CN112441087A - Train control system and train control method - Google Patents
Train control system and train control method Download PDFInfo
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- CN112441087A CN112441087A CN201910817826.XA CN201910817826A CN112441087A CN 112441087 A CN112441087 A CN 112441087A CN 201910817826 A CN201910817826 A CN 201910817826A CN 112441087 A CN112441087 A CN 112441087A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
- B61L2027/204—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation using Communication-based Train Control [CBTC]
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Abstract
The invention discloses a train control system and a train control method, wherein the train control system comprises: the intelligent road side device is arranged on a route through which the train passes, each intelligent road side device corresponds to one area of the route, and the intelligent road side devices are used for acquiring road condition information in the corresponding areas and sending the road condition information to the train in the corresponding areas; and the vehicle-mounted control device is positioned on the train and used for acquiring the running information of the current train and the road condition information sent by the intelligent road side device and controlling the train according to the road condition information and the train running information. The system can acquire dynamic road condition information and static road condition information of the running line through the intelligent road side device, so that the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, more efficient and more reasonable.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a train control system, a train control method, a computer-readable storage medium, and an electronic device.
Background
In urban rail transit, such as subways, straddle monorail and the like, a signal system is a central nerve of the urban rail transit and is closely related to the safety, speed, conveying capacity and efficiency of the urban rail transit.
In the related art, the signal System is typically a CBTC (Communication Based Train Control System) signal System. The CBTC signal system requires that a train and trackside equipment need to be in bidirectional communication at any time, and can only record road condition information on a driving route in advance through trackside equipment (such as a preset transponder), namely, the train can only acquire static road condition information (including static maps, buildings and trackside traffic signs of trees) on the driving route through the trackside equipment, and the acquired road condition information is not comprehensive enough, so that the running of the train is possibly not safe and efficient enough.
Disclosure of Invention
The present invention 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 invention is to provide a train control system, which can obtain dynamic road condition information and static road condition information of a running route through an intelligent road side device, so as to control a train according to more comprehensive road condition information, and make the running of the train safer, more reliable, efficient and reasonable.
The second purpose of the invention is to provide a train control method.
A third object of the invention is to propose a computer-readable storage medium.
A fourth object of the invention is to propose an electronic device.
In order to achieve the above object, an embodiment of the present invention provides a train control system, including: the intelligent road side device is arranged on a route passed by the train, each intelligent road side device corresponds to one area of the route, and the intelligent road side device is used for acquiring road condition information in the corresponding area and sending the road condition information to the train in the corresponding area; and the vehicle-mounted control device is positioned above the train and used for acquiring the running information of the current train and the road condition information sent by the intelligent road side device, receiving the train running information sent by other trains in a first set range and controlling the train according to the road condition information and the train running information.
According to the train control system provided by the embodiment of the invention, the intelligent road side device is used for acquiring the road condition information in the corresponding area and sending the road condition information to the train in the corresponding area, and the vehicle-mounted control device positioned on the train is used for acquiring the current running information of the train and the road condition information sent by the intelligent road side device and controlling the train according to the road condition information and the train running information. The system can acquire dynamic road condition information and static road condition information of the running line through the intelligent road side device, so that the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, more efficient and more reasonable.
In addition, the train control system proposed according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the intelligent road side device is further configured to receive the road condition information sent by other intelligent road side devices.
According to an embodiment of the invention, the vehicle-mounted control device is further configured to send the operation information of the current train to other trains within the first set range, and receive the train operation information sent by other trains within the first set range.
According to one embodiment of the invention, communication is performed between the intelligent road side devices, between the vehicle-mounted control devices, and between the intelligent road side devices and the vehicle-mounted control devices by using an LTE-V network.
According to an embodiment of the present invention, the vehicle-mounted control device is further configured to determine whether a temporary fleet needs to be formed according to the road condition information, and if the temporary fleet needs to be formed, the vehicle-mounted control device sets the current vehicle as a head vehicle, sends a fleet forming request to the trains within the first setting range, and forms the temporary fleet according to a request result.
According to one embodiment of the present invention, the intelligent roadside device includes: the information collector is used for collecting road condition collection information; the edge calculator is used for fusing according to the road condition acquisition information to generate the road condition information; and the communicator is used for sending the road condition information to the trains in the corresponding areas.
According to an embodiment of the present invention, the determining, by the vehicle-mounted control device, whether a temporary fleet needs to be formed according to the road condition information includes: and the vehicle-mounted control device judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information.
According to an embodiment of the present invention, the onboard control apparatus of the head vehicle is further configured to: after the temporary motorcade is formed, generating control information of the motorcade, and controlling the motorcade according to the control information, wherein the control information of the motorcade comprises: speed, acceleration, and direction of travel.
According to one embodiment of the present invention, the intelligent roadside device includes: the information collector is used for collecting road condition information; the edge calculator is used for carrying out fusion processing on the road condition information; and the communicator is used for sending the road condition information subjected to fusion processing to the trains in the corresponding areas.
According to an embodiment of the present invention, the communicator is further configured to send the road condition information after fusion processing to the other intelligent roadside devices.
According to an embodiment of the present invention, the information collector includes: one or more of a camera, a microwave radar and a laser radar.
According to one embodiment of the present invention, the in-vehicle control apparatus includes: the data acquisition module is used for acquiring the running information of the current train and the road condition information sent by the intelligent road side device and receiving the train running information sent by other trains in the first set range, wherein the train running information comprises: at least one of position, velocity, acceleration, and direction of travel; the information fusion module is used for carrying out fusion processing on the operation information and the road condition information; and the control module is used for controlling the train according to the operation information and the road condition information after fusion processing.
According to one embodiment of the invention, the data acquisition module comprises: one or more of a camera, a microwave radar, a laser wave radar and a positioning device.
In order to achieve the above object, a second embodiment of the present invention provides a train control method, including the following steps: the method comprises the steps that intelligent road side devices acquire road condition information in corresponding areas and send the road condition information to trains in the corresponding areas, wherein the at least one intelligent road side device is arranged on a route through which the trains pass, and each intelligent road side device corresponds to one area of the route; and the vehicle-mounted control device positioned on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device and controls the train according to the road condition information and the train running information.
According to the train control method provided by the embodiment of the invention, the intelligent road side device acquires the road condition information in the corresponding area and sends the road condition information to the train in the corresponding area, and the vehicle-mounted control device positioned on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device, receives the train running information sent by other trains in the first set range, and controls the train according to the road condition information and the train running information. Therefore, the method can acquire the dynamic road condition information and the static road condition information of the running line through the intelligent road side device, so that the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, more efficient and more reasonable.
In addition, the train control method proposed according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the train control method further includes: and the intelligent road side device receives the road condition information sent by other intelligent road side devices.
According to an embodiment of the present invention, the train control method further includes: and the vehicle-mounted control device sends the running information of the current train to other trains in the first set range and receives the train running information sent by other trains in the first set range.
According to one embodiment of the invention, communication is performed between the intelligent road side devices, between the vehicle-mounted control devices, and between the intelligent road side devices and the vehicle-mounted control devices by using an LTE-V network.
According to an embodiment of the present invention, the train control method further includes: further comprising: the vehicle-mounted control device judges whether a temporary motorcade needs to be formed or not according to the road condition information; and if the temporary motorcade needs to be formed, the vehicle-mounted control device sets the current vehicle as a head vehicle, sends a formation request to the trains within the first set range, and forms the temporary motorcade according to the request result.
According to an embodiment of the present invention, the determining, by the vehicle-mounted control device, whether a temporary fleet needs to be formed according to the road condition information includes: and the vehicle-mounted control device judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information.
According to an embodiment of the present invention, after the temporary fleet is composed, the method further includes: the vehicle-mounted control device of the head car generates control information of the motorcade and controls the motorcade according to the control information, wherein the control information of the motorcade comprises: speed, acceleration, and direction of travel.
To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor for implementing the train control method according to the second aspect of the present invention.
In the computer-readable storage medium of the embodiment of the invention, when the computer program stored thereon is executed by the processor, the intelligent road side device acquires road condition information in the corresponding area and sends the road condition information to the train in the corresponding area, the vehicle-mounted control device on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device and controls the train according to the road condition information and the train running information, so that the dynamic road condition information and the static road condition information of the running route can be acquired by the intelligent road side device, the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, efficient and more reasonable.
In order to achieve the above object, a fourth aspect of the present invention provides an electronic device, including a memory, a processor; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the train control method according to the embodiment of the second aspect of the present invention.
According to the electronic equipment provided by the embodiment of the invention, when the processor reads the executable program code stored in the memory to operate the program corresponding to the executable program code, the intelligent road side device acquires the road condition information in the corresponding area and sends the road condition information to the train in the corresponding area, the vehicle-mounted control device positioned on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device and controls the train according to the road condition information and the train running information, so that the dynamic road condition information and the static road condition information of the running line can be acquired through the intelligent road side device, the train can be controlled according to more comprehensive road condition information, and the train can run more safely, reliably, efficiently and reasonably.
Drawings
The above and/or additional aspects and advantages of the present invention 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 block schematic diagram of a train control system according to one embodiment of the present invention;
FIG. 2 is a block schematic diagram of a train control system according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of an arrangement of an intelligent roadside device according to one embodiment of the invention;
fig. 4 is a flowchart of a train control method according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, 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 illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A train control system, a train control method, a computer-readable storage medium, and an electronic device proposed by an embodiment of the present invention are described below with reference to the accompanying drawings.
Figure 1 is a block schematic diagram of a train control system according to one embodiment of the present invention. As shown in fig. 1, the system includes: intelligent roadside device 1 and on-vehicle controlling means 2.
The intelligent road side devices 1 comprise at least one intelligent road side device 1, the at least one intelligent road side device 1 is arranged on a route where a train passes, each intelligent road side device 1 corresponds to one area of the route, and the intelligent road side devices 1 are used for acquiring road condition information in the corresponding areas and sending the road condition information to the train in the corresponding areas. The vehicle-mounted control device 2 is located above the train and used for acquiring the running information of the current train and the road condition information sent by the intelligent road side device and controlling the train according to the road condition information and the train running information of other trains.
Specifically, the intelligent road side devices 1 are set at certain intervals on the running line of the train, the intelligent road side devices 1 can detect the road condition information in a certain range of the track and two sides of the track, the road condition information comprises static road condition information (including static maps, buildings, trees, trackside traffic signs and the like) and dynamic road condition information (including positions, speeds, states of pedestrians and signal lamps, weather information of running lines, track information and the like) and sends detected original data to each vehicle-mounted control device 2 in the line area after fusion processing by utilizing a deep learning technology.
The vehicle-mounted control device 2 will continuously receive the road condition information sent by the intelligent road side device 1, and can acquire the current train operation information, including: speed, real-time position, acceleration, running direction and the like of the train. The vehicle-mounted control device 2 can also receive information sent by other cloud terminals (for example, a train dispatching command center) according to the road condition information and the train running information of the current train, generate a running strategy of the current train by combining the information, control the train according to the running strategy, and complete a transportation task according to a plan while ensuring the safe distance of driving.
Because the road condition information that intelligence roadside device 1 that vehicle-mounted control device 2 received sent is comparatively comprehensive, the operation strategy of consequently formulating is also safe and reliable, high-efficient reasonable more. For example, if the vehicle-mounted control device 2 determines that there is a pedestrian ahead according to the traffic information, it may control the train to whistle in advance to indicate, thereby improving the safety of train running. For another example, if the vehicle-mounted control device 2 determines that the road condition ahead is abnormal according to the road condition information, such as a broken rail and an iced rail, the vehicle-mounted control device can control the train to change the track or stop at a nearby platform in advance, so as to avoid accidents and improve the safety of train running. For another example, if the vehicle-mounted control device 2 determines that the weather in front is abnormal according to the road condition information, such as heavy rain, heavy snow or heavy wind, the train can be controlled to decelerate before entering the abnormal weather area, so that the running safety of the train is improved. For another example, if the vehicle-mounted control device 2 determines that there is an unknown obstacle in front according to the road condition information, it may send a prompt message in advance to remind the line maintenance personnel to remove the obstacle as soon as possible, and it is not necessary to stop for waiting or change the line, so that the train can complete the transportation task according to the plan, and the efficiency of train operation is improved.
Therefore, the train control system can acquire the dynamic road condition information and the static road condition information of the running line through the intelligent road side device, so that the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, more efficient and more reasonable.
According to an embodiment of the present invention, the intelligent road side device 1 is further configured to receive road condition information sent by other intelligent road side devices. That is to say, can communicate between the intelligence roadside device 1, more road conditions information can be acquireed to intelligence roadside device 1 from this, and intelligence roadside device part is equivalent to an "eyes", can send the road conditions information in the non-line of sight scope for the train, and the security of train operation also improves to some extent.
According to one embodiment of the invention, the vehicle-mounted control device is further used for transmitting the operation information of the current train to other trains in the first set range and receiving the train operation information transmitted by other trains in the first set range. The first setting range is a range in which communication between trains is possible.
That is, trains within a certain range can communicate with each other through the on-board control device 2, and the on-board control device 2 can receive train operation information transmitted by other trains within the first setting range and share train operation information of the own train with other trains within the first setting range. Because the vehicles can be directly communicated, the time delay of end-to-end data transmission can be reduced, the time for overall perception fusion decision between the trains is shorter, the efficiency is higher, and the vehicle-to-vehicle interval can be obviously shortened.
In the embodiment of the present invention, communication is performed between the intelligent roadside devices 1, between the vehicle-mounted control devices 2, and between the intelligent roadside devices 1 and the vehicle-mounted control devices 2 by using an LTE-V (protocol specific to vehicle-to-vehicle communication) network. The LTE-V System can functionally replace the whole CBTC System, theoretically, it can also carry services such as PIS (Passenger Information System), PA (Public-Address System), CCTV (Closed Circuit Television System) and the like through customized services, and the networking architecture is simple, so the total cost of rail transit can be reduced, and the construction and the later operation maintenance are simpler and more convenient.
According to an embodiment of the present invention, as shown in fig. 2, the intelligent roadside device 1 may include: an information collector 101, an edge calculator 102, and a communicator 103. The information collector 101 is used for collecting road condition collection information; the edge calculator 102 performs fusion processing on the road condition information; the communicator 103 is configured to send the road condition information subjected to the fusion processing to the trains and other intelligent roadside devices 1 in the corresponding area, and may receive the road condition information sent by the communicators 103 of other roadside devices. Wherein, the information collector 101 may include: one or more of a camera, a microwave radar and a laser radar.
Specifically, as shown in fig. 3, information collectors 101 (including a camera, a microwave radar, a laser wave radar, and the like) with different directions and angles can be installed at certain intervals on two sides of a track, or at signal and poor sight positions among curves, obstacles, buildings, and the like, the camera is matched with a long-focus lens and a medium-focus lens to detect medium-distance road conditions, and the visual perception of 180 degrees in front of the driving direction is realized by using an image splicing method; the antennas of various radars are arranged towards the up-down direction of the track and are used for detecting the distance, the speed and the direction of various targets in the track range; the resolution of the camera is high, the ability to color and shape perception is strong, but the detection distance exists and the camera is affected by light rays and the like, and the millimeter wave radar can reinforce the weak item of the camera.
The edge calculator 102 and the information collector 101 are directly connected through a network cable, and in principle, 4G (fourth generation mobile communication technology) can be used, and the existing 4G LTE base station can be directly used. The edge calculator 102 sends the traffic information after the fusion processing to the communicator 103, and the communicator 103 sends the traffic information to the vehicle-mounted control device 2 and other intelligent road side devices 1 through the LTE-V network. Therefore, the intelligent roadside device can extend the vehicle-mounted detection system (such as a radar and a camera) from a visual range of tens of meters to a non-visual range of more than hundreds of meters.
According to an embodiment of the present invention, as shown in fig. 2, the vehicle-mounted control apparatus 2 described above may include: a data acquisition module 201, an information fusion module 202 and a control module 203.
Wherein, the data acquisition module 201 is used for obtaining the operation information of the current train and the road condition information that intelligence roadside device 1 sent to and receive the train operation information that other trains in the first settlement scope sent, wherein, train operation information includes: at least one of position, velocity, acceleration, and direction of travel; the information fusion module 202 is configured to perform fusion processing on the operation information and the road condition information; the control module 203 is configured to control the train according to the fused operation information and road condition information.
The data acquisition module 201 may include: one or more of a camera, a microwave radar, a laser wave radar and a positioning device.
Specifically, the vehicle-mounted control devices 2 are respectively arranged at the head and tail of the train, and the data acquisition module 201, the information fusion module 202, and the control module 203 are connected by a Network cable, a Controller Area Network (CAN), or other means. The vehicle-mounted antenna is arranged on the top of a carriage at the tail of the vehicle head, and information is communicated between the vehicle and the vehicle through an LTE-V network.
The data acquisition module 201 comprises a camera, a millimeter wave radar, a laser radar and other data acquisition modules 201, and can detect the conditions of the train on the driving road and in hundreds of meters around the driving road, such as the presence of pedestrians, animals, obstacles, traffic accidents and other objects which move to the motorcade quickly and approach the 'safe driving clearance'. The data acquisition module 201 further includes a positioning device for providing a real-time position of the train, and the train obtains position coordinates of itself and other trains through the positioning device, which is necessary for safe and accurate scheduling of vehicle operation. The Positioning device may be one of a GPS (Global Positioning System), a beidou, and a GNSS (Global Navigation Satellite System).
The data acquisition module 201 can acquire data of the train, and can also receive data packets of other trains with LTE-V equipment and data packets sent by the intelligent roadside device 1, so that the train has communication capability of V2X (Vehicle To evolution), and can timely and accurately communicate with other trains, thereby ensuring the safety of train operation.
The information fusion module 203 can combine the train operation information of itself, the train operation information of other trains, the road condition information sent by the intelligent road side device 1, and the traffic information of surrounding infrastructure to perform fusion processing such as planning decision, signaling interaction, etc., and the control module 204 controls the functions of constant speed driving, variable speed driving, curve driving, emergency braking, etc. of the train according to the information after fusion processing, and completes the transportation task according to the plan while ensuring the safe distance of driving.
According to an embodiment of the present invention, the vehicle-mounted control device 2 is further configured to determine whether a temporary fleet needs to be formed according to the traffic information, and if the temporary fleet needs to be formed, the vehicle-mounted control device sets the current vehicle as the head vehicle, sends a fleet forming request to the trains within the first setting range, and forms the temporary fleet according to the request result.
Further, in an embodiment of the present invention, the determining, by the vehicle-mounted control device 2, whether the temporary fleet needs to be formed according to the road condition information may include: the vehicle-mounted control device 2 judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information. And if the passenger flow density in the running direction exceeds a preset value, judging that a temporary motorcade needs to be formed. The preset value can be preset according to actual conditions.
Specifically, the vehicle-mounted control device 2 may determine whether to form a temporary fleet according to the received road condition information, for example, when the traffic volume suddenly increases due to a holiday return peak, a finishing of a concert sports event, a school of a hospital, and the like during the off-duty school hours in a crowded place in the traveling direction, the vehicle-mounted control device 2 determines that the traffic density on the traveling route exceeds a preset value according to the road condition information, and the vehicle-mounted control device 2 takes the current train as the head train and sends a fleet formation request to peripheral trains through the LTE-V network. The formation request is transmitted in the form of broadcast, and the contents of the formation request include the position of the head car, the speed, scheduling information, time information, pilot information, ID information, line traffic information, and the like. And after receiving the formation request, other trains analyze whether to form a temporary motorcade or not by combining the conditions of the trains, if the temporary motorcade is willing to be formed, the other trains give a response to the head train, plan a reasonable running route by combining the real-time positions of the trains, quickly approach the head train and form the temporary motorcade with the head train. And the trains of the fleet communicate messages through the LTE-V network.
Further, the onboard control device of the head car is also used for: after forming the temporary motorcade, generating control information of the motorcade, and controlling the motorcade according to the control information, wherein the control information of the motorcade comprises: speed, acceleration, and direction of travel.
Specifically, after the temporary fleet is formed, the operation of the whole fleet is comprehensively managed by a head vehicle, control information of the fleet is generated, the fleet can run at a constant speed, run at a variable speed, run at a curve, perform emergency braking and the like, and finally, passenger transportation work is scientifically and reasonably completed according to a plan. Namely, the head car is equivalent to the head car and controls the running of the whole motorcade. For example, if the passenger flow suddenly increases, a fleet of vehicles needs to be deployed to rapidly send passengers to each destination, the first vehicle knows the condition of the whole line through the intelligent roadside device 1, other trains are rapidly deployed to form a temporary fleet of vehicles according to the actual passenger flow condition, the vehicles and the vehicles are communicated in real time through the LTE-V network, the roadside end provides a non-line-of-sight range road condition, and a data group acquired by the vehicle-mounted end ensures the safety of the inter-distance of the fleet of vehicles, so that the passenger transportation is rapidly and efficiently completed. The whole process does not need excessive ground access, the combination of the head train and the LTE-V network can ensure that a motorcade operation system is safer, more reliable, more efficient and more reasonable, and the resistance of other trains can be reduced when the motorcade operates, thereby being beneficial to environmental protection and energy saving.
As can be seen from the above, the train control system according to the embodiment of the present invention has the following beneficial effects:
1. dynamic road condition information and static road condition information of the operation line can be acquired through the intelligent road side device, so that the train can be controlled according to more comprehensive road condition information, and the train can run more safely, reliably, efficiently and reasonably.
2. The networking architecture is simple, the existing 4G LTE base station can be directly used, meanwhile, the LTE-V system can functionally replace the whole set of CBTC system, and theoretically, the services such as PIS, PA and CCTV can be carried through customized services, so that the total cost of rail transit is reduced, and the construction and later-stage operation maintenance are simpler and more convenient.
3. The data acquisition module and the positioning module of the train can acquire information around the train body at any time, and after the information is analyzed and processed by the information fusion module, the information can be directly communicated between the train and the workshop, so that the end-to-end data transmission delay can be effectively reduced, the communication delay of the whole fleet is smaller, and the interval of the fleet can be shorter.
4. According to the actual condition of a line, the head car quickly allocates other trains to form a temporary fleet through LTE-V network broadcast information according to a pre-programmed driving plan, the whole fleet operation is comprehensively managed by the head car through LTE-V short-distance communication intercommunication information between the fleets, the whole process does not need excessive ground access, and a fleet operation system can be safer, more reliable, efficient and more reasonable.
5. The intelligent roadside device improves the line condition in the non-line-of-sight distance range and sends the line condition to the train through the LTE-V network, and the overall safety of the fleet is correspondingly improved.
In summary, according to the train control system of the embodiment of the invention, the intelligent road side device acquires the road condition information in the corresponding area and sends the road condition information to the train in the corresponding area, and the vehicle-mounted control device on the train acquires the current train operation information and the road condition information sent by the intelligent road side device, receives the train operation information sent by other trains in the first setting range, and controls the train according to the road condition information and the train operation information. This system can acquire the dynamic road conditions information and the static road conditions information of service route through intelligence trackside device, thereby can control the train according to more comprehensive road conditions information, make the operation of train safe and reliable more, it is high-efficient reasonable, and the network deployment framework is simple, can reduce track traffic's earlier stage input and later maintenance cost, and this system workshop can the direct communication, do not need too much ground to insert, can effectively reduce data transmission's time delay, thereby make train operation system safe and reliable more, it is high-efficient reasonable, can directly "communicate" between the car, can reduce end-to-end data transmission time delay, whole perception fusion decision-making between the train is shorter with time, the efficiency is higher, and then can obviously shorten the car interval.
Corresponding to the train control system, the embodiment of the invention also provides a train control method. Since the method embodiment of the present invention corresponds to the system embodiment described above, for the content not disclosed in the method embodiment, reference may be made to the system embodiment described above, and the present invention is not described in detail again.
Fig. 4 is a flowchart of a train control method according to one embodiment of the present invention. As shown in fig. 4, the method comprises the steps of:
and S1, the intelligent road side device acquires the road condition information in the corresponding area and sends the road condition information to the train in the corresponding area. The intelligent road side device comprises at least one intelligent road side device, wherein the intelligent road side device is arranged on a route which a train passes through, and each intelligent road side device corresponds to one area of the route.
And S2, the vehicle-mounted control device positioned on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device, and controls the train according to the road condition information and the train running information.
Specifically, the intelligent road side devices are set at certain intervals on the running line of the train, the intelligent road side devices can detect the track and road condition information in a certain range of the two sides of the track, the road condition information comprises static road condition information (including static maps, buildings, trees, trackside traffic signs and the like) and dynamic road condition information (including positions, speeds, states of pedestrians and signal lamps, weather information of running lines, track information and the like) and the detected original data are fused by using a deep learning technology and then sent to each vehicle-mounted control device in the line area.
The vehicle-mounted control device continuously receives the road condition information sent by the intelligent road side device. The train operation information includes: speed, real-time position, acceleration, running direction and the like of the train. The vehicle-mounted control device obtains road condition information and train running information of the current train, can also receive information sent by other cloud terminals (such as a train dispatching command center), generates a running strategy of the current train by combining the information, controls the train according to the running strategy, and completes a transportation task according to a plan while ensuring the safe distance of driving.
According to an embodiment of the present invention, the train control method further includes: and the intelligent road side device receives the road condition information sent by other intelligent road side devices.
According to an embodiment of the present invention, the train control method further includes: the vehicle-mounted control device transmits the operation information of the current train to other trains in the first set range and receives the train operation information transmitted by other trains in the first set range.
According to one embodiment of the invention, communication is performed between intelligent road side devices, between vehicle-mounted control devices, and between the intelligent road side devices and the vehicle-mounted control devices by using an LTE-V network.
According to an embodiment of the present invention, the train control method further includes: the vehicle-mounted control device judges whether a temporary motorcade needs to be formed or not according to the road condition information; and if the temporary motorcade needs to be formed, the vehicle-mounted control device sets the current vehicle as a head vehicle, sends a team forming request to the trains within the first set range, and forms the temporary motorcade according to the request result.
According to an embodiment of the present invention, the determining, by the vehicle-mounted control device, whether a temporary fleet needs to be formed according to the traffic information includes: and the vehicle-mounted control device judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information.
According to one embodiment of the invention, after forming the temporary fleet, the vehicle-mounted control device of the head vehicle generates control information of the fleet and controls the fleet according to the control information, wherein the control information of the fleet comprises: speed, acceleration, and direction of travel.
In summary, according to the train control method of the embodiment of the present invention, the intelligent roadside device obtains the traffic information in the corresponding area and sends the traffic information to the train in the corresponding area, and the vehicle-mounted control device located above the train obtains the current train operation information and the traffic information sent by the intelligent roadside device, receives the train operation information sent by other trains within the first setting range, and controls the train according to the traffic information and the train operation information. Therefore, the method can acquire the dynamic road condition information and the static road condition information of the running line through the intelligent road side device, so that the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, more efficient and more reasonable.
Further, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor for implementing the train control method according to the above-described embodiment of the present invention.
In the computer-readable storage medium of the embodiment of the invention, when the computer program stored thereon is executed by the processor, the intelligent road side device acquires road condition information in the corresponding area and sends the road condition information to the train in the corresponding area, the vehicle-mounted control device on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device and controls the train according to the road condition information and the train running information, so that the dynamic road condition information and the static road condition information of the running route can be acquired by the intelligent road side device, the train can be controlled according to more comprehensive road condition information, and the running of the train is safer, more reliable, efficient and more reasonable.
The embodiment of the invention also provides an electronic device, which comprises a memory and a processor; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the train control method according to the above embodiment of the present invention.
According to the electronic equipment provided by the embodiment of the invention, when the processor reads the executable program code stored in the memory to operate the program corresponding to the executable program code, the intelligent road side device acquires the road condition information in the corresponding area and sends the road condition information to the train in the corresponding area, the vehicle-mounted control device positioned on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device and controls the train according to the road condition information and the train running information, so that the dynamic road condition information and the static road condition information of the running line can be acquired through the intelligent road side device, the train can be controlled according to more comprehensive road condition information, and the train can run more safely, reliably, efficiently and reasonably.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any 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 invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. 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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (21)
1. A train control system, comprising:
the intelligent road side device is arranged on a route passed by the train, each intelligent road side device corresponds to one area of the route, and the intelligent road side device is used for acquiring road condition information in the corresponding area and sending the road condition information to the train in the corresponding area;
and the vehicle-mounted control device is positioned on the train and used for acquiring the running information of the current train and the road condition information sent by the intelligent road side device and controlling the train according to the road condition information and the train running information.
2. The train control system of claim 1, wherein the intelligent roadside device is further configured to receive the road condition information sent by other intelligent roadside devices.
3. The train control system according to claim 2, wherein the on-board control device is further configured to transmit the operation information of the current train to other trains within a first set range, and receive the train operation information transmitted by other trains within the first set range.
4. The train control system according to any one of claims 1 to 3, wherein communication is performed between the intelligent roadside devices, between the on-board control devices, and between the intelligent roadside devices and the on-board control devices using an LTE-V network.
5. The train control system according to claim 3, wherein the onboard control device is further configured to determine whether a temporary fleet of vehicles needs to be formed according to the road condition information, and if the temporary fleet of vehicles needs to be formed, the onboard control device sets the current vehicle as a head train, sends a fleet formation request to the trains within the first set range, and forms the temporary fleet of vehicles according to the request result.
6. The train control system of claim 5, wherein the vehicle-mounted control device determines whether a temporary fleet of vehicles needs to be formed according to the traffic information, comprising:
and the vehicle-mounted control device judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information.
7. The train control system of claim 5, wherein the onboard control of the lead vehicle is further configured to: after the temporary motorcade is formed, generating control information of the motorcade, and controlling the motorcade according to the control information, wherein the control information of the motorcade comprises: speed, acceleration, and direction of travel.
8. The train control system of claim 2, wherein the intelligent roadside device comprises:
the information collector is used for collecting road condition information;
the edge calculator is used for carrying out fusion processing on the road condition information;
and the communicator is used for sending the road condition information subjected to fusion processing to the trains in the corresponding areas.
9. The train control system of claim 8, wherein the communicator is further configured to send the traffic information after the fusion processing to the other intelligent road side devices.
10. The train control system of claim 8, wherein the information collector comprises: one or more of a camera, a microwave radar and a laser radar.
11. The train control system according to claim 3, wherein the on-board control device includes:
the data acquisition module is used for acquiring the running information of the current train and the road condition information sent by the intelligent road side device and receiving the train running information sent by other trains in the first set range, wherein the train running information comprises: at least one of position, velocity, acceleration, and direction of travel;
the information fusion module is used for carrying out fusion processing on the operation information and the road condition information;
and the control module is used for controlling the train according to the operation information and the road condition information after fusion processing.
12. The train control system of claim 11, wherein the data collection module comprises: one or more of a camera, a microwave radar, a laser wave radar and a positioning device.
13. A train control method is characterized by comprising the following steps:
the method comprises the steps that intelligent road side devices acquire road condition information in corresponding areas and send the road condition information to trains in the corresponding areas, wherein the at least one intelligent road side device is arranged on a route through which the trains pass, and each intelligent road side device corresponds to one area of the route;
and the vehicle-mounted control device positioned on the train acquires the current running information of the train and the road condition information sent by the intelligent road side device and controls the train according to the road condition information and the train running information.
14. The train control method of claim 13, further comprising: and the intelligent road side device receives the road condition information sent by other intelligent road side devices.
15. The train control method of claim 14, further comprising: and the vehicle-mounted control device transmits the operation information of the current train to other trains in a first set range and receives the train operation information transmitted by other trains in the first set range.
16. The train control method according to any one of claims 13 to 15, wherein communication is performed between the intelligent roadside devices, between the on-board control devices, and between the intelligent roadside devices and the on-board control devices using an LTE-V network.
17. The train control method of claim 15, further comprising:
the vehicle-mounted control device judges whether a temporary motorcade needs to be formed or not according to the road condition information;
and if the temporary motorcade needs to be formed, the vehicle-mounted control device sets the current vehicle as a head vehicle, sends a formation request to the trains within the first set range, and forms the temporary motorcade according to the request result.
18. The train control method of claim 17,
the vehicle-mounted control device judges whether a temporary motorcade needs to be formed according to the road condition information, and the method comprises the following steps:
and the vehicle-mounted control device judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information.
19. The train control method of claim 17, further comprising, after forming the temporary fleet of vehicles:
the vehicle-mounted control device of the head car generates control information of the motorcade and controls the motorcade according to the control information, wherein the control information of the motorcade comprises: speed, acceleration, and direction of travel.
20. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the train control method according to any one of claims 13-19.
21. 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 train control method according to any one of claims 13 to 19.
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| CN201910817826.XA CN112441087A (en) | 2019-08-30 | 2019-08-30 | Train control system and train control method |
| PCT/CN2020/110313 WO2021036907A1 (en) | 2019-08-30 | 2020-08-20 | Train control system and train control method |
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