrnThe search result can be used
Is shown when TciAnd set TcThe intersection is not empty, and TcrnAnd TcinWhen the data is equal, the retrieval is effective, and the result is the information data of the target station interval, and the retrieval fails when any one condition is not met.
Step 207: and retrieving corresponding pre-stored manipulation data from the pre-stored manipulation data area according to the information data.
It should be noted that, in this step, the specific manner of retrieving the corresponding pre-stored manipulation data from the pre-stored manipulation data area by the processor using the retrieved information data of the target station interval may be set by a designer, and if the information data includes data start address information of the target station interval, the pre-stored manipulation data area may include a data end flag corresponding to the pre-stored manipulation data of the target station interval; that is, since the information data includes the data start address information of the target station interval, the processor can find the data start address and obtain all the operation data (pre-stored operation data) of the target station interval by combining the data end flag of the station interval.
Step 208: and determining the relative zero displacement of the prestored operation data according to the relative zero distance from the train to the current station center and the distance of the prestored operation data over the station center.
It will be appreciated that in order to unify the locomotive position information coordinate system with the pre-stored operation data element position information coordinate system, the location information of the retrieved pre-stored operation data in this embodiment is described in terms of distance over center of the station. Correspondingly, when the train (such as the train based on the LKJ-2000 type monitoring equipment) needs to use the prestored operation data, the relative zero displacement of the prestored operation data can be determined through the step, namely, the position information of the prestored operation data obtained through retrieval is changed into the description of the relative zero displacement.
Specifically, assume that the distance between a pre-stored steering data and the center of the station is DISiThen the relative zero displacement DIS of the pre-stored steering data0iThe relative zero point distance DIS from the train to the center of the current station can be obtained by calculation0Distance DIS from the center of the station of the pre-stored operating dataiTo give a sum, i.e. DIS0i＝DIS0+DISi。
Correspondingly, the specific mode of the relative zero point distance from the train to the current station center in the step, that is, the specific mode of the relative zero point distance from the locomotive controlled by the automatic driving system to the current station center, may be set by the designer, for example, the relative zero point distance from the train to the current station center may be obtained from the LKJ line data. The embodiment does not limit this, as long as it can ensure that the processor can use the relative zero point distance from the train to the current station center in this step.
Step 209: and controlling the train to drive according to the prestored operation data.
It will be appreciated that the purpose of this step may be to provide the processor with driving control of the train using pre-stored steering data with position information as a relative zero displacement.
Correspondingly, since this step is similar to step 103, it is not repeated herein.
In the embodiment of the invention, a more reasonable data retrieval algorithm is used, so that the retrieval efficiency of the prestored control data is improved; the relative zero displacement of the prestored operation data is determined according to the relative zero distance from the train to the current station center and the distance of the prestored operation data over the station center, so that the problem that the LKJ line data and the prestored operation data cannot be used in the same coordinate system is solved.
Referring to fig. 4, fig. 4 is a structural diagram of an automatic driving system of a locomotive according to an embodiment of the present invention. The system may include:
an obtaining module 100, configured to obtain driving information of a train; the driving information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval;
a retrieval module 200, configured to retrieve corresponding pre-stored steering data from a pre-stored steering data area according to the driving information;
and the control module 300 is used for controlling the driving of the train according to the prestored operation data.
Optionally, when the location information of the pre-stored manipulation data is a distance beyond the station center, the control module 300 may include:
and the coordinate adjusting submodule is used for determining the relative zero displacement of the prestored operation data according to the relative zero distance from the train to the current station center and the distance of the prestored operation data over the station center.
Optionally, when the driving information includes a traffic number, a current station number and a next station number, the retrieving module 200 includes:
the first retrieval submodule is used for retrieving to obtain the initial address of the station interval information table of the target station interval in the initial address index table data area of the station interval information table of the corresponding target station interval according to the traffic route number;
the second retrieval submodule is used for finding out a station interval information table of a target station interval according to the initial address of the station interval information table;
the third retrieval submodule is used for retrieving and obtaining information data of a target station interval according to the station interval information table, the current station number and the next station number;
and the fourth retrieval submodule is used for retrieving the prestored operation data from the prestored operation data area according to the information data.
Optionally, the retrieving module 200 may further include:
the judgment submodule is used for judging whether the pre-stored operation data area contains pre-stored operation data or not according to the traffic route number; and if so, sending a starting signal to the first retrieval submodule.
Optionally, when the driving information further includes a train number, the retrieving module 200 may further include:
the fifth retrieval submodule is used for determining a data area of an initial address index table of a station interval information table according to the train number; the data area of the initial address index table of the station interval information table is the data area of the initial address index table of the uplink traffic route station interval information table or the data area of the initial address index table of the downlink traffic route station interval information table.
Optionally, the fifth retrieval sub-module may include:
the judging unit is used for judging whether the remainder of dividing the train number by 2 is 0 or not;
the first retrieval unit is used for retrieving to obtain a data area of an initial address index table of an interval information table of the uplink bus station if the remainder is 0;
and the second searching unit is used for searching and obtaining the initial address index table data area of the downlink cross-road station interval information table if the remainder is not 0.
In addition, an embodiment of the present invention further provides an automatic driving apparatus for a locomotive, including: a memory for storing a computer program; a processor for implementing the steps of the locomotive autopilot method as provided in any of the above embodiments when executing a computer program.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The system and the device disclosed by the embodiment correspond to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The present invention provides a method, system and device for automatically driving a locomotive. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. An automatic driving method for a locomotive, comprising:
acquiring running information of a train; the running information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval;
retrieving corresponding pre-stored manipulation data from a pre-stored manipulation data area according to the driving information; the pre-stored control data comprises interval area number data, station interval information data, side track information data, interval passing curve reference data, interval start-stop curve reference data, prompt information data, special section information data and end information data;
driving the train according to the prestored operation data;
wherein, when the position information of the pre-stored operation data is the distance across the center of a station, the train is controlled to drive according to the pre-stored operation data, and the method comprises the following steps:
and determining the relative zero displacement of the prestored operation data according to the relative zero distance from the train to the current station center and the distance of the prestored operation data crossing the station center and the periodic change of the reference zero for reducing the accumulated error.
2. The method of claim 1, wherein when the driving information includes the traffic number, the current station number, and the next station number, the retrieving the corresponding pre-stored operation data from the pre-stored operation data area according to the driving information comprises:
according to the traffic route number, searching to obtain the initial address of the station interval information table of the target station interval in the initial address index table data area of the station interval information table of the corresponding target station interval;
finding out a station interval information table of the target station interval according to the initial address of the station interval information table;
retrieving to obtain information data of the target station interval according to the station interval information table, the current station number and the next station number;
and retrieving the pre-stored manipulation data from the pre-stored manipulation data area according to the information data.
3. The locomotive automatic driving method according to claim 2, wherein before retrieving the start address of the station section information table of the target station section in the start address index table data area of the station section information table of the corresponding target station section according to the transit number, the method further comprises:
judging whether the pre-stored operation data area contains the pre-stored operation data or not according to the traffic route number;
and if so, executing the step of searching and obtaining the initial address of the station interval information table of the target station interval in the initial address index table data area of the station interval information table of the corresponding target station interval according to the traffic route number.
4. The locomotive autopilot method of claim 2 wherein the informational data includes data start address information for the target station interval;
correspondingly, the pre-stored manipulation data area comprises a data end mark corresponding to the pre-stored manipulation data.
5. The locomotive automatic driving method according to any one of claims 2 to 4, wherein when the driving information further includes the train number, before retrieving a start address of the station section information table of the target station section in a start address index table data area of the station section information table of the corresponding target station section according to the traffic number, the method further comprises:
determining a data area of an initial address index table of the station interval information table according to the train number; the data area of the initial address index table of the station interval information table is an initial address index table data area of an uplink traffic route station interval information table or an initial address index table data area of a downlink traffic route station interval information table.
6. The locomotive automatic driving method according to claim 5, wherein the determining the data area of the start address index table of the station section information table according to the train number comprises:
judging whether the remainder of dividing the train number by 2 is 0 or not;
if yes, searching to obtain a data area of an initial address index table of the uplink traffic route station interval information table;
and if not, searching to obtain a data area of the initial address index table of the descending traffic route station interval information table.
7. An automotive autopilot system, comprising:
the acquisition module is used for acquiring the running information of the train; the running information comprises at least one of a traffic number, a train number, a current station number and a next station number of a target station interval;
the retrieval module is used for retrieving corresponding prestored operation data from a prestored operation data area according to the running information; the pre-stored control data comprises interval area number data, station interval information data, side track information data, interval passing curve reference data, interval start-stop curve reference data, prompt information data, special section information data and end information data;
the control module is used for controlling the driving of the train according to the prestored operation data;
wherein the control module comprises:
and the coordinate adjusting submodule is used for determining the relative zero displacement of the prestored operation data according to the relative zero distance from the train to the current station center and the distance of the prestored operation data over the station center and the periodic change of the reference zero for reducing the accumulated error.
8. An automatic driving apparatus for a locomotive, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the locomotive autopilot method of any one of claims 1 to 6 when executing the computer program.
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