CN113377026A - Automatic driving simulation test system and method for freight train - Google Patents
Automatic driving simulation test system and method for freight train Download PDFInfo
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- CN113377026A CN113377026A CN202010115866.2A CN202010115866A CN113377026A CN 113377026 A CN113377026 A CN 113377026A CN 202010115866 A CN202010115866 A CN 202010115866A CN 113377026 A CN113377026 A CN 113377026A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The embodiment of the invention provides a freight train automatic driving simulation test system and a method thereof, wherein the system comprises a signal system simulation subsystem, a freight train control network simulation subsystem and a freight train operation simulation subsystem; the freight train control network simulation subsystem comprises physical equipment, simulation equipment and an accompanying test conversion module; the physical equipment comprises a central control unit, a storage recording unit and a driver display unit. The external interfaces and the running software of the three subsystems can be changed according to the automatic driving systems of different freight train models, so that the automatic driving systems of various freight trains can be tested, the manpower, material resources, financial resources and the like for testing the automatic driving systems of the freight trains are reduced, and the performance testing efficiency of the automatic driving systems of the freight trains is improved. And selecting corresponding physical equipment according to the type of the freight train, restoring part of the external association system and the communication environment, and further accurately detecting some faults and defects related to communication.
Description
Technical Field
The invention relates to the technical field of automatic driving systems of freight trains, in particular to an automatic driving simulation test system and method of a freight train.
Background
The train automatic driving technology has been paid full attention and developed rapidly in the rail transit industry as the leading-edge technology and the typical application of rail transit equipment intellectualization. The advantages of convenience, high efficiency, environmental protection and the like brought by the automatic train driving technology bring great technical changes to the field of rail transit. The work performed by a driver is completely replaced by an automatic and highly centralized control system, so that the safety, the punctuality, the stability, the comfort and the energy conservation of the train are improved.
At present, a performance test is carried out on an automatic driving system of a freight train in a field test mode; the field test mode needs a great deal of manpower, material resources, financial resources and the like, and the required time is long.
Disclosure of Invention
In view of this, the invention provides a simulation test system and method for automatic driving of a freight train, which are intended to realize a simulation test on an automatic driving system of a freight train, thereby reducing the manpower, material resources, financial resources and the like for the test of the automatic driving system of the freight train, and improving the performance test efficiency of the automatic driving system of the freight train.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, a freight train automatic driving simulation test system is provided, which includes: the system comprises a signal system simulation subsystem, a freight train control network simulation subsystem and a freight train operation simulation subsystem;
the freight train control network simulation subsystem comprises physical equipment, simulation equipment and an accompanying test conversion module;
the physical equipment comprises a central control unit, a storage recording unit and a driver display unit;
the simulation equipment comprises a brake control system, a traction electric transmission system and freight train control network input and output;
the communication between the physical equipment and the simulation equipment is subjected to protocol conversion through the test accompanying conversion module;
the signal system simulation subsystem is used for providing line data, line signal information, a freight train position and a freight train speed for the automatic driving system of the freight train to be tested;
the freight train control network simulation subsystem is used for generating a corresponding control instruction according to a control target value output by the automatic driving system of the freight train to be tested and transmitting the control instruction to the freight train operation simulation subsystem;
the freight train operation simulation subsystem is used for generating a freight train simulation model according to preset freight train parameters and applying corresponding operation to the freight train simulation model according to the control instruction;
the freight train operation simulation subsystem is further used for calculating to obtain freight train operation data according to the current speed output by the freight train simulation model, preset line data and the marshalling type and composition of the freight train, and transmitting the freight train operation data to the automatic driving system of the freight train to be tested through the freight train control network simulation subsystem.
Optionally, the signal system simulation subsystem further includes:
and the human-computer interaction unit is used for setting the line, the line signal, the freight train position and the freight train speed by the user.
Optionally, the physical devices communicate with each other through an MVB;
the virtual devices communicate with each other through the Ethernet;
and the freight train control network simulation subsystem is communicated with the automatic driving system of the freight train to be tested through the MVB.
Optionally, the driver display unit is configured to display the freight train operation data in real time, where the freight train operation data includes acceleration, speed, and resultant force.
Optionally, the freight train control network simulation subsystem further includes:
and the human-computer interaction unit is used for setting the line, the line signal, the freight train position and the freight train speed by the user and triggering the simulation start and stop of the user.
Optionally, the freight train operation simulation subsystem further includes:
and the human-computer interaction unit is used for controlling the input and the output of the brake control system, the traction electric transmission system and the freight train control network by a user.
In a second aspect, a freight train automatic driving simulation test method based on the freight train automatic driving simulation test system in the first aspect is provided, and includes:
the signal system simulation subsystem provides line data, line signal information, a freight train position and a freight train speed for the automatic driving system of the freight train to be tested;
the freight train control network simulation subsystem generates a corresponding control instruction according to a control target value output by the automatic driving system of the freight train to be tested and transmits the control instruction to the freight train operation simulation subsystem;
the freight train operation simulation subsystem generates a freight train simulation model according to preset freight train parameters and applies corresponding operation to the freight train simulation model according to the control instruction;
and the freight train operation simulation subsystem calculates the freight train operation data according to the current speed output by the freight train simulation model, the preset line data and the marshalling type and composition of the freight train, and transmits the freight train operation data to the automatic driving system of the freight train to be tested through the freight train control network simulation subsystem.
Optionally, the physical devices of the freight train control network simulation subsystem communicate with each other through an MVB;
the virtual devices of the freight train control network simulation subsystem are communicated through Ethernet;
and the freight train control network simulation subsystem is communicated with the automatic driving system of the freight train to be tested through the MVB.
Optionally, the driver display unit of the freight train control network simulation subsystem displays the freight train operation data in real time, where the freight train operation data includes acceleration, speed, and resultant force
Compared with the prior art, the technical scheme of the invention has the following advantages:
the system comprises a signal system simulation subsystem, a freight train control network simulation subsystem and a freight train operation simulation subsystem; the freight train control network simulation subsystem comprises physical equipment, simulation equipment and an accompanying test conversion module; the physical equipment comprises a central control unit, a storage recording unit and a driver display unit. The external interfaces and the running software of the three subsystems can be changed according to the automatic driving systems of different freight train models, so that the automatic driving systems of various freight trains can be tested, the manpower, material resources, financial resources and the like for testing the automatic driving systems of the freight trains are reduced, and the performance testing efficiency of the automatic driving systems of the freight trains is improved. Furthermore, for the central control unit and the storage recording unit, corresponding physical equipment can be selected according to the type of the freight train, an external associated system and a communication environment of the automatic driving system of the freight train are restored as far as possible, and further, some faults and defects related to communication can be accurately checked.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of an automatic driving simulation test system for a freight train according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the automatic driving simulation test system for a freight train provided in this embodiment includes a signal system simulation subsystem 11, a freight train control network simulation subsystem 12, and a freight train operation simulation subsystem 13.
The freight train control network simulation subsystem 12 comprises a physical device 121, a simulation device 122 and a test-accompanying conversion module 123. The communication between the physical device 121 and the simulation device 122 is subjected to protocol conversion through the accompanying conversion module 123; the physical device 121 includes a central control unit 1211, a storage recording unit 1212, a driver display unit 1213, and the like; simulation equipment 122 includes a brake control system 1221, a traction electric drive system 1222, and a freight train control network input output 1223. In a specific embodiment, the physical devices communicate with each other through the MVB; the virtual devices communicate with each other via the Ethernet.
And a driver display unit 1213 for displaying freight train operation data in real time, the freight train operation data including acceleration, speed and resultant force.
And the signal system simulation subsystem 11 is used for providing information such as line data, line signal information, freight train position, freight train speed and the like for the automatic driving system 21 of the freight train to be tested. The signal system simulation subsystem 11 includes a cab signal system simulation device and corresponding signal simulation software. The signal system simulation subsystem 11 may further include a human-computer interaction unit for a user to set a route, a route signal, a freight train position, and a freight train speed.
The freight train control network simulation subsystem 12 is configured to generate a corresponding control instruction according to the control target value output by the automatic freight train driving system 21 to be tested, and transmit the control instruction to the freight train operation simulation subsystem 13. Specifically, the automatic driving system 21 of the freight train to be tested communicates with the freight train control network simulation subsystem 12 through the MVB to perform data interaction. The freight train automatic driving system 21 to be tested outputs a traction control target value or an electric brake control target value, a train pipe decompression target value, a locomotive brake cylinder control target value and a working condition to the freight train control network simulation subsystem 12, the central control unit outputs corresponding traction force or electric braking force according to the traction control target value or the electric brake control target value and the working condition control, and the brake control system 1221 performs pressure control on the train pipe and the locomotive brake cylinder according to the train pipe decompression target value and the locomotive brake cylinder control target value.
The freight train control network simulation subsystem 12 may further include: and the human-computer interaction unit is used for controlling the input and the output of the brake control system, the traction electric transmission system and the freight train control network by a user.
The freight train operation simulation subsystem 13 is used for generating a freight train simulation model according to preset freight train parameters and applying corresponding operation to the freight train simulation model according to a control instruction; and calculating to obtain freight train operation data according to the current speed output by the freight train simulation model, preset line data and the marshalling type and composition of the freight train, and transmitting the freight train operation data to the automatic driving system 21 of the freight train to be tested through the freight train control network simulation subsystem 12 as the input of the automatic driving system 21 of the freight train to be tested.
The line data includes a line ramp (including ramp length and ramp value), a line curve (including curve radius and length), a tunnel length and a bridge length, and the freight train operation simulation subsystem 13 converts the line data into corresponding ramp resistance according to the current speed of the freight train and the marshalling type and composition of the freight train, so as to calculate the current freight train operation data such as acceleration, resultant force and speed of the freight train.
The formation types of freight trains include unit trains, 1+1 formations, 2+0 formations, 2+2 formations, 3+0 formations, and the like. The number of locomotives in the freight train is determined according to the marshalling type of the freight train, and a locomotive traction calculation model, namely a locomotive model, is established by selecting corresponding data in traction calculation regulations. And determining the number and the types of the vehicles contained in the freight train according to the marshalling type of the freight train, and selecting corresponding data in traction calculation regulations to establish a vehicle calculation model, namely a vehicle model. And combining the locomotive model and the vehicle model according to the marshalling type of the freight train to form a freight train simulation model.
The freight train operation simulation subsystem 13 may further include a human-computer interaction unit for the user to set the line, the line signal, the position of the freight train, and the speed of the freight train, and for the user to perform simulation start and stop triggering. The operator selects the line data and the freight train position which are consistent with the signal system simulation subsystem 11 through the man-machine interaction unit of the freight train operation simulation subsystem 13, and then starts simulation, namely, the simulation and calculation of the freight train operation state can be carried out.
The automatic driving system 21 of the freight train to be tested is used as a test object, performs data interaction with the signal system simulation subsystem 11 and the freight train control network simulation subsystem 12 through an external interface of the automatic driving system, and displays automatic driving real-time data and obtains manual operation instructions through a human-computer interaction unit of the automatic driving system. The displayed automatic driving real-time data comprises but is not limited to a current vehicle control mode (automatic or manual), an operation mode (slow running, single-click or drive-through), a current speed limit, time, a planning curve, text prompt information and the like.
The present embodiment further provides a freight train automatic driving simulation test method based on the freight train automatic driving simulation test system, where the freight train automatic driving simulation test method may include the following steps:
(1) the signal system simulation subsystem 11 provides line data, line signal information, freight train position and freight train speed for the automatic driving system 21 of the freight train to be tested.
(2) The freight train control network simulation subsystem 12 generates a corresponding control instruction according to the control target value output by the automatic freight train driving system 21 to be tested, and transmits the control instruction to the freight train operation simulation subsystem 13.
(3) The freight train operation simulation subsystem 13 generates a freight train simulation model according to preset freight train parameters, and applies corresponding operations to the freight train simulation model according to the control instructions.
(4) The freight train operation simulation subsystem 13 calculates the freight train operation data according to the current speed output by the freight train simulation model, the preset line data and the marshalling type and composition of the freight train, and transmits the freight train operation data to the automatic driving system 21 of the freight train to be tested through the freight train control network simulation subsystem 12.
The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the present specification, the emphasis points of the embodiments are different from those of the other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An automatic driving simulation test system for a freight train, which is characterized by comprising: the system comprises a signal system simulation subsystem, a freight train control network simulation subsystem and a freight train operation simulation subsystem;
the freight train control network simulation subsystem comprises physical equipment, simulation equipment and an accompanying test conversion module;
the physical equipment comprises a central control unit, a storage recording unit and a driver display unit;
the simulation equipment comprises a brake control system, a traction electric transmission system and freight train control network input and output;
the communication between the physical equipment and the simulation equipment is subjected to protocol conversion through the test accompanying conversion module;
the signal system simulation subsystem is used for providing line data, line signal information, a freight train position and a freight train speed for the automatic driving system of the freight train to be tested;
the freight train control network simulation subsystem is used for generating a corresponding control instruction according to a control target value output by the automatic driving system of the freight train to be tested and transmitting the control instruction to the freight train operation simulation subsystem;
the freight train operation simulation subsystem is used for generating a freight train simulation model according to preset freight train parameters and applying corresponding operation to the freight train simulation model according to the control instruction;
the freight train operation simulation subsystem is further used for calculating to obtain freight train operation data according to the current speed output by the freight train simulation model, preset line data and the marshalling type and composition of the freight train, and transmitting the freight train operation data to the automatic driving system of the freight train to be tested through the freight train control network simulation subsystem.
2. The freight train autopilot simulation testing system of claim 1 wherein the signal system simulation subsystem further includes:
and the human-computer interaction unit is used for setting the line, the line signal, the freight train position and the freight train speed by the user.
3. The freight train automatic driving simulation test system according to claim 1, wherein the physical devices communicate with each other through an MVB;
the virtual devices communicate with each other through the Ethernet;
and the freight train control network simulation subsystem is communicated with the automatic driving system of the freight train to be tested through the MVB.
4. The automatic driving simulation test system for freight trains according to claim 1, wherein the driver display unit is configured to display the freight train operation data in real time, and the freight train operation data includes acceleration, speed, and resultant force.
5. The freight train autopilot simulation test system of claim 1 wherein the freight train operation simulation subsystem further includes:
and the human-computer interaction unit is used for setting the line, the line signal, the freight train position and the freight train speed by the user and triggering the simulation start and stop of the user.
6. The freight train autopilot simulation testing system of claim 1 wherein the freight train control network simulation subsystem further includes:
and the human-computer interaction unit is used for controlling the input and the output of the brake control system, the traction electric transmission system and the freight train control network by a user.
7. A freight train automatic driving simulation test method, based on the freight train automatic driving simulation test system according to claim 1, comprising:
the signal system simulation subsystem provides line data, line signal information, a freight train position and a freight train speed for the automatic driving system of the freight train to be tested;
the freight train control network simulation subsystem generates a corresponding control instruction according to a control target value output by the automatic driving system of the freight train to be tested and transmits the control instruction to the freight train operation simulation subsystem;
the freight train operation simulation subsystem generates a freight train simulation model according to preset freight train parameters and applies corresponding operation to the freight train simulation model according to the control instruction;
and the freight train operation simulation subsystem calculates the freight train operation data according to the current speed output by the freight train simulation model, the preset line data and the marshalling type and composition of the freight train, and transmits the freight train operation data to the automatic driving system of the freight train to be tested through the freight train control network simulation subsystem.
8. The automatic driving simulation test method for the freight train according to claim 7, wherein physical devices of the freight train control network simulation subsystem communicate with each other through an MVB;
the virtual devices of the freight train control network simulation subsystem are communicated through Ethernet;
and the freight train control network simulation subsystem is communicated with the automatic driving system of the freight train to be tested through the MVB.
9. The freight train autopilot simulation testing system of claim 7 wherein the driver display unit of the freight train control network simulation subsystem displays the freight train operational data in real time, the freight train operational data including acceleration, velocity, and resultant force.
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| CN114291137A (en) * | 2022-01-12 | 2022-04-08 | 中车大连机车研究所有限公司 | Self-adaptive multi-operation-mode control method for automatic driving system of electric locomotive |
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| CN116125957A (en) * | 2023-02-21 | 2023-05-16 | 北京交大思诺科技股份有限公司 | Freight train autopilot test system |
| WO2024216968A1 (en) * | 2023-04-20 | 2024-10-24 | 眉山中车制动科技股份有限公司 | Real-time simulation method for train test bed, and train simulation system |
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Application publication date: 20210910 |