CN112373523A - Method and device for processing cooperative autonomous fault of train based on block chain - Google Patents
Method and device for processing cooperative autonomous fault of train based on block chain Download PDFInfo
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Abstract
The invention provides a method, a device and electronic equipment for processing a cooperative autonomous fault of a train based on a block chain, wherein the method receives node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of each train node based on a consensus mechanism; generating a current train operation control strategy according to the node information of other train nodes and the node information of the train; broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed; and controlling the current train to run based on the running control strategy of the current train. The block chain technology-based collaborative autonomous mechanism realizes decentralization, autonomous decision making is realized through an autonomous planning route and a consensus mechanism, and meanwhile, the block chain ensures the safety and reliability of information in the communication process.
Description
Technical Field
The invention relates to the technical field of train control, in particular to a block chain-based cooperative train autonomous fault processing method and device and electronic equipment.
Background
Along with the continuous improvement of urban rail transit requirements, more severe requirements are put on rapidity, flexibility and punctuality of traffic transportation, and particularly, under the premise that traffic resources are limited and aiming at typical passenger flow tide phenomena of super-large, super-large and other first-line cities, the strategy for realizing cooperative scheduling and flexible dynamic marshalling of passenger flow high-peak and low-peak trains is an effective and necessary means according to actual operation conditions. Meanwhile, timely and effective emergency treatment is adopted for various faults of the train, and the time of passengers at night is reduced to the maximum extent.
The traditional train cooperative control method mainly depends on a control center, the running information of all trains is centralized in the control center through train-ground communication, and the center uniformly carries out cooperative scheduling on the trains according to the running information and by combining line and passenger flow information, so that the problem of cooperation of the trains is solved to a certain extent, and the running efficiency is improved; however, the dependence on a control center is extremely high, and when the system scale is large, the central control method faces many challenges, such as insufficient fault tolerance, and system function failure may be caused by a few individual faults; the computational overhead increases dramatically and it is difficult to respond to emergency situations in time.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a method and a device for processing a cooperative autonomous fault of a train based on a block chain and electronic equipment.
In a first aspect, the present invention provides a method for handling a cooperative autonomous fault of a train based on a block chain, including:
receiving node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism;
generating an operation control strategy of the current train according to the node information of the other train nodes and the node information of the train;
broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed;
and controlling the current train to run based on the running control strategy of the current train.
Optionally, the train fault information is generated by the blockchain server of the train node when the hash value of the train node is determined to change.
Optionally, the operation control strategy of the current train includes:
decelerating;
or, sudden stop;
or, lane change.
Optionally, when the operation control policy of the current train is lane change, the generating the operation control policy of the current train according to the node information of the other train nodes and the node information of the current train node includes: generating a path planning result of the current train according to the node information of the other train nodes and the node information of the other train nodes;
if the path planning result of the current train is that the opposite driving lane is used as a temporary driving route, the broadcasting of the operation control strategy of the current train to the other train nodes for verification comprises the following steps:
broadcasting the operation control strategy of the current train to other train nodes for verification, wherein the other train nodes judge whether the current train conflicts with the other trains, if so, the verification fails, and a conflict control strategy is executed; if not, the verification is passed, and the current train is controlled to run based on the running control strategy of the current train;
the node information further comprises timestamp information and a train schedule.
Optionally, the conflict control policy includes:
if the passenger flow of the opposite running train is larger than that of the current train, the current train decelerates to run or stops in front of a turnout to wait until the opposite running train passes through, and the current train performs lane change running;
if the passenger flow of the opposite running train is less than that of the current train, the current train preferentially changes the track to run, and the opposite running train decelerates to run or stops before a turnout to wait;
if the passenger flow of the opposite-running train is equal to that of the current train, when the total delay time of the opposite-running train passing before the current train is less than the total delay time of the opposite-running train passing after the current train, accelerating or uniformly running the opposite-running train, maintaining the current speed or decelerating running of the current train, and performing lane change running on the current train after the opposite-running train passes through a turnout;
when the total delay time of the opposite running train passing before the current train is longer than the total delay time of the opposite running train passing after the current train, the opposite running train decelerates to run or stops before the turnout to wait until the current train finishes twice lane change running and returns to the normal line, and the opposite running train returns to normal running.
In a second aspect, the present invention provides a block chain-based train cooperative autonomous fault handling apparatus, including:
the receiving module is used for receiving node information sent by the block chain servers of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism;
the generating module is used for generating the operation control strategy of the current train according to the node information of other train nodes and the node information of the generating module;
the sending module is used for broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and when the verification is passed, the block chain servers of other train nodes store the operation control strategy of the current train;
and the control module is used for controlling the current train to run based on the running control strategy of the current train.
Optionally, the train fault information is generated by the blockchain server of the train node when the hash value of the train node is determined to change.
Optionally, the operation control strategy of the current train includes:
decelerating;
or, sudden stop;
or, lane change.
Optionally, when the operation control policy of the current train is lane change, the generating the operation control policy of the current train according to the node information of the other train nodes and the node information of the current train node includes: generating a path planning result of the current train according to the node information of the other train nodes and the node information of the other train nodes;
if the path planning result of the current train is that the opposite driving lane is used as a temporary driving route, the broadcasting of the operation control strategy of the current train to the other train nodes for verification comprises the following steps:
broadcasting the operation control strategy of the current train to other train nodes for verification, wherein the other train nodes judge whether the current train conflicts with the other trains, if so, the verification fails, and a conflict control strategy is executed; if not, the verification is passed, and the current train is controlled to run based on the running control strategy of the current train;
the node information further comprises timestamp information and a train schedule.
Optionally, the conflict control policy includes:
if the passenger flow of the opposite running train is larger than that of the current train, the current train decelerates to run or stops in front of a turnout to wait until the opposite running train passes through, and the current train performs lane change running;
if the passenger flow of the opposite running train is less than that of the current train, the current train preferentially changes the track to run, and the opposite running train decelerates to run or stops before a turnout to wait;
if the passenger flow of the opposite-running train is equal to that of the current train, when the total delay time of the opposite-running train passing before the current train is less than the total delay time of the opposite-running train passing after the current train, accelerating or uniformly running the opposite-running train, maintaining the current speed or decelerating running of the current train, and performing lane change running on the current train after the opposite-running train passes through a turnout;
when the total delay time of the opposite running train passing before the current train is longer than the total delay time of the opposite running train passing after the current train, the opposite running train decelerates to run or stops before the turnout to wait until the current train finishes twice lane change running and returns to the normal line, and the opposite running train returns to normal running.
In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as provided in the first aspect when executing the program.
In a fourth aspect, the invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as provided in the first aspect.
The invention provides a block chain-based train cooperative autonomous fault processing method, a device and electronic equipment, wherein the method receives node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism; generating an operation control strategy of the current train according to the node information of the other train nodes and the node information of the train; broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed; and controlling the current train to run based on the running control strategy of the current train. The block chain technology-based cooperative autonomous system is adopted to realize decentralization, so that a train has a high autonomous characteristic, high cooperative autonomous is realized by utilizing train-to-train communication, the flexibility and the accuracy of scheduling are improved, autonomous decision is realized by an autonomous planning route and a consensus mechanism, and meanwhile, the block chain ensures the safety and the reliability of information in the communication process, so that a perfect, flexible and reliable cooperative autonomous system is established.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for 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 of a block chain-based cooperative train autonomous fault handling method provided by the present invention;
FIG. 2 is a schematic diagram of a relationship between a blockchain server provided by the present invention and an existing in-vehicle device;
FIG. 3 is a block chain data structure diagram according to the present invention;
FIG. 4 is a block structure diagram of a block chain according to the present invention;
fig. 5 is a schematic structural diagram of a block chain-based train cooperative autonomous fault handling device provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, 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 traditional train cooperative control method mainly depends on a control center and has the defects of limited processing capacity of the control center, poor cooperative scheduling flexibility, low efficiency of a train fault emergency processing mode and the like.
Therefore, the invention provides a cooperative train autonomous fault processing method based on a block chain. Fig. 1 is a schematic flow chart of a block chain-based train cooperative autonomous fault handling method provided by the present invention, and as shown in fig. 1, the method includes:
s101: receiving node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism.
Specifically, the block chain-based train cooperative autonomous fault handling method provided by the invention is realized on the basis of the existing vehicle-mounted system, a set of block chain server equipment is added on the basis of the existing system vehicle-mounted system, and the relationship between the block chain server and the existing vehicle-mounted equipment is shown in fig. 2; a P2P (person-to-person) networking is established through a wireless communication network to realize the unified storage of perception information, train-ground communication information and train-vehicle communication information of each train, and based on a distributed system structure, block information on each train is completely the same, which is beneficial to realizing train-to-train information sharing and autonomous decision making.
The block chain is composed of train nodes based on a consensus mechanism, each train is a node, and the block chain server of the current train node receives node information of other train nodes. The node information comprises train fault information, train operation information and line information, and further the train operation information comprises current train operation route information, speed information and position information.
Optionally, the node information may further include sensing information, O-D (Origin, Destination, travel Destination) pair information, and the like, and further, the sensing information includes pedestrian information, obstacle information, and the like.
The block chain technology is divided into five layers from bottom to top, namely a sensing layer, a data layer, a network layer, a consensus layer and an application layer, as shown in fig. 3:
the perception layer mainly relies on multisensor such as camera, radar that equips on the train to carry out the environmental information perception, specifically includes: train operation information, pedestrian information, obstacle information and the like in a detection range; the perception information is uploaded to a data layer of the blockchain, forming a portion of the blockchain information.
The data layer mainly adopts a chain structure to store various acquired information in a data block, and mainly comprises the technical elements of the data block, a hash function, the chain structure, a Merkle (Merckle) tree, a time stamp, asymmetric encryption and the like; the perception information obtained by the perception layer, train running information shared by vehicle-to-vehicle communication, position and speed information recorded by the vehicle, a speed curve, a current running route and the like are stored in the data block.
The network layer firstly establishes a P2P peer-to-peer network to realize the communication and information sharing among all the train nodes, and on the basis, the functions of message broadcasting, identity authentication, dynamic communication topology and the like are realized.
The consensus layer rapidly achieves consensus on the effectiveness of transaction and data in a decentralized system with highly dispersed nodes by means of related consensus mechanisms, guarantees the consistency and effectiveness of accounting of all train nodes in the whole system, and simultaneously realizes the formation and linking of new blocks.
The top layer is an application layer, the bottom layer of the application layer is an intelligent contract layer, the service logic of a block chain is realized through a packaging algorithm or a programming script, an agreed related protocol is automatically executed according to block information updating, the application layer is divided into two layers for realizing the cooperative autonomy of the train, the upper layer comprises encryption communication, path planning, cooperative decision and control and the like, and the specific under-chain control is realized. The lower layer is an intelligent contract, Bayesian estimation information fusion is carried out according to node information stored in the data block, the operation state and the path of the train are predicted by using algorithms such as Kalman filtering or intelligent algorithm, the upper layer carries out train cooperative decision and control according to the prediction information, and the path is re-planned when traffic collision occurs.
S102: and generating the operation control strategy of the current train according to the node information of the other train nodes and the node information of the train node.
Specifically, the block chain server of the current train node generates the operation control strategy of the current train according to the node information of the other train nodes and the node information of the block chain server.
S103: broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed.
Specifically, each train is a node, the node and the running route have respective identity hashes, and a computational puzzle aiming at any route, wherein the difficulty coefficient of the computational puzzle is adjustable aiming at different nodes;
generating a new block by taking the identity hash of the train and the selected line as transaction information, broadcasting the new block to all train nodes, stopping calculation and starting verification of all train nodes, if the answer obtains the verification of most nodes, storing the block by all the nodes, and simultaneously generating the node of the block to obtain the use right of the route; if the answer does not obtain the verification of most of the nodes, discarding the block and continuing to solve the technical puzzle; each of the blocks further includes a hash value of a last of the blocks to form a chain of blocks.
S104: and controlling the current train to run based on the running control strategy of the current train.
Specifically, a vehicle-mounted ATO (Automatic Train Operation) of the current Train node controls the current Train Operation based on the Operation control strategy of the current Train.
The traditional virtual marshalling needs to rely on a central ATS (Automatic Train monitoring system) system to send a marshalling plan, and lacks flexibility and maneuverability of the marshalling. In contrast, the block chain-based train cooperative autonomous fault processing method provided by the invention performs virtual train marshalling based on the block chain, and since the train stores all the operation information of other trains and rapid information sharing is realized among the trains, autonomous decision of virtual formation can be realized. Regarding a group as a sub-chain, all trains in the group are nodes, and each block contains the number of all nodes in the group, as shown in fig. 4; when a train outside the formation sends a queuing request, firstly, the identity authentication of the nodes is carried out, then, the formation and the addition are carried out, a new sub-chain block is formed, the information sharing of the train is completed, the train determines the position of a front train according to the information, the dynamic formation is carried out according to the distance and speed information, the tracking is realized, and the virtual formation is completed. And the marshalling train after successful marshalling is regarded as a train and a node, and a head node is selected from the sub-chain as a seed node of the whole marshalling train to share information with other nodes. When the train is disassembled, the train is disassembled with the front train, then the whole marshalling application is dequeued, and the block chain peels off the node to generate a new block. The process achieves the safety and reliability of dynamic grouping.
According to the method provided by the invention, the autonomous cooperative control of the train group is realized through the block chain technology, and meanwhile, the follow-up train path re-planning of the fault train is completed, so that the late time is reduced; the block chain technology is used for realizing a safer, more flexible and autonomous distributed train cooperative autonomous system, effectively preventing the system performance from being reduced due to single-point faults, realizing the train-dominated running control, getting rid of strong dependence on a control center, and having the characteristics of decentralization, safety, reliability, autonomous and the like.
Based on the above embodiment, the train failure information is generated by the blockchain server of the train node when the hash value of the train node is determined to change.
Specifically, if the vehicle fails, the hash value of the vehicle is changed, the hash value of the train is monitored through the block chain server, when the hash value changes, the server judges that the train fails, and sends the train to all trains in a broadcast mode.
According to the method provided by the invention, each train node forms a block chain based on a consensus mechanism, train fault information is mastered in real time by monitoring the change condition of the hash value of the train, autonomous cooperative control of a train group is realized by a block chain technology, and meanwhile, the follow-up train path re-planning of a fault train is completed, so that the late time is reduced.
Based on the above embodiment, the operation control strategy of the current train includes:
decelerating;
or, sudden stop;
or, lane change.
Specifically, the blockchain server of the current train node generates an operation control strategy of the current train, such as deceleration, or sudden stop, or lane change, according to the node information of other train nodes and the node information of the blockchain server.
Optionally, when a lane change strategy is adopted, path re-planning is required, the block chain server of the current train node makes an autonomous decision according to the node information of other train nodes and the node information of the current train node, plans an optimal route according to the minimum time later principle,
the method provided by the invention completes the subsequent re-planning of the train path of the fault train, improves the flexibility and autonomy of cooperative scheduling, and improves the efficiency of emergency treatment of train faults, thereby reducing the late time of the train and improving the reliability of the method.
Based on any of the above embodiments, when the operation control policy of the current train is lane change, the generating the operation control policy of the current train according to the node information of the other train nodes and the node information of the current train includes: generating a path planning result of the current train according to the node information of the other train nodes and the node information of the other train nodes;
if the path planning result of the current train is that the opposite driving lane is used as a temporary driving route, the broadcasting of the operation control strategy of the current train to the other train nodes for verification comprises the following steps:
broadcasting the operation control strategy of the current train to other train nodes for verification, wherein the other train nodes judge whether the current train conflicts with the other trains, if so, the verification fails, and a conflict control strategy is executed; if not, the verification is passed, and the current train is controlled to run based on the running control strategy of the current train;
the node information further comprises timestamp information and a train schedule.
Specifically, if the route planning result of the current train is to use the opposite driving lane as the temporary driving route, in this scenario, the current train may collide with the incoming train.
And the block chain server predicts according to the node information to judge whether the vehicle runs at the current speed and conflicts, and executes a conflict control strategy if the vehicle runs at the current speed and conflicts. And if the prediction results of other nodes do not conflict, the current train runs by adopting a new path.
The node information comprises train fault information, train operation information and line information, as well as timestamp information and a train schedule; the train operation information may include, for example, train operation route information, train speed and position information, and speed profile.
The method provided by the invention considers the situation that the collision with the opposite train is possible if the operation control strategy of the current train is to select the opposite driving lane as the temporary driving route, and the block chain server of the current train node judges whether the collision with the opposite driving train is possible, thereby improving the safety of the cooperative autonomous fault processing of the train based on the block chain.
Based on any of the above embodiments, the conflict control policy includes:
if the passenger flow of the opposite running train is larger than that of the current train, the current train decelerates to run or stops in front of a turnout to wait until the opposite running train passes through, and the current train performs lane change running;
if the passenger flow of the opposite running train is less than that of the current train, the current train preferentially changes the track to run, and the opposite running train decelerates to run or stops before a turnout to wait;
if the passenger flow of the opposite-running train is equal to that of the current train, when the total delay time of the opposite-running train passing before the current train is less than the total delay time of the opposite-running train passing after the current train, accelerating or uniformly running the opposite-running train, maintaining the current speed or decelerating running of the current train, and performing lane change running on the current train after the opposite-running train passes through a turnout;
when the total delay time of the opposite running train passing before the current train is longer than the total delay time of the opposite running train passing after the current train, the opposite running train decelerates to run or stops before the turnout to wait until the current train finishes twice lane change running and returns to the normal line, and the opposite running train returns to normal running.
Specifically, the conflict control strategy is designed according to the principle of minimum delay time and large passenger flow line limitation, and comprises the following steps:
when the passenger flow of the train A (a train running on the main track, namely a train running in opposite directions) is large, the train A is in advance, the train B (a train running on the lane change, namely the current train) performs deceleration waiting or stop waiting before a turnout according to the speed and position information, and the train A performs lane change running after passing;
when the AB train passenger flow is proper, the method takes the minimum total delay time of the AB two trains as a reference, and comprises the following steps:
when the total delay time of the train A before the train B is calculated to be shorter, the train A accelerates or keeps constant speed under a speed protection curve, the train B keeps the current speed or decelerates to run, and the train B starts to enter a turnout to change lanes simultaneously after the train A passes through the turnout;
when the total delay time of the train A is calculated to be shorter before the train B, the train A decelerates to run or stops in front of a turnout to wait, the train B finishes twice lane change running, returns to a positive line and crosses a fault vehicle;
when the passenger flow of the train B is large, the train B preferentially changes the lane to run, and the train A decelerates to run or stops to wait before the turnout according to the speed and position information.
In the process, continuous vehicle-to-vehicle communication and lane communication are carried out, the vehicle-mounted ATO calculates the running information (distance, speed and the like) of the train in real time, and switches are carried out in time to realize the cooperative driving of the train.
The method provided by the invention considers the situation that the collision with the opposite train is possible if the operation control strategy of the current train is that the opposite driving lane is selected as the temporary driving route, and generates the collision control strategy by the minimum delay time and the large passenger flow route limiting principle when the block chain server of the current train node judges that the collision with the opposite driving train is possible, thereby improving the safety of the cooperative fault processing of the train based on the autonomous block chain.
The following describes the block chain-based train cooperative autonomous fault handling apparatus according to the present invention, and the block chain-based train cooperative autonomous fault handling apparatus described below and the block chain-based train cooperative autonomous fault handling method described above may be referred to in correspondence to each other.
Based on any of the above embodiments, fig. 5 is a schematic structural diagram of a block chain-based train cooperative autonomous fault handling apparatus provided by the present invention, and as shown in fig. 5, the block chain-based train cooperative autonomous fault handling apparatus includes a receiving module 501, a generating module 502, a sending module 503, and a control module 504.
The receiving module 501 is configured to receive node information sent by a blockchain server of another train node; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism; the generating module 502 is configured to generate an operation control policy of the current train according to the node information of the other train nodes and the node information of the current train; the sending module 503 is configured to broadcast the operation control policy of the current train to the blockchain servers of the other train nodes for verification, and when the verification passes, the blockchain servers of the other train nodes store the operation control policy of the current train; the control module 504 is configured to control the current train operation based on the operation control strategy of the current train.
The device provided by the invention realizes the autonomous cooperative control of the train group through the block chain technology, and simultaneously finishes the replanning of the subsequent train path of the fault train, thereby reducing the time at a later point; the block chain technology is used for realizing a safer, more flexible and autonomous distributed train cooperative autonomous system, effectively preventing the system performance from being reduced due to single-point faults, realizing the train-dominated running control, getting rid of strong dependence on a control center, and having the characteristics of decentralization, safety, reliability, autonomous and the like.
Based on any of the above embodiments, the train failure information is generated by the blockchain server of the train node when the hash value of the train node is determined to change.
Based on any of the above embodiments, the operation control strategy of the current train includes:
decelerating;
or, sudden stop;
or, lane change.
Based on any of the above embodiments, when the operation control policy of the current train is lane change, the generating the operation control policy of the current train according to the node information of the other train nodes and the node information of the current train includes: generating a path planning result of the current train according to the node information of the other train nodes and the node information of the other train nodes;
if the path planning result of the current train is that the opposite driving lane is used as a temporary driving route, the broadcasting of the operation control strategy of the current train to the other train nodes for verification comprises the following steps:
broadcasting the operation control strategy of the current train to other train nodes for verification, wherein the other train nodes judge whether the current train conflicts with the other trains, if so, the verification fails, and a conflict control strategy is executed; if not, the verification is passed, and the current train is controlled to run based on the running control strategy of the current train;
the node information further comprises timestamp information and a train schedule.
Based on any of the above embodiments, the conflict control policy includes:
if the passenger flow of the opposite running train is larger than that of the current train, the current train decelerates to run or stops in front of a turnout to wait until the opposite running train passes through, and the current train performs lane change running;
if the passenger flow of the opposite running train is less than that of the current train, the current train preferentially changes the track to run, and the opposite running train decelerates to run or stops before a turnout to wait;
if the passenger flow of the opposite-running train is equal to that of the current train, when the total delay time of the opposite-running train passing before the current train is less than the total delay time of the opposite-running train passing after the current train, accelerating or uniformly running the opposite-running train, maintaining the current speed or decelerating running of the current train, and performing lane change running on the current train after the opposite-running train passes through a turnout;
when the total delay time of the opposite running train passing before the current train is longer than the total delay time of the opposite running train passing after the current train, the opposite running train decelerates to run or stops before the turnout to wait until the current train finishes twice lane change running and returns to the normal line, and the opposite running train returns to normal running.
The block chain-based train cooperative autonomous fault handling device can be used for executing the technical scheme of each block chain-based train cooperative autonomous fault handling method, and the implementation principle and the technical effect are similar, and are not repeated here.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication interface (communication interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 are communicated with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a blockchain based train cooperative autonomous fault handling method comprising: receiving node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism; generating an operation control strategy of the current train according to the node information of the other train nodes and the node information of the train; broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed; and controlling the current train to run based on the running control strategy of the current train.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to execute the block chain based cooperative autonomous train fault handling method provided in the foregoing embodiments, the method including: receiving node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism; generating an operation control strategy of the current train according to the node information of the other train nodes and the node information of the train; broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed; and controlling the current train to run based on the running control strategy of the current train.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; 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 (10)
1. A block chain-based train cooperative autonomous fault processing method is characterized by comprising the following steps:
receiving node information sent by a block chain server of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism;
generating an operation control strategy of the current train according to the node information of the other train nodes and the node information of the train;
broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and storing the operation control strategy of the current train by the block chain servers of other train nodes when the verification is passed;
and controlling the current train to run based on the running control strategy of the current train.
2. The method according to claim 1, wherein the train fault information is generated by a blockchain server of a train node when a hash value of the train node is determined to have changed.
3. The method for handling the cooperative autonomous fault of the block chain based train according to claim 1 or 2, wherein the operation control strategy of the current train includes:
decelerating;
or, sudden stop;
or, lane change.
4. The method for cooperative autonomous fault handling of trains based on blockchains according to claim 3, wherein when the operation control policy of the current train is lane change, the generating the operation control policy of the current train according to the node information of the other train nodes and the node information of the current train comprises: generating a path planning result of the current train according to the node information of the other train nodes and the node information of the other train nodes;
if the path planning result of the current train is that the opposite driving lane is used as a temporary driving route, the broadcasting of the operation control strategy of the current train to the other train nodes for verification comprises the following steps:
broadcasting the operation control strategy of the current train to other train nodes for verification, wherein the other train nodes judge whether the current train conflicts with the other trains, if so, the verification fails, and a conflict control strategy is executed; if not, the verification is passed, and the current train is controlled to run based on the running control strategy of the current train;
the node information further comprises timestamp information and a train schedule.
5. The block chain based train cooperative autonomous fault handling method according to claim 4, wherein the conflict control policy includes:
if the passenger flow of the opposite running train is larger than that of the current train, the current train decelerates to run or stops in front of a turnout to wait until the opposite running train passes through, and the current train performs lane change running;
if the passenger flow of the opposite running train is less than that of the current train, the current train preferentially changes the track to run, and the opposite running train decelerates to run or stops before a turnout to wait;
if the passenger flow of the opposite-running train is equal to that of the current train, when the total delay time of the opposite-running train passing before the current train is less than the total delay time of the opposite-running train passing after the current train, accelerating or uniformly running the opposite-running train, maintaining the current speed or decelerating running of the current train, and performing lane change running on the current train after the opposite-running train passes through a turnout;
when the total delay time of the opposite running train passing before the current train is longer than the total delay time of the opposite running train passing after the current train, the opposite running train decelerates to run or stops before the turnout to wait until the current train finishes twice lane change running and returns to the normal line, and the opposite running train returns to normal running.
6. A block chain-based cooperative train autonomous fault handling device is characterized by comprising:
the receiving module is used for receiving node information sent by the block chain servers of other train nodes; the node information comprises train fault information, train operation information and line information, and the block chain is composed of train nodes based on a consensus mechanism;
the generating module is used for generating the operation control strategy of the current train according to the node information of other train nodes and the node information of the generating module;
the sending module is used for broadcasting the operation control strategy of the current train to the block chain servers of other train nodes for verification, and when the verification is passed, the block chain servers of other train nodes store the operation control strategy of the current train;
and the control module is used for controlling the current train to run based on the running control strategy of the current train.
7. The device for processing cooperative autonomous train fault based on blockchain according to claim 6, wherein the train fault information is generated by a blockchain server of a train node when a hash value of the train node is determined to have changed.
8. The device for processing cooperative autonomous fault of block chain based train according to claim 6 or 7, wherein the operation control strategy of the current train includes:
decelerating;
or, sudden stop;
or, lane change.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the computer program implements the steps of the block chain based train cooperative autonomous fault handling method according to any of claims 1 to 5.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the block chain based train cooperative autonomous fault handling method according to any of claims 1 to 5.
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