CN112441074A - Parking method and device for rail transit, vehicle and electronic equipment - Google Patents
Parking method and device for rail transit, vehicle and electronic equipment Download PDFInfo
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- CN112441074A CN112441074A CN201910801125.7A CN201910801125A CN112441074A CN 112441074 A CN112441074 A CN 112441074A CN 201910801125 A CN201910801125 A CN 201910801125A CN 112441074 A CN112441074 A CN 112441074A
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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 vehicle trains
Abstract
The application provides a parking method for rail transit, wherein the method comprises the following steps: identifying that a train enters a station area attempting to stop; when a train is recognized to enter a station area trying to stop, acquiring a first distance between the train and a stop mark of the station; and according to the acquired first distance, performing parking control on the train. This application is discerning the train and gets into the regional back of station of trying to stop, obtains the train and sets up the distance between the parking sign on the station through the distance detection device on the train, just can guide the train to slow down and park according to this distance, only need set up a parking sign on the station, need not to lay a large amount of transponders at the track and just can realize the parking control to the train, can reduce the construction cost at station.
Description
Technical Field
The present disclosure relates to the field of rail transit control technologies, and in particular, to a parking method and apparatus for rail transit, a vehicle, and an electronic device.
Background
At present, rail transit usually adopts an automatic control system and an automatic operation system to realize control of automatic driving, automatic stopping, automatic acceleration and deceleration and the like of a train.
In the related art, the train is often positioned by a train transponder installed on a rail, and then the train is subjected to parking control according to the positioning information and a circuit diagram in the system, so as to realize automatic parking.
However, the related art has the following disadvantages: since the transponders are laid out in the track, and only at short intervals a large number of transponders are laid out, an accurate positioning can be achieved. Therefore, the related art makes the hardware cost of the parking method for the rail transit extremely high. Secondly, the daily maintenance and repair of many transponders also consumes a lot of manpower, resulting in high labor cost.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present application is to provide a parking method for rail transit, so as to solve the problem of high hardware cost and maintenance cost in the prior art that positioning is required by transponders arranged on a rail.
A second object of the present application is to propose a parking apparatus for rail transit.
A third object of the present application is to propose a vehicle.
A fourth object of the present application is to provide an electronic device.
A fifth object of the present application is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a parking method for rail transit, including the following steps: identifying that a train enters a station area attempting to stop; when a train is recognized to enter a station area trying to stop, acquiring a first distance between the train and a stop mark of the station; and according to the acquired first distance, performing parking control on the train.
According to an embodiment of the application, the method for controlling the train to stop according to the acquired first distance includes: and when the first distance obtained currently is identified to be smaller than the first preset distance, controlling the train to uniformly decelerate to stop.
According to an embodiment of the application, before controlling the train to uniformly decelerate to a stop, the method further comprises: and controlling the speed of the train to be reduced to a first train speed range.
According to an embodiment of the application, after controlling the train to uniformly decelerate to a stop, the method further comprises: and identifying whether the train head is aligned with the parking mark through an image acquisition device of the train head, and controlling the train to move to align the train head with the parking mark if the train head is not aligned with the parking mark.
According to an embodiment of the application, acquiring a first distance between the train and a stop sign of the station includes: controlling the distance detection device to send a detection signal; receiving an echo signal reflected by the detection signal at the parking mark; and acquiring the first distance according to the sending time of the detection signal and the receiving time of the echo signal.
According to one embodiment of the present application, identifying that a train enters a station area attempting to stop includes: acquiring first position information of the train; acquiring second position information of the station; determining a second distance between the train and the station according to the first position information and the second position information; recognizing that the train enters the station area when the second distance is smaller than or equal to a second preset distance; wherein the second preset distance is greater than or equal to the first preset distance.
According to an embodiment of the present application, acquiring second location information of the station includes: and determining a station where the train tries to stop according to the first position information and the running route of the train, and inquiring an electronic map to obtain second position information of the station according to the identification information of the station.
The embodiment of the first aspect of the application provides a parking method for rail transit, can obtain the distance between train and the parking sign of setting on the station through the distance detection device on the train after discerning that the train gets into the station area of trying to stop, just can guide the train to slow down and park according to this distance, only need set up a parking sign on the station, need not to lay a large amount of transponders at the track and just can realize the parking control to the train, can reduce the construction cost at station.
In order to achieve the above object, an embodiment of the second aspect of the present application provides a parking apparatus for rail transit, including: the identification module is used for identifying that the train enters a station area trying to stop; the acquisition module is used for acquiring a first distance between the train and a parking mark of the station; and the control module is used for carrying out parking control on the train according to the acquired first distance.
According to one embodiment of the application, a control module is configured to: and when the first distance obtained currently is identified to be smaller than the first preset distance, controlling the train to uniformly decelerate to stop.
According to an embodiment of the application, the control module is further configured to: and before controlling the train to uniformly decelerate to stop, controlling the speed of the train to decelerate to a first train speed range.
According to an embodiment of the application, the control module is further configured to: after the train is controlled to uniformly decelerate to stop, whether the train head is aligned with the stop sign or not is identified through an image acquisition device of the train head, and if the train head is not aligned with the stop sign, the train is controlled to move so that the train head is aligned with the stop sign.
According to an embodiment of the application, the obtaining module is configured to: controlling the distance detection device to send a detection signal; receiving an echo signal reflected by the detection signal at the parking mark; and acquiring the first distance according to the sending time of the detection signal and the receiving time of the echo signal.
According to one embodiment of the application, an identification module is configured to: acquiring first position information of the train; acquiring second position information of the station; determining a second distance between the train and the station according to the first position information and the second position information; recognizing that the train enters the station area when the second distance is smaller than or equal to a second preset distance; wherein the second preset distance is greater than or equal to the first preset distance.
According to an embodiment of the application, the identification module is further configured to: and determining a station where the train tries to stop according to the first position information and the running route of the train, and inquiring an electronic map to obtain second position information of the station according to the identification information of the station.
The embodiment of the second aspect of the application provides a parking equipment for track traffic, can get into the regional back of station of trying to stop in discernment train, obtain the train and set up the distance between the parking sign on the station through the distance detection device on the train, just can guide the train to slow down and park according to this distance, only need set up a parking sign on the station, need not to lay a large amount of transponders at the track and just can realize the parking control to the train, can reduce the construction cost at station.
In order to achieve the above purpose, an embodiment of the third aspect of the present application provides a vehicle including a parking device for rail transit provided in an embodiment of the second aspect of the present application.
To achieve the above object, a fourth aspect of the present application provides an electronic device, including a memory, a processor; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the parking method for rail transit according to any one of claims 1 to 7.
In order to achieve the above object, a fifth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the parking method for rail transit.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a parking method for rail transit according to an embodiment of the present disclosure;
fig. 2 is a flowchart of another parking method for rail transit according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating an operation principle of a distance detection apparatus according to an embodiment of the present application;
fig. 4 is a flowchart of another parking method for rail transit according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a high-precision map provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of track segment division provided in an embodiment of the present application;
fig. 7 is a flowchart of another parking method for rail transit according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a parking apparatus for rail transit according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The parking method for rail transit, the apparatus, the vehicle, and the electronic device according to the embodiment of the present application are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a parking method for rail transit according to an embodiment of the present application. As shown in fig. 1, the method specifically comprises the following steps:
s101: it is identified that a train enters a station area where a stop is attempted.
Specifically, the distance between the train and the station where the train is trying to stop can be detected, and whether the train enters the station area or not can be judged according to the distance between the train and the station. The specific process of identifying the train entering the station area where the stop is attempted is explained later. Among them, the station that tries to stop may also be referred to as a target station.
Further, the train is controlled to enter a deceleration running state upon recognizing that the train enters a station area where a stop is attempted.
S102: a first distance between a train and a stop sign of a station is acquired.
In order to solve the problem of high cost caused by the fact that a large number of transponders need to be arranged on a track in the prior art, a parking mark is arranged at a designated position of a station, and the parking mark can be a sign plate or a mark marking line laid on the ground. The train is guided to stop at the station by the stop sign.
In particular, in order to be able to obtain the distance between the train and the stop sign of the station, a relevant detection device, for example a distance detection device, is provided on the train. The distance detection device can be started when the train enters the station area, and the first distance between the train and the stop mark of the station can be acquired in real time or periodically through the distance detection device. Wherein, the period can be set according to the actual situation. As for the process of acquiring the first distance by the distance detecting device, as shown in fig. 2, the method specifically includes the following steps:
s201: and controlling the distance detection device to send a detection signal.
S202: and receiving an echo signal of the detection signal reflected at the parking mark.
S203: and acquiring the first distance according to the sending time of the detection signal and the receiving time of the echo signal.
It should be noted that, as shown in fig. 3, after the distance detecting device is started, the distance detecting device may send a detection signal, and after the detection signal reaches the parking identifier, the detection signal may be reflected by the parking identifier to form an echo signal, and the distance detecting device on the train may receive the echo signal reflected back, and may directly obtain the first distance according to the sending time of the detection signal and the receiving time of the echo signal.
Optionally, the distance detecting device may be a laser distance measuring instrument, a pulse laser is used as a detection signal to measure the distance, the laser distance measuring instrument emits a pulse laser with a very short duration, the pulse laser is reflected by the parking marker after passing through the distance L to be measured, the emitted pulse laser is received by a photoelectric detection unit in the laser distance measuring instrument, the transmission time t is further calculated according to the time when the pulse laser is emitted and the time when the pulse laser is reflected, and then the distance L between the parking marker and the laser distance measuring instrument, that is, the first distance between the train and the parking marker, is obtained based on the wave propagation speed and the transmission time of the laser.
S103: and according to the acquired first distance, performing parking control on the train.
After the first distance is obtained, the running speed of the train can be gradually adjusted according to the first distance until the train stops after running to the stop sign.
Optionally, after the first distance between the train and the stop sign of the station is obtained, the first distance may be compared with a first preset distance, and if the first distance is greater than or equal to the first preset distance, the train is controlled to decelerate and continue to obtain the first distance; if the first distance is smaller than the first preset distance, the train is controlled to uniformly decelerate to stop, so that the method for stopping the rail transit, which is provided by the application, can realize accurate stop control of the train by controlling the running speed of the train. Furthermore, the train is controlled to run at uniform deceleration till stop, so that potential safety hazards caused by non-uniform deceleration running of the train are avoided. For example, uneven deceleration driving inevitably causes frequent changes of the driving speed of the vehicle in a short time, so that the train cannot run smoothly and the safety of passengers is threatened.
And further, after the acquired first distance is recognized to be smaller than a first preset distance, controlling the train to uniformly decelerate to stop.
Optionally, after recognizing that the first distance is smaller than the first preset distance, before controlling the train to stop, the speed of the train needs to be controlled to be reduced to the first speed range in order to enable the train to stably run to stop within the first distance and ensure the riding safety of passengers. The first vehicle speed range can be set according to actual conditions. For example, the first vehicle speed range may be set to 15 to 20 km/h.
For example, when the first preset distance is preset to be 50m, when it is recognized that the train enters a station area where the train is trying to stop, and the first distance is 90m and the current running speed of the train is 50 km/h, the train can be immediately controlled to decelerate to 20 km/h for running, and the first distance is continuously obtained. When the first distance is detected to be 40m, the train is immediately controlled to uniformly decelerate to stop, namely, the uniform deceleration is performed from 20 km/h to 0 km/h.
From this, this application can get into the regional back of station of trying to stop at discernment train, obtains the train and sets up the distance between the parking sign on the station through the distance detection device on the train, just can guide the train to slow down and park according to this distance, only need set up a parking sign on the station, need not to lay a large amount of transponders at the track and just can realize the parking control to the train, can reduce the construction cost at station.
Fig. 4 is a flowchart of another parking method for rail transit according to an embodiment of the present application. As shown in fig. 4, the method specifically includes the following steps:
s301: first position information of the train is acquired.
In the present application, a Global Positioning System (GPS) is installed in the train, and the first position information of the train itself can be located by the GPS. After the train is started, as shown in fig. 5, the GPS on the train can be controlled to monitor and record the current position of the train in real time.
S302: and acquiring second position information of the station.
After the first position information of the train is obtained, the running route of the train is further obtained, the first position information is matched on the running route, the current running position of the train is obtained, and the station where the train tries to stop is determined. Further, the electronic map can be queried according to the identification information of the station, and the second position information of the station can be obtained.
For example, as shown in fig. 5, after the first position information of the train is obtained as 115.20 and 38.10, the running route of the train (as shown by the dotted line in the figure) can be obtained, and then the first position information 115.20 and 38.10 of the train is matched on the running route, the current driving place of the train is known, and the station a where the train tries to stop is determined. Further, the second location information 116.16,39.29 of the station a may be obtained by querying the electronic map according to the identification information of the station a.
S303: and determining a second distance between the train and the station according to the first position information and the second position information.
S304: and judging whether the second distance is smaller than or equal to a second preset distance.
S305: and recognizing that the train enters a station area.
For example, the second preset distance is preset to be 200 m. According to the first position information and the second position information, if the second distance between the train and the station is 150m, the train is identified to enter the station area if the second distance is smaller than a second preset distance; and if the acquired second distance between the train and the station is 250m, knowing that the second distance is greater than the first preset distance, identifying that the train does not enter the station area, controlling the train to keep running at the current speed, and returning to acquire the second distance again.
As a possible implementation manner, as shown in fig. 6, the distance between each station on the track may be segmented according to a preset length in advance, and a mark may be set at the start position of each segment, where the mark may be a number, a character, or a two-dimensional code. In this application, the train can set up the sign at the district's initial position on the track and discern, for example, can carry out image acquisition, discerns whether there is the sign of initial position in the follow image, after discerning the sign of this initial position, can learn the district that the train is located. The penultimate section of the station that may try to stop in advance is marked as the target section in the present application. If the train identifies the identity of the target zone, it may be determined that the train has entered the station area.
In order to further reduce the equipment cost, in the present application, before a train enters a station area where a stop is attempted, a high-precision map positioning navigation device with an error of about ± 10m is used. After the train enters a station area trying to stop, a distance detection device with an error of only about +/-0.15 m is adopted to obtain the distance between the train and the stop sign of the station.
From this, this application can get into the regional back of station of trying to stop at discernment train, obtains the train and sets up the distance between the parking sign on the station through the distance detection device on the train, just can guide the train to slow down and park according to this distance, only need set up a parking sign on the station, need not to lay a large amount of transponders at the track and just can realize the parking control to the train, can reduce the construction cost at station.
In the application, in order to improve the accuracy of the parking method for the rail transit and ensure the safety of passengers when the passengers get on or off the train, after the train is controlled to uniformly decelerate to park, whether the train head is aligned with the parking mark or not can be further judged, so that the parking method for the rail transit provided by the application is more in line with the actual requirement.
As a possible implementation mode, images of the train head and the parking mark can be acquired through an image acquisition device arranged on the train. And then analyzing the acquired image, and if the train head is not aligned with the parking mark, controlling the train to continuously move forwards so as to align the train head with the parking mark.
In order to implement the above embodiments, the present application further provides a flowchart of another parking method for rail transit, as shown in fig. 7, specifically including the following steps:
s401: first position information of the train is acquired.
S402: and acquiring second position information of the station.
S403: and acquiring a second distance between the train and the station according to the first position information and the second position information.
S404: and judging whether the train enters the station area trying to stop or not according to the second distance.
S405: and controlling the train to run at a reduced speed.
S406: a first distance between a train and a stop sign of a station is acquired.
S407: and judging whether the first distance is smaller than a first preset distance or not according to the first distance.
S408: and controlling the speed of the train to be reduced to a first train speed range.
S409: and judging whether the speed of the train is in a first speed range or not.
S410: and controlling the train to stop.
S411: and judging whether the train head is aligned with the parking mark.
S412: the train is controlled to move so that the train head is aligned with the parking mark.
Specifically, step S401 may be executed to acquire first location information of the train using high-precision map positioning navigation, and step S402 may be executed to acquire second location information of the station by querying the electronic map according to the identification information of the station. Then, step S403 may be performed to acquire a second distance between the train and the station according to the first location information and the second location information.
Further, step S404 may be performed to determine whether the train has entered a station area where a stop is attempted based on the second distance. If the second distance is less than or equal to the first preset distance, executing the step S405 to control the train to run at a reduced speed; and if the second distance is greater than the first preset distance, returning to the step S401 to continuously acquire the first position information of the train.
Further, after recognizing that the train has entered the station area where the train is attempted to stop and controlling the train to run at a reduced speed, step S406 may be performed to activate the distance detecting device to obtain the first distance between the train and the stop sign of the station. After the first distance is obtained, step S407 is executed to determine whether the first distance is smaller than a first preset distance according to the first distance. If the first distance is smaller than the first preset distance, executing step S408 to control the speed of the train to be reduced to a first train speed range; if the first distance is greater than or equal to the first preset distance, the step S406 is returned to continue to acquire the first distance.
Further, after recognizing that the first distance is smaller than the first preset distance and controlling the speed of the train to be reduced to the first vehicle speed range, step S409 may be executed to determine whether the speed of the train is in the first vehicle speed range. If the speed of the train is in the first speed range, executing step S410 to control the train to stop; if the vehicle speed of the train is not in the first vehicle speed range, the control returns to the step S408 to continue controlling the vehicle speed of the train to be decelerated to be in the first vehicle speed range.
Further, after recognizing that the vehicle speed is within the first vehicle speed range and controlling the train to stop, step S411 may be performed to determine whether the train head is aligned with the stop sign. If the train head is aligned with the parking mark, parking is finished; if the train head is not aligned with the parking marker, step S412 is performed to control the train to move so that the train head is aligned with the parking marker.
From this, this application can get into the regional back of station of trying to stop at discernment train, obtains the train and sets up the distance between the parking sign on the station through the distance detection device on the train, just can guide the train to slow down and park according to this distance, only need set up a parking sign on the station, need not to lay a large amount of transponders at the track and just can realize the parking control to the train, can reduce the construction cost at station.
In order to realize the embodiment, the application also provides a parking device for rail transit.
Fig. 8 is a schematic structural diagram of a parking apparatus for rail transit according to an embodiment of the present application. As shown in fig. 8, the parking apparatus 100 for rail transit according to the embodiment of the present application includes: the identification module 11 is used for identifying that the train enters a station area trying to stop; the obtaining module 12 is configured to obtain a first distance between the train and a stop identifier of the station; and the control module 13 is configured to perform parking control on the train according to the acquired first distance.
Wherein, the control module 13 is configured to: according to the acquired first distance, the train is subjected to parking control, and the method comprises the following steps: and when the first distance obtained currently is identified to be smaller than the first preset distance, controlling the train to uniformly decelerate to stop.
Further, the control module 13 is configured to: before controlling the train to uniformly decelerate to stop, the method further comprises the following steps: and controlling the speed of the train to be reduced to a first train speed range.
Further, the control module 13 is configured to: after the train is controlled to uniformly decelerate to stop, whether the train head is aligned with the stop sign or not is identified through an image acquisition device of the train head, and if the train head is not aligned with the stop sign, the train is controlled to move so that the train head is aligned with the stop sign.
Further, the obtaining module 12 is configured to: controlling the distance detection device to send a detection signal; receiving an echo signal reflected by the detection signal at the parking mark; and acquiring the first distance according to the sending time of the detection signal and the receiving time of the echo signal.
Further, the identification module 11 is configured to: acquiring first position information of the train; acquiring second position information of the station; determining a second distance between the train and the station according to the first position information and the second position information; recognizing that the train enters the station area when the second distance is smaller than or equal to a second preset distance; wherein the second preset distance is greater than or equal to the first preset distance.
Further, the identification module 11 is further configured to: and determining a station where the train tries to stop according to the first position information and the running route of the train, and inquiring an electronic map to obtain second position information of the station according to the identification information of the station.
It should be noted that the explanation of the embodiment of the parking method for rail transit is also applicable to the parking apparatus for rail transit in this embodiment, and is not repeated here.
In order to implement the above-described embodiment, the present application also proposes a vehicle 200, as shown in fig. 9.
In order to implement the foregoing embodiments, the present application further provides an electronic device 300, as shown in fig. 10, which includes a memory 31, a processor 32, and a computer program stored on the memory 31 and executable on the processor 32, and when the processor executes the computer program, the electronic device implements the aforementioned parking method for rail transit.
In order to implement the above-mentioned embodiments, the present application also proposes a computer-readable storage medium on which a computer program is stored, which program, when being executed by a processor, implements the aforementioned parking method for rail transit.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (11)
1. A parking method for rail transit, comprising the steps of:
identifying that a train enters a station area attempting to stop;
acquiring a first distance between the train and a parking mark of the station;
and according to the acquired first distance, performing parking control on the train.
2. The method according to claim 1, wherein the performing parking control on the train according to the acquired first distance comprises:
and when the first distance obtained currently is identified to be smaller than the first preset distance, controlling the train to uniformly decelerate to stop.
3. The method of claim 2, wherein prior to controlling the train to level down to a stop, further comprising:
and controlling the speed of the train to be reduced to a first train speed range.
4. The method of claim 2, wherein after controlling the train to level down to a stop, further comprising:
identifying whether the train head is aligned with the parking mark or not through an image acquisition device of the train head;
and if the train head is not aligned with the parking mark, controlling the train to move so that the train head is aligned with the parking mark.
5. The method according to any one of claims 1 to 4, wherein the obtaining of the first distance between the train and the stop sign of the station comprises:
controlling the distance detection device to send a detection signal;
receiving an echo signal reflected by the detection signal at the parking mark;
and acquiring the first distance according to the sending time of the detection signal and the receiving time of the echo signal.
6. The method of any one of claims 2-4, wherein the identifying that the train enters a station area attempting to stop comprises:
acquiring first position information of the train;
acquiring second position information of the station;
determining a second distance between the train and the station according to the first position information and the second position information;
recognizing that the train enters the station area when the second distance is smaller than or equal to a second preset distance; wherein the second preset distance is greater than or equal to the first preset distance.
7. The method according to claim 6, wherein the obtaining second location information of the station comprises:
determining a station where the train tries to stop according to the first position information and the running route of the train;
and inquiring an electronic map to acquire second position information of the station according to the identification information of the station.
8. A parking device for rail transit comprises
The identification module is used for identifying that the train enters a station area trying to stop;
the acquisition module is used for acquiring a first distance between the train and a parking mark of the station;
and the control module is used for carrying out parking control on the train according to the acquired first distance.
9. A vehicle, characterized by comprising: the parking apparatus for rail transit as claimed in claim 8.
10. An electronic device comprising a memory, a processor;
wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the parking method for rail transit according to any one of claims 1 to 7.
11. A computer-readable storage medium, which stores a computer program, characterized in that the program, when being executed by a processor, implements a parking method for rail transit according to any one of claims 1-7.
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| CN201910801125.7A CN112441074A (en) | 2019-08-28 | 2019-08-28 | Parking method and device for rail transit, vehicle and electronic equipment |
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| CN201910801125.7A CN112441074A (en) | 2019-08-28 | 2019-08-28 | Parking method and device for rail transit, vehicle and electronic equipment |
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