CN112009526A - Train group control method and system based on ad hoc network - Google Patents

Train group control method and system based on ad hoc network Download PDF

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Publication number
CN112009526A
CN112009526A CN202011099742.6A CN202011099742A CN112009526A CN 112009526 A CN112009526 A CN 112009526A CN 202011099742 A CN202011099742 A CN 202011099742A CN 112009526 A CN112009526 A CN 112009526A
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train
hoc network
trains
vehicle
target
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CN202011099742.6A
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CN112009526B (en
Inventor
徐宗奇
姚文华
于晓泉
张文汇
谢迎锋
赵丽
刘鸿飞
张万强
岳朝鹏
刘汉禹
徐世泽
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CRSC Research and Design Institute Group Co Ltd
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CRSC Research and Design Institute Group Co Ltd
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Priority to CN202011099742.6A priority Critical patent/CN112009526B/en
Publication of CN112009526A publication Critical patent/CN112009526A/en
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Publication of CN112009526B publication Critical patent/CN112009526B/en
Priority to PCT/CN2021/105122 priority patent/WO2022077966A1/en
Priority to EP21879014.5A priority patent/EP4098512A4/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
    • B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
    • B61L23/18—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0018—Communication with or on the vehicle or train
    • B61L15/0027—Radio-based, e.g. using GSM-R
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B61L15/0062—On-board target speed calculation or supervision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/70—Details of trackside communication

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a train group control method and a system based on ad hoc network, wherein the method comprises the following steps: the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains; if the two are the same, judging whether networking conditions are met; if yes, judging whether an ad hoc network exists or not; if the ad hoc network does not exist, the other trains meeting the networking conditions and the original train form the ad hoc network; if the ad hoc network exists, other trains meeting the networking conditions are added into the ad hoc network; and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network. The invention realizes train group control based on ad hoc network train-to-train communication technology. The trains meet the condition for automatic networking, and data among the trains are mutually transmitted among the trains without passing through a ground base station. The ground does not need to be provided with central control equipment, and the ground interval does not need to be covered by a wireless network. The train interval is dynamically adjusted according to the line condition, the temporary speed limit and the state of each train among the groups.

Description

Train group control method and system based on ad hoc network
Technical Field
The invention belongs to the technical field of traffic, and particularly relates to a train group control method and system based on an ad hoc network.
Background
At present, trains are usually operated in a marshalling mode, and a point-to-point communication mode or a train-to-ground vehicle communication mode is usually used as a communication mode.
The point-to-point communication mode is as follows:
the A vehicle receives a ground control center command and needs to perform point-to-point communication with the B vehicle, the A vehicle establishes communication connection with the B vehicle in a point-to-point communication mode, the A vehicle provides speed and position coordinate information for the B vehicle, and the B vehicle generates a B vehicle control curve according to the received A vehicle information and the position and speed information of the B vehicle to control the train to run. And by analogy, the train C and the train D also generate respective train control curves to control the operation of the respective trains.
The method relies on ground center equipment, and each train must firstly receive a control command communicated with the train and then can establish communication connection, so that formation cannot be formed by the train. The train cannot directly obtain a plurality of trains in the group, and the train is the number of trains. Each train needs to calculate its own movement authorization in real time.
The vehicle-to-ground vehicle communication mode is as follows:
the train control system comprises a train A, a train B, a base station, a train control curve generation module, a train control module and a train control module. And by analogy, the train C and the train D also generate respective train control curves to control the operation of the respective trains.
The method is that each train must first provide which train to communicate with through the ground center control device, and then can establish a communication connection with the target train through the ground base station. Each train needs to calculate its own movement authorization in real time. The full line requires wireless coverage. A central device is required to manage the positions, states, etc. of all trains.
The point-to-point communication mode or the train-to-ground communication mode needs to be used, a train management center is arranged on the ground, continuous coverage of a ground wireless network is needed, and the requirement on network indexes is high. Each train is in communication connection with a designated train according to a command provided by the ground, the movement authorization of the vehicle needs to be calculated in real time, and the functions of autonomous management and autonomous networking of the trains cannot be realized. When the ground train management center fails, the ground train management center cannot normally operate, and the ground train management center has high construction cost, numerous and complex systems, low reliability and high maintenance cost.
Disclosure of Invention
In order to solve the above problem, the present invention provides a train group control method based on ad hoc network, the method comprising:
the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains;
if the two are the same, judging whether networking conditions are met;
if yes, judging whether an ad hoc network exists or not;
if the ad hoc network does not exist, the other trains meeting the networking conditions and the original train form the ad hoc network;
if the ad hoc network exists, other trains meeting the networking conditions are added into the ad hoc network;
and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network.
Further, the networking condition includes:
the target vehicle is internally provided with ad hoc network equipment;
the target vehicle is allowed to build or join the ad hoc network;
the communication between the target vehicle and the vehicle is stable.
Further, the control method further includes:
the train receives line condition information, which includes: the system comprises route information, line information, temporary speed limit information and driving permission.
Further, the control of train operation in the ad hoc network by the train group in the ad hoc network through the ad hoc network comprises:
first vehicle control and following vehicle control;
the first vehicle control is used for controlling other vehicles in the ad hoc network to operate by the first vehicle in the ad hoc network;
the following vehicle control is used for controlling the following vehicle to follow the front vehicle to run in the ad hoc network.
Further, the first vehicle control comprises:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train receives train data information transmitted by following trains, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position speed relationship between each train in the group and the preceding train;
the first train informs the corresponding train to monitor and operate according to the target speed through the ad hoc network communication;
the first train periodically receives real-time train data information of other trains;
such as in order to follow a train,
then the following train sends data information to the first train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the following train receives a target speed transmitted by the first train through the ad hoc network, runs at the target speed and periodically transmits the real-time train data information of the current train to the first train.
Further, the first vehicle control further comprises:
calculating target distances between other trains in the ad hoc network and a front train by the first train;
calculating control mode curves of other trains in the ad hoc network by the first train;
calculating target stop points of other trains in the ad hoc network by the first train;
the first train transmits a target distance, a control mode curve and a target stop point to a corresponding following train through ad hoc network communication;
the following train receives a target distance, a control mode curve, and a target stopping point.
Further, the follow-up control includes:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train periodically transmits train data information to the rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions;
such as in order to follow a train,
if not the last train in the ad hoc network,
periodically receiving train data information transmitted from a front train in the network, calculating the target speed of the train, and operating according to the target speed;
periodically transmitting self train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions;
such as the last train in the ad hoc network,
the train data information transmitted from the front train in the network is periodically received, the target speed of the train is calculated, and the train runs at the target speed.
Further, the follow-up control further includes:
calculating the target distance between the self and the front train in the ad hoc network by following the train;
calculating a self control mode curve in the ad hoc network along with the train;
and calculating the target stop point of the following train in the ad hoc network.
The invention also provides a train group control system based on ad hoc network, which comprises ad hoc network equipment,
the ad hoc network device is configured to:
the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains;
if the two are the same, judging whether networking conditions are met;
if yes, judging whether an ad hoc network exists or not;
if the ad hoc network does not exist, the other trains meeting the networking conditions and the original train form the ad hoc network;
if the ad hoc network exists, other trains meeting the networking conditions are added into the ad hoc network;
and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network.
Further, the networking condition includes:
the target vehicle is internally provided with ad hoc network equipment;
the target vehicle is allowed to build or join the ad hoc network;
the communication between the target vehicle and the vehicle is stable.
Further, the system further comprises:
the system comprises vehicle-mounted ATP equipment, a station data server and a track circuit;
the vehicle-mounted ATP device is used for receiving line condition information, and the line condition information comprises: route information, line information, temporary speed limit information and driving permission;
the station data server is used for sending route information, line information and temporary speed limit information;
the track circuit is used for sending driving permission.
Further, the control of train operation in the ad hoc network by the train group in the ad hoc network through the ad hoc network comprises:
first vehicle control and following vehicle control;
the first vehicle control is used for controlling other vehicles in the ad hoc network to operate by the first vehicle in the ad hoc network;
the following vehicle control is used for controlling the following vehicle to follow the front vehicle to run in the ad hoc network.
Further, the first vehicle control comprises:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train receives train data information transmitted by following trains, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position speed relationship between each train in the group and the preceding train;
the first train informs the corresponding train to monitor and operate according to the target speed through the ad hoc network communication;
the first train periodically receives real-time train data information of other trains;
such as in order to follow a train,
then the following train sends data information to the first train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the following train receives a target speed transmitted by the first train through the ad hoc network, runs at the target speed and periodically transmits the real-time train data information of the current train to the first train.
Further, the first vehicle control further comprises:
calculating target distances between other trains in the ad hoc network and a front train by the first train;
calculating control mode curves of other trains in the ad hoc network by the first train;
calculating target stop points of other trains in the ad hoc network by the first train;
the first train transmits a target distance, a control mode curve and a target stop point to a corresponding following train through ad hoc network communication;
the following train receives a target distance, a control mode curve, and a target stopping point.
Further, the follow-up control includes:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train periodically transmits train data information to the rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions;
such as in order to follow a train,
if not the last train in the ad hoc network,
periodically receiving train data information transmitted from a front train in the network, calculating the target speed of the train, and operating according to the target speed;
periodically transmitting self train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
such as the last train in the ad hoc network,
the train data information transmitted from the front train in the network is periodically received, the target speed of the train is calculated, and the train runs at the target speed.
Further, the follow-up control further includes:
the following train also calculates the target distance between the following train and the preceding train in the ad hoc network;
the following train also calculates the own control mode curve in the ad hoc network;
the following train also calculates its own target stopping point in the ad hoc network.
The invention designs a train group control method and system based on an ad hoc network, which realize train group control based on an ad hoc network vehicle-to-vehicle communication technology. The trains meet the condition for automatic networking, and data among the trains are mutually transmitted among the trains without passing through a ground base station. The ground does not need to be provided with central control equipment, and the ground interval does not need to be covered by a wireless network. The train interval is dynamically adjusted according to the line condition, the temporary speed limit and the state of each train among the groups.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating an ad hoc network-based train group control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an ad hoc network-based train group control system 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.
The embodiment of the invention discloses a train group control method based on ad hoc network, as shown in figure 1, the method comprises the following steps: the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains; if the two are the same, judging whether networking conditions are met; if so, establishing an ad hoc network by the train meeting the networking condition; and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network. The networking conditions comprise: the target vehicle is internally provided with ad hoc network equipment; the target vehicle allows to build an ad hoc network; the communication between the target vehicle and the vehicle is stable. The train receives line condition information, which includes: route information, line information, temporary speed limit information and driving permission.
The current train communication modes include train-ground communication and train-vehicle communication. Train-ground communication, i.e. the train communicates with ground equipment. The vehicle-to-vehicle communication is divided into vehicle-to-ground vehicle communication and vehicle-to-vehicle communication. The train-to-ground communication means that a plurality of trains communicate through ground equipment or communicate by means of information of the ground equipment. The train obtains other train information through ground equipment such as a data interaction center, and then communicates with other trains according to the obtained information, which belongs to train-to-ground communication. The train-to-train communication, namely the communication disconnection of the communication by establishing the communication connection between the trains does not depend on ground equipment, and is completed by the train equipment. The communication involved in the invention is vehicle-to-vehicle communication; the ground equipment is not needed for establishing the ad hoc network, using the ad hoc network for communication and disconnecting the communication, and all the ground equipment is completed by the vehicle-mounted equipment. The invention is mainly used in the field of heavy goods vehicles, but also can be used in the field of other trains. The invention controls all trains in the ad hoc network through the ad hoc network, and all trains in the ad hoc network are called group trains and are also called train groups. The group train is a train group consisting of two or more rows of solid trains, the ground equipment controls the train group according to one train, and the trains in the train group are cooperatively controlled.
Specifically, the train receives the line condition information, and the line condition information includes: the system comprises route information, line information, temporary speed limit information and driving permission.
Illustratively, train operation requires access to a series of permits and associated data that can only be accessed for operation. These data include: route information, temporary speed limit information and line information. The license comprises a driving license. Train transmissions may be transmitted using, but not limited to, the following, train receiving using an onboard ATP (train control onboard equipment): the Station Data Server (SDS, Station Data Server) has the function of storing Station and interval line basic Data, and can complete real-time framing and checking of wireless messages according to line information stored by the Station Data Server and information provided by devices such as CBI (computer interlocking) and TSRS (temporary speed limiting Server). The station data server sends information to all trains in the wireless coverage range through train-ground communication, and can also send the information to designated trains according to requirements. The station data server receives the interlocking route information, the temporary speed limit information of the temporary speed limit server and the line information, generates messages of the route, the line information, the temporary speed limit and the like, and provides the messages in the station and in the interval to the vehicle-mounted ATP within the station range. Track Circuit (TC Track Circuit) transmits and provides driving permission information to the ATP mounted on the vehicle. In this way, the train receives the line condition information.
Specifically, the train ad hoc network device searches communication devices of other trains within a preset distance, and judges whether the communication devices and other trains are on the same track.
Illustratively, the train ad hoc network device searches for communication devices of other trains within a preset distance. When the front train and the rear train operate according to normal tracking, the communication range of the train ad hoc network equipment is large enough, so that the front train and the rear train can normally communicate. Ad hoc network equipment vehicle-to-vehicle communication adopts two radio station modes, two radio stations are original train equipment, hardware equipment does not need to be added, one radio station is used for long-distance communication, and the other radio station is used for medium-short distance communication. The switching of the two stations is accomplished by the ad hoc network device. When communication is established between two or more ad hoc network devices and networking conditions are met, a local wireless broadband communication private network can be established in a short time in an ad hoc mode. All the ad hoc network devices in the private wireless broadband communication network use the private wireless broadband communication network to communicate with each other. After the wireless broadband communication private network is established, the new ad hoc network equipment is in communication connection with any ad hoc network equipment governed by the wireless broadband communication private network, and the networking conditions are met, the new ad hoc network equipment can automatically join the wireless broadband communication private network, and a new wireless broadband communication private network is formed. The communication between the new ad hoc network device and all the ad hoc network devices governed by the original wireless broadband communication private network is realized through the new wireless broadband communication private network. The train ad hoc network equipment searches communication equipment of other trains within a preset distance, wherein the preset distance can be agreed in advance, such as the shortest distance between a front train and a rear train when the front train and the rear train normally track and run, and such as the longest distance of long-distance communication of a radio station.
The ad hoc network equipment is arranged at the head of the train, the train ad hoc network equipment sends wireless signals to the periphery, and the train tail communication equipment of the train, the head of the train communication equipment of other trains within a preset distance, the tail of the train communication equipment of other trains and the ad hoc network equipment of other trains can receive the signals. The ad hoc network equipment has the function of identifying the train head and train tail communication equipment of the adjacent line train, and avoids bringing the train head or train tail of the adjacent line train into a wireless communication network. May be identified using, but not limited to, the following: the ad hoc network equipment sends networking request information to the periphery and informs the track of the ad hoc network equipment; the trains on the same track reply the corresponding information after receiving the networking request information, and the trains on different tracks do not reply or reply information including the track information. The ad hoc network equipment can judge which trains are on the same track with the ad hoc network equipment according to the information received by the ad hoc network equipment.
Specifically, whether networking conditions are met is judged; if so, establishing an ad hoc network by the train meeting the networking condition; and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network. The networking conditions comprise: the target vehicle is internally provided with ad hoc network equipment; the target vehicle allows to build an ad hoc network; the communication between the target vehicle and the vehicle is stable.
Illustratively, establishing ad hoc networks between trains requires meeting networking conditions, where the networking conditions include: the target vehicle is internally provided with ad hoc network equipment; the target vehicle allows to build an ad hoc network; the communication between the target vehicle and the vehicle is stable. Only if the ad hoc network device is arranged on the train, the train can join the ad hoc network. When a certain train is set to permit self-organization or join the ad hoc network, other trains send a request for establishing the ad hoc network or requesting to join the ad hoc network to the train, and when all networking conditions are met, the train establishes the ad hoc network or joins the ad hoc network. The trains that establish the ad hoc network need to keep stable communication. The train tail communication equipment has a communication relay function. When the train is in a tunnel or a cave, the train head can communicate with other trains through the train tail communication device, and other trains can also communicate with the train head through the train tail of the train. When the ad hoc network is established, the two ad hoc network devices can be in communication connection through the train tail communication device, and the stable communication is also considered as the stable communication between the target vehicle and the vehicle. When the ad hoc network is established, a plurality of trains may exist in the ad hoc network, the ad hoc network equipment also has a communication relay function, and when any train in the ad hoc network communicates with a target train, the communication between the target train and the vehicle is considered to be stable as long as the communication is stable, no matter the communication is direct, or the communication is performed in a relay mode of other single or multiple trains in the ad hoc network.
And after the networking condition is met, the train ad hoc network equipment judges whether the ad hoc network exists at present or not, and if the ad hoc network does not exist, all the trains meeting the networking condition and the original train form the ad hoc network. If the ad hoc network exists, all trains meeting the networking conditions are added into the original ad hoc network to form a new ad hoc network.
After the ad hoc network is established, the train set in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network.
Specifically, the control of train operation in the ad hoc network by the train group in the ad hoc network through the ad hoc network comprises the following steps: first vehicle control and following vehicle control; the first vehicle control is used for controlling other vehicles in the ad hoc network to operate by the first vehicle in the ad hoc network; the following vehicle control is used for controlling the following vehicle to follow the front vehicle to run in the ad hoc network.
Illustratively, the train set in the ad hoc network controls the train in the ad hoc network to operate in two ways, wherein one way is first train control, namely the first train controls other trains in the ad hoc network to operate; one is following vehicle control, namely, the following vehicle controls the following vehicle to run along with the front vehicle in the ad hoc network. The operator can select a specific control mode according to actual conditions.
Specifically, the first vehicle control includes: all trains in the ad hoc network judge the position of the trains in the ad hoc network. If the train is a first train, the first train receives train data information transmitted by following trains, and the data information comprises: speed, position, acceleration, braking performance and operating conditions; the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position speed relationship between each train in the group and the preceding train; the first train informs the corresponding train to monitor and operate according to the target speed through the ad hoc network communication; the first train periodically receives real-time train data information of other trains. If the train is a following train, the following train sends data information to the first train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions; the following train receives a target speed transmitted by the first train through the ad hoc network, runs at the target speed and periodically transmits the real-time train data information of the current train to the first train. The first train also calculates the target distance between other trains in the ad hoc network and the front train; the first train also calculates control mode curves of other trains in the ad hoc network; the first train also calculates the target stopping points of other trains in the ad hoc network; the first train transmits a target distance, a control mode curve and a target stop point to a corresponding following train through ad hoc network communication; the following train receives a target distance, a control mode curve, and a target stopping point.
For example, all trains in the ad hoc network are on the same track, and according to the train running direction, the train at the forefront in the ad hoc network is a group head train, which is also called a head train, and trains other than the head train are group following trains. All trains within the ad hoc network can determine their own location in the ad hoc network using, but not limited to, the following means: all trains in the ad hoc network send own position information to other trains, and the position of the train in the ad hoc network can be obtained by using the position information of all trains and combining the current train running direction information and the line information. The train judges the position of the train in the ad hoc network and can obtain the following information: whether the vehicle is the first vehicle or the following train, if the vehicle is the following train, the vehicle ranks in the position. If there are four trains in the ad hoc network, the train after the first train is the 2 nd (second train), and the train after the last train is the 4 th (fourth train).
A first train in the ad hoc network receives train data information transmitted by other trains, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
and the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position-speed relationship between each train in the group and the preceding train.
The working conditions refer to different states of the train in operation, and the train pulled by the locomotive comprises five types of traction inertia, air braking, electric braking and air-electricity combined braking. Different working conditions of the train influence the parameter value of the train braking model and the determination of the target speed.
Target speed, i.e. the highest speed allowed by the target point ahead of the train operation. And the first train informs the corresponding train to run at the target speed through the ad hoc network communication. The first train is controlled to run according to the ground equipment. In this way, the trains in the ad hoc network can run at the maximum speed. Periodically sending real-time train data information of the self to a first train when a following train in the ad hoc network runs; the data information includes: speed, position, acceleration, braking performance and operating conditions; the period is calculated according to the target speed of the train, the position of the previous train, the braking performance, the line condition and the like, the period is less than the safe braking time, and the safe braking time is the maximum time of one-time braking for ensuring that the current train can safely run after running at the target speed.
And the following train receives the target speed transmitted by the first train through the ad hoc network and runs at the target speed. The first train periodically receives real-time train data information of the following train. And the first train recalculates a new target speed according to the real-time train data information, sends the new target speed to the corresponding train, and runs at the new target speed along with the train. The first train monitors the actual speed and the target speed of the following train in real time, and the traction and braking of the following train are controlled by combining a train traction model and a braking model. And finally, finishing the closed-loop supervision of the first train on other trains.
The first train may calculate the target speed using, but not limited to, the following: in the driving process, a safe interval S is kept between the rear vehicle and the front vehicle, so that the driving safety is ensured. The first vehicle judges the distance L from the first vehicle according to the position of the rear vehicle (second vehicle) sent by the ad hoc network communication, and obtains the worst braking distance D (including the safety protection distance) in the reaction time according to the information of the speed, the acceleration, the braking performance and the like of the first vehicle; the safety interval S of the rear vehicle is the sum of L and D; and the first vehicle calculates the target speed of the rear vehicle according to the safety interval S data and the safety brake model of the rear vehicle. Similarly, the first vehicle may calculate the target speed of a third vehicle, a fourth vehicle, and so on.
The first train also calculates the target distance between other trains in the ad hoc network and the front train, the target distance (target distance), and the distance from the front end of the train to the target point in front of the operation. The target distance, i.e. the safety interval S, i.e. L + D, the way in which the safety interval S is calculated already arises in how the target speed is calculated. The first train also calculates control mode curves of other trains in the ad hoc network.
Control-mode curve (distance-to-go curve): and generating a primary braking mode curve for ensuring the safe operation of the train on the basis of the target speed, the target distance, the line condition and the train characteristic. The control pattern curve may be calculated using, but not limited to, the following: the first train obtains relevant parameters of the trains in the train group, and calculates a maximum speed limit curve (MRSP) according to the train line information, the fixed speed limit, the line temporary speed limit, the train construction speed limit, the mode speed limit and the like in the train group. The line information, the fixed speed limit, the line temporary speed limit, the train construction speed limit and the mode speed limit are provided by ground equipment. When the constituent elements of the maximum speed limit curve are changed, the first vehicle recalculates the maximum speed limit curve. The safe braking model considers the influence of factors such as uncertainty of train position, initial speed of the train, initial acceleration of the train, speed measurement error, line gradient, braking delay, action delay of the train and the like.
The initial speed of the train is obtained by a speed sensor; the train initial acceleration is calculated by traction force and mass according to train traction calculation regulations; the line grade is provided by surface equipment; uncertainty of train position, braking delay, speed measurement error and train action delay are specified by a system. And the first train monitors the difference between the actual speed and the current speed limit of the train in the group in real time, and calculates the control mode curve of the train according to the current positioning information and by combining a train safety braking model. The first train also calculates the target stopping points of other trains in the ad hoc network. The following may be used, but is not limited to: the first vehicle calculates the position range of the tail part of the train when the first vehicle parks according to the relevant parameters of the first vehicle, the distance between the tail part of the first vehicle and the rear vehicle after the first vehicle parks is taken as the target parking point of the rear vehicle, and then the braking measure grade, the opportunity and the like which are required to be taken by the rear vehicle are calculated according to the relevant parameters of the rear vehicle, so that the rear vehicle can be ensured not to cross the target parking point of the rear vehicle after parking. Similarly, the first train can calculate the target distances, control mode curves and target stop points of all trains in the network, and send the information to the corresponding trains. The following train receives a target distance, a control mode curve, and a target stopping point. When an emergency occurs, if communication is unavailable, the following train can be safely stopped or operated according to the information.
Specifically, the follow-up control includes: all trains in the ad hoc network judge the positions of the trains in the ad hoc network; if the train is a first train, the first train periodically transmits train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions; if the train is a following train, if the train is not the last train in the ad hoc network, receiving train data information transmitted by a front train in the ad hoc network, calculating the target speed of the train, and operating according to the target speed; periodically transmitting self train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions; and if the train is the last train in the ad hoc network, receiving train data information transmitted by a front train in the ad hoc network, calculating the target speed of the train, and operating according to the target speed. The following vehicle control further includes: the following train also calculates the target distance between the following train and the preceding train in the ad hoc network; the following train also calculates the own control mode curve in the ad hoc network; the following train also calculates its own target stopping point in the ad hoc network.
For example, the following train control mode also needs all trains in the ad hoc network to judge the position of the train in the ad hoc network, and the method is the same as that of the first train control.
Except the last train in the ad hoc network, all trains periodically transmit train data information to the rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions; except the first train, all trains receive train data information transmitted by the front train, calculate own target speed and operate according to the target speed. The first train is controlled to run according to the ground equipment. And the rear train periodically receives the train data information of the front train, recalculates a new target speed and operates according to the new target speed. The following train monitors the actual speed and the target speed of the following train in real time, and the train traction and braking are controlled by combining a train traction model and a braking model.
The following train may calculate its own target speed using, but not limited to, the following: in the driving process, a safe interval S is kept between the rear vehicle and the front vehicle, so that the driving safety is ensured. The following train judges the distance L from the following train according to the position sent by the front train through ad hoc network communication, and obtains the worst braking distance D (including the safety protection distance) in the reaction time according to the information of the speed, the acceleration, the braking performance and the like of the front train; the safety interval S of the host vehicle is equal to the sum of L and D; the vehicle calculates its own target speed according to the safety interval S and its own safety brake model.
The following train also calculates the target distance between the following train and the preceding train in the ad hoc network, namely L + D; the following train also calculates the own control mode curve in the ad hoc network; the following train also calculates its own target stopping point in the ad hoc network. The control pattern curve may be calculated using, but not limited to, the following: the following train calculates the maximum limiting speed curve of the following train according to the relevant parameters of the following train by combining the train line information, the fixed speed limit, the line temporary speed limit, the train construction speed limit, the mode speed limit and the like. When the constituent elements of the maximum speed curve are changed, the maximum speed curve is recalculated. The safe braking model considers the influence of factors such as uncertainty of train position, initial speed of the train, initial acceleration of the train, speed measurement error, line gradient, braking delay, action delay of the train and the like. And monitoring the difference between the actual speed and the current speed limit of the following train in real time, and calculating a control mode curve of the following train according to the current positioning information and the train safety braking model. The following train also calculates its own target stopping point. The following may be used, but is not limited to: the rear vehicle calculates the position range of the tail part of the train when the front vehicle stops according to the related parameters of the front vehicle, takes the distance between the tail part of the front vehicle and the rear vehicle after the front vehicle stops as the target stop point of the rear vehicle, and calculates the braking measure grade, the time and the like which are required to be taken by the rear vehicle according to the related parameters so as to ensure that the rear vehicle does not cross the target stop point after the rear vehicle stops. All following trains calculate their own target distances, control pattern curves and target stopping points. When an emergency occurs, if communication is unavailable, the following train can be safely stopped or operated according to the information.
The embodiment of the invention also discloses a train group control system based on the ad hoc network, and as shown in figure 2, the system comprises ad hoc network equipment, vehicle-mounted ATP equipment, a station data server and a track circuit.
The ad hoc network device is configured to: the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains; if the two are the same, judging whether networking conditions are met; if yes, judging whether an ad hoc network exists or not; if the ad hoc network does not exist, the other trains meeting the networking conditions and the original train form the ad hoc network; if the ad hoc network exists, other trains meeting the networking conditions are added into the ad hoc network; and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network. The networking conditions comprise: the target vehicle is internally provided with ad hoc network equipment; the target vehicle is allowed to build or join the ad hoc network; the communication between the target vehicle and the vehicle is stable.
The vehicle-mounted ATP device is used for receiving line condition information, and the line condition information comprises: route information, line information, temporary speed limit information and driving permission.
And the station data server is used for sending route information, line information and temporary speed limit information. The station data server has the function of storing station and interval line basic data, and can complete real-time framing and checking of the wireless message according to the line information stored by the station data server and information provided by CBI, TSRS and other devices. The station data server sends information to all trains in the wireless coverage range through train-ground communication, and can also send the information to designated trains according to requirements. The station data server receives the interlocking route information, the temporary speed limit information of the temporary speed limit server and the line information, generates messages of the route, the line information, the temporary speed limit and the like, and provides the messages in the station and in the interval to the vehicle-mounted ATP within the station range.
The track circuit is used for sending driving permission.
The train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network, and the method comprises the following steps: first vehicle control and following vehicle control; the first vehicle control is used for controlling other vehicles in the ad hoc network to operate by the first vehicle in the ad hoc network; the following vehicle control is used for controlling the following vehicle to follow the front vehicle to run in the ad hoc network.
The first vehicle control comprises: all trains in the ad hoc network judge the positions of the trains in the ad hoc network; if the train is a first train, the first train receives train data information transmitted by following trains, and the data information comprises: speed, position, acceleration, braking performance, operating conditions; the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position speed relationship between each train in the group and the preceding train; the first train informs the corresponding train to monitor and operate according to the target speed through the ad hoc network communication; the first train periodically receives real-time train data information of other trains; if the train is a following train, the following train sends data information to the first train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions; the following train receives a target speed transmitted by the first train through the ad hoc network, runs at the target speed and periodically transmits the real-time train data information of the current train to the first train.
The first vehicle control further comprises: the first train also calculates the target distance between other trains in the ad hoc network and the front train; the first train also calculates control mode curves of other trains in the ad hoc network; the first train also calculates the target stopping points of other trains in the ad hoc network; the first train transmits a target distance, a control mode curve and a target stop point to a corresponding following train through ad hoc network communication; the following train receives a target distance, a control mode curve, and a target stopping point.
The follow-up control includes: all trains in the ad hoc network judge the positions of the trains in the ad hoc network; if the train is a first train, the first train periodically transmits train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions; if the train is a following train, if the train is not the last train in the ad hoc network, periodically receiving train data information transmitted by a front train in the ad hoc network, calculating the target speed of the train, and operating according to the target speed; periodically transmitting self train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions; if the train is the last train in the ad hoc network, periodically receiving train data information transmitted by a front train in the ad hoc network, calculating the target speed of the train, and operating according to the target speed.
The following vehicle control further includes: the following train also calculates the target distance between the following train and the preceding train in the ad hoc network; the following train also calculates the own control mode curve in the ad hoc network; the following train also calculates its own target stopping point in the ad hoc network.
The invention designs a train group control method and system based on an ad hoc network, which realize train group control based on an ad hoc network vehicle-to-vehicle communication technology. The trains meet the condition for automatic networking, and data among the trains are mutually transmitted among the trains without passing through a ground base station. The ground does not need to be provided with central control equipment, and the ground interval does not need to be covered by a wireless network. The train interval is dynamically adjusted according to the line condition, the temporary speed limit and the state of each train among the groups.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (16)

1. A train group control method based on ad hoc network is characterized in that,
the method comprises the following steps: the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains;
if the two are the same, judging whether networking conditions are met;
if yes, judging whether an ad hoc network exists or not;
if the ad hoc network does not exist, the other trains meeting the networking conditions and the original train form the ad hoc network;
if the ad hoc network exists, other trains meeting the networking conditions are added into the ad hoc network;
and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network.
2. The control method according to claim 1,
the networking conditions comprise:
the target vehicle is internally provided with ad hoc network equipment;
the target vehicle is allowed to build or join the ad hoc network;
the communication between the target vehicle and the vehicle is stable.
3. The control method according to claim 1,
the control method further comprises the following steps:
the train receives line condition information, which includes: the system comprises route information, line information, temporary speed limit information and driving permission.
4. The control method according to claim 1,
the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network, and the method comprises the following steps:
first vehicle control and following vehicle control;
the first vehicle control is used for controlling other vehicles in the ad hoc network to operate by the first vehicle in the ad hoc network;
the following vehicle control is used for controlling the following vehicle to follow the front vehicle to run in the ad hoc network.
5. The control method according to claim 4,
the first vehicle control comprises:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train receives train data information transmitted by following trains, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position speed relationship between each train in the group and the preceding train;
the first train informs the corresponding train to monitor and operate according to the target speed through the ad hoc network communication;
the first train periodically receives real-time train data information of other trains;
such as in order to follow a train,
then the following train sends data information to the first train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the following train receives a target speed transmitted by the first train through the ad hoc network, runs at the target speed and periodically transmits the real-time train data information of the current train to the first train.
6. The control method according to claim 5,
the first vehicle control further comprises:
calculating target distances between other trains in the ad hoc network and a front train by the first train;
calculating control mode curves of other trains in the ad hoc network by the first train;
calculating target stop points of other trains in the ad hoc network by the first train;
the first train transmits a target distance, a control mode curve and a target stop point to a corresponding following train through ad hoc network communication;
the following train receives a target distance, a control mode curve, and a target stopping point.
7. The control method according to claim 4,
the follow-up control includes:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train periodically transmits train data information to the rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions;
such as in order to follow a train,
if not the last train in the ad hoc network,
periodically receiving train data information transmitted from a front train in the network, calculating the target speed of the train, and operating according to the target speed;
periodically transmitting self train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance, operating conditions;
such as the last train in the ad hoc network,
the train data information transmitted from the front train in the network is periodically received, the target speed of the train is calculated, and the train runs at the target speed.
8. The control method according to claim 7,
the following vehicle control further includes:
calculating the target distance between the self and the front train in the ad hoc network by following the train;
calculating a self control mode curve in the ad hoc network along with the train;
and calculating the target stop point of the following train in the ad hoc network.
9. A train group control system based on ad hoc network is characterized in that,
the system includes an ad-hoc network device,
the ad hoc network device is configured to:
the train ad hoc network equipment searches communication equipment of other trains within a preset distance; judging whether the train is on the same track with other trains;
if the two are the same, judging whether networking conditions are met;
if yes, judging whether an ad hoc network exists or not;
if the ad hoc network does not exist, the other trains meeting the networking conditions and the original train form the ad hoc network;
if the ad hoc network exists, other trains meeting the networking conditions are added into the ad hoc network;
and the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network.
10. The control system of claim 9,
the networking conditions comprise:
the target vehicle is internally provided with ad hoc network equipment;
the target vehicle is allowed to build or join the ad hoc network;
the communication between the target vehicle and the vehicle is stable.
11. The control system of claim 9,
the system further comprises:
the system comprises vehicle-mounted ATP equipment, a station data server and a track circuit;
the vehicle-mounted ATP device is used for receiving line condition information, and the line condition information comprises: the system comprises route information, line information, temporary speed limit information and driving permission;
the station data server is used for sending route information, line information and temporary speed limit information;
the track circuit is used for sending driving permission.
12. The control system of claim 9,
the train group in the ad hoc network controls the train in the ad hoc network to run through the ad hoc network, and the method comprises the following steps:
first vehicle control and following vehicle control;
the first vehicle control is used for controlling other vehicles in the ad hoc network to operate by the first vehicle in the ad hoc network;
the following vehicle control is used for controlling the following vehicle to follow the front vehicle to run in the ad hoc network.
13. The control system of claim 12,
the first vehicle control comprises:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train receives train data information transmitted by following trains, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the first train calculates the target speed of the following train in the ad hoc network according to the data information, the line information of the current position of each train in the ad hoc network and the position speed relationship between each train in the group and the preceding train;
the first train informs the corresponding train to monitor and operate according to the target speed through the ad hoc network communication;
the first train periodically receives real-time train data information of other trains;
such as in order to follow a train,
then the following train sends data information to the first train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
the following train receives a target speed transmitted by the first train through the ad hoc network, runs at the target speed and periodically transmits the real-time train data information of the current train to the first train.
14. The control system of claim 13,
the first vehicle control further comprises:
calculating target distances between other trains in the ad hoc network and a front train by the first train;
calculating control mode curves of other trains in the ad hoc network by the first train;
calculating target stop points of other trains in the ad hoc network by the first train;
the first train transmits a target distance, a control mode curve and a target stop point to a corresponding following train through ad hoc network communication;
the following train receives a target distance, a control mode curve, and a target stopping point.
15. The control system of claim 12,
the follow-up control includes:
all trains in the ad hoc network judge the positions of the trains in the ad hoc network;
such as the train in the first train,
the first train periodically transmits train data information to the rear train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
such as in order to follow a train,
if not the last train in the ad hoc network,
periodically receiving train data information transmitted from a front train in the network, calculating the target speed of the train, and operating according to the target speed;
periodically transmitting self train data information to a rear train, wherein the data information comprises: speed, position, acceleration, braking performance and operating conditions;
such as the last train in the ad hoc network,
the train data information transmitted from the front train in the network is periodically received, the target speed of the train is calculated, and the train runs at the target speed.
16. The control system of claim 12,
the following vehicle control further includes:
calculating the target distance between the self and the front train in the ad hoc network by following the train;
calculating a self control mode curve in the ad hoc network along with the train;
and calculating the target stop point of the following train in the ad hoc network.
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