CN113911179A - Control method and device for automatic driving train, electronic equipment and storage medium - Google Patents
Control method and device for automatic driving train, electronic equipment and storage medium Download PDFInfo
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- CN113911179A CN113911179A CN202111349238.1A CN202111349238A CN113911179A CN 113911179 A CN113911179 A CN 113911179A CN 202111349238 A CN202111349238 A CN 202111349238A CN 113911179 A CN113911179 A CN 113911179A
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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
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The control method, the control device, the electronic equipment and the storage medium for the automatic driving train obtain first given power information and first adhesion information between wheel tracks of the previous train running in a target area; determining a target adhesion early warning level based on the first adhesion information; determining a target adjustment ratio based on the target adhesion early warning grade and a pre-stored corresponding relation table; determining second given power information of the train running in the target area at the next time based on the adjustment proportion and the first given power information; and generating a first control instruction based on the second given power information, and sending the first control instruction to the next train so as to operate based on the first control instruction under the condition that the next train enters the target area, wherein the previous train and the next train run in a rain and snow mode in the target area.
Description
Technical Field
The present disclosure relates to the field of rail transit technologies, and in particular, to a method and an apparatus for controlling an autonomous train, an electronic device, and a storage medium.
Background
The train under the full-automatic driving mode not only can be attended by people, but also can realize whole unmanned on duty, and various scenes in the operation process need to be considered by a signal system, especially in rainy and snowy weather, and because the rail surface condition is poor, the adhesion coefficient is low, the vehicle slides in an idling mode easily, and certain influence is caused to the control of the train. The full-automatic unmanned driving mode can be set to a 'rain and snow mode' aiming at running in rainy and snowy weather, the 'rain and snow mode' is used for solving the problem of full-automatic driving of trains under the condition that multiple trains in a certain area of a line have low rail surface adhesion coefficients at the same time, the full-automatic driving system can automatically give an alarm prompt of the 'rain and snow mode' to operation scheduling personnel, the operation scheduling personnel can be requested to set the entering/exiting 'rain and snow mode' to all trains in the area, and the ATS can limit the maximum speed of the trains, set the speed limit values of different places and the like after authorization is obtained. When the adhesion coefficient of the rail surface is low, all trains in the area enter a rain and snow mode, the running modes of all trains at relevant places are consistent, the speed limit condition of the trains, the power distribution scheme and the like are the same, and the operation efficiency of the trains is reduced.
Disclosure of Invention
In view of the above problems, the present application provides a method and an apparatus for controlling an autonomous train, an electronic device, and a storage medium.
The application provides a control method for automatically driving a train, which comprises the following steps:
acquiring first given power information and first adhesion information between wheel tracks of a previous train running in a target area;
determining a target adhesion warning level based on the first adhesion information, wherein the target adhesion warning level is used for indicating the severity of idling or sliding;
determining a target adjustment ratio based on the target adhesion early warning grade and a pre-stored corresponding relation table, wherein the corresponding relation table comprises: the corresponding relation between the adhesion early warning grade and the adjustment proportion;
determining second given power information of the train running in the target area at the next time based on the target adjustment proportion and the first given power information;
and generating a first control instruction based on the second given power information, and sending the first control instruction to the next train so as to operate based on the first control instruction under the condition that the next train enters the target area, wherein the previous train and the next train run in a rain and snow mode in the target area.
In some embodiments, the correspondence table includes: the method comprises the following steps that a first adhesion early warning grade corresponds to a first adjustment proportion, a second adhesion early warning grade corresponds to a second adjustment proportion, and a reference adhesion early warning grade corresponds to a third adjustment proportion, wherein the first adjustment proportion is larger than the third adjustment proportion, the second adjustment proportion is smaller than the third adjustment proportion, the third adjustment proportion is 1, the first adhesion early warning grade is smaller than the reference adhesion early warning grade, and the second adhesion early warning grade is larger than the reference adhesion early warning grade;
the method further comprises the following steps:
establishing a first corresponding relation between the first adhesion early warning grade and a first adjustment proportion, establishing a second corresponding relation between the second adhesion early warning grade and a second adjustment proportion, and establishing a third corresponding relation between the reference adhesion early warning grade and a third adjustment proportion;
determining a correspondence table based on the first correspondence, the second correspondence, and the third correspondence.
In some embodiments, the method further comprises:
acquiring second adhesion information reported by a plurality of trains in the same area within a target time period;
determining a number of trains that are coasting or idling in the same area based on the second adhesion information;
determining a first ratio between the number of trains that are coasting or idling and the total number of trains that pass through the same area within the target time period;
and determining the same area as a target area when the first ratio is larger than a preset ratio threshold.
In some embodiments, the method further comprises:
under the condition that the target area exists, outputting prompt information, wherein the prompt information is used for prompting whether the train is authorized to run in a rain and snow mode under the condition that the train enters the target area;
and under the condition that the authorized operation aiming at the prompt information is received, sending a rain and snow mode instruction to the previous train and the next train so as to enable the previous train and the next train to operate in the rain and snow mode under the condition that the previous train and the next train enter a target area.
In some embodiments, a sanding device is provided on each train, and the method further comprises:
and sending a second control command for controlling the sanding device to perform sanding to each train so that each train controls the corresponding sanding device to perform sanding in the target area based on the second control command.
In some embodiments, the method further comprises:
under the condition that the target area exists, adjusting departure time of each train based on operation information, and sending the departure time to each train so that each train departs based on the corresponding departure time; or the like, or, alternatively,
and under the condition that the target area exists, reducing the highest running speed of each train running in the target area based on operation information and route information to obtain a target speed, increasing the running time of each train running at the target speed, generating a third control instruction based on the target speed and the running time, and sending the third control instruction to each train so that each train runs based on the third control instruction.
In some embodiments, in the case where the second given power is a braking force, the method further comprises:
reducing the coasting time of the next train to obtain target time;
and generating a fourth control instruction based on the target time, and sending the fourth control instruction to the next train so as to enable the next train to perform coasting based on the fourth control instruction.
The embodiment of the application provides a controlling means of autopilot train, includes:
the first acquisition module is used for acquiring first given power information of the previous train running in the target area and first adhesion information between wheel tracks;
the first determining module is used for determining a target adhesion early warning level based on the first adhesion information, and the target adhesion early warning level is used for indicating the severity of idling or sliding;
a second determining module, configured to determine a target adjustment ratio based on the target adhesion warning level and a pre-stored correspondence table, where the correspondence table includes: the corresponding relation between the adhesion early warning grade and the adjustment proportion;
the third determination module is used for determining second given power information of the train running in the target area at the next time based on the target adjustment proportion and the first given power information;
and the first control module is used for generating a first control instruction based on the second given power information and sending the first control instruction to the next train so as to enable the next train to operate based on the first control instruction under the condition that the next train enters the target area, wherein the previous train and the next train run in a rain and snow mode in the target area.
In some embodiments, the correspondence table includes: the method comprises the following steps that a first adhesion early warning grade corresponds to a first adjustment proportion, a second adhesion early warning grade corresponds to a second adjustment proportion, and a reference adhesion early warning grade corresponds to a third adjustment proportion, wherein the first adjustment proportion is larger than the third adjustment proportion, the second adjustment proportion is smaller than the third adjustment proportion, the third adjustment proportion is 1, the first adhesion early warning grade is smaller than the reference adhesion early warning grade, and the second adhesion early warning grade is larger than the reference adhesion early warning grade;
the control device for an autonomous train further includes:
the establishing module is used for establishing a first corresponding relation between the first adhesion early warning grade and a first adjusting proportion, establishing a second corresponding relation between the second adhesion early warning grade and a second adjusting proportion, and establishing a third corresponding relation between the reference adhesion early warning grade and a third adjusting proportion;
a fourth determining module, configured to determine a correspondence table based on the first correspondence, the second correspondence, and the third correspondence.
In some embodiments, the control device of an autonomous train further comprises:
the second acquisition module is used for acquiring second adhesion information reported by a plurality of trains in the same area within a target time period;
a fifth determining module for determining the number of trains that are coasting or idling in the same area based on the second adhesion information;
a sixth determining module, configured to determine a first ratio between the number of trains that slide or idle in the target time period and the same area and the total number of trains that pass through;
and the seventh determining module is used for determining the same area as the target area under the condition that the first ratio is larger than a preset ratio threshold.
In some embodiments, the control device of an autonomous train further comprises:
the prompting module is used for outputting prompting information under the condition that the target area exists, and the prompting information is used for prompting whether the train is authorized to run in a rain and snow mode under the condition that the train enters the target area;
and the second control module is used for sending a rain and snow mode instruction to the previous train and the next train under the condition of receiving the authorized operation aiming at the prompt message so as to enable the previous train and the next train to operate in the rain and snow mode under the condition of entering a target area.
In some embodiments, each train is provided with a sand scattering device, and the control device of the automatic driving train further comprises:
and the first sending module is used for sending a second control instruction for controlling the sanding device to perform sanding to each train so as to enable each train to control the corresponding sanding device to perform sanding in the target area based on the second control instruction.
In some embodiments, the control device of an autonomous train further comprises:
the first adjusting module is used for adjusting departure time of each train based on operation information under the condition that the target area is determined to exist, and sending the departure time to each train so that each train can depart based on corresponding departure time; or the like, or, alternatively,
and the second adjusting module is used for reducing the highest running speed of each train running in the target area to obtain a target speed based on operation information and route information under the condition that the target area is determined to exist, increasing the running time of each train running at the target speed, generating a third control instruction based on the target speed and the running time, and sending the third control instruction to each train so that each train runs based on the third control instruction.
In some embodiments, in a case where the second given power is a braking force, the control device of the autonomous train further includes:
the third adjusting module is used for reducing the coasting time of the train at the next time to obtain the target time;
and the second sending module is used for generating a fourth control instruction based on the target time and sending the fourth control instruction to the next train so as to enable the next train to perform coasting based on the fourth control instruction.
An embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the electronic device executes any one of the above-mentioned train control methods.
The embodiment of the application provides a storage medium, and a computer program stored in the storage medium can be executed by one or more processors and can be used for realizing the control method of the train.
According to the control method, the control device, the electronic equipment and the storage medium for the automatic driving train, the first given power information and the first adhesion information of the previous train running in the target area are obtained, the second given power information of the next train in the target area is determined based on the first adhesion information, the first given power information and the corresponding relation table, the next train is controlled to run in the target area based on the second given power information, the given power of the next train running in the target area is adjusted, the running speed of the next train in the target area is adjusted, the idling/sliding frequency of the next train in the target area can be reduced, the running speed of the train in the target area can be improved, and the operation efficiency of the train is improved.
Drawings
The present application will be described in more detail below on the basis of embodiments and with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a control system for an automatic train driving according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating an implementation of a control method for automatically driving a train according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of how to enter a rain and snow mode according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a control device of an automatic train according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
In the drawings, like parts are designated with like reference numerals, and the drawings are not drawn to scale.
Detailed Description
In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
The following description will be added if a similar description of "first \ second \ third" appears in the application file, and in the following description, the terms "first \ second \ third" merely distinguish similar objects and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may be interchanged under certain circumstances in a specific order or sequence, so that the embodiments of the application described herein can be implemented in an order other than that shown or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Based on the problems in the related art, the embodiment of the application provides a control method for automatically driving a train, the method is applied to electronic equipment, the electronic equipment can be a computer, a mobile terminal and the like, the electronic equipment can be a signal system and a train scheduling system, and the train scheduling system or the signal system is in communication connection with each train and is used for controlling the automatic driving of each train. The functions realized by the train control method provided by the embodiment of the application can be realized by calling program codes through a processor of the electronic equipment, wherein the program codes can be stored in a computer storage medium.
The control method of the automatic driving train provided by the embodiment of the application can be used in a control system of the train, fig. 1 is a schematic structural diagram of the control system of the automatic driving train provided by the embodiment of the application, as shown in fig. 1, a driving dispatching system is connected with a signal system (ATS), the signal system is connected with a plurality of trains, the driving dispatching system is used for sending operation and line information to the signal system, the signal system sends an operation scheme, a vehicle state and a line state to the driving dispatching system, and the driving dispatching system can generate operation information based on the vehicle state, the operation scheme and the line state. The signal system sends the operation scheme to each train, and the train sends vehicle state, line state, weather condition etc. to ATS, is equipped with network system TCMS or on-vehicle signal system ATO on each train to control each train operation, in this application embodiment, the operation scheme includes: the system comprises a power redistribution scheme, a speed limit scheme, an operation time adjusting scheme and the like, wherein the vehicle state comprises: idle taxi early warning, train power state, etc., the circuit state includes: idle taxi pre-warning location points, bridge/tunnel location points, ramps/curves, etc. In some embodiments, the ATS may also send the vehicle status, the line status, and the weather condition to the traffic scheduling system, which determines the operation scheme.
An embodiment of the present application provides a control method for automatically driving a train, and fig. 2 is a schematic flow chart illustrating an implementation of the control method for automatically driving a train according to the embodiment of the present application, and as shown in fig. 2, the method includes:
step S101, first given power information and first adhesion information between wheel tracks of the previous train running in the target area are obtained.
In the embodiment of the application, because the electronic device can store the operation scheme of the previous train, the electronic device can directly acquire the first given power information of the previous train running in the target area from the storage module of the electronic device. In some embodiments, the first given power information may also be sent to the electronic device by the previous train. The network system TCMS or the vehicle-mounted signal system ATO on the previous train can acquire the first adhesion information between the wheel and the rail of the train. And then sending the first adhesion information to the electronic device, so that the electronic device obtains the first adhesion information, wherein the first adhesion information may be an adhesion coefficient or an adhesion early warning level. When the first adhesion information is the adhesion warning level, the previous train may first check an adhesion coefficient of the previous train and then determine the adhesion warning level through the adhesion coefficient. The first given power information may be traction force information of the target area, and may also be braking force information of the target area. The target area may be an area with a low adhesion coefficient, and after entering the target area, if the train operates in a normal mode, a problem of sliding or idling may occur, so in this embodiment of the application, the electronic device may send a rain and snow mode command to each train, so that each train travels in a rain and snow mode when entering the target area. In the embodiment of the present application, a control strategy advantageous for adhesion performance is executed when the vehicle is driven in the rain/snow mode.
Step S102, determining a target adhesion early warning level based on the first adhesion information, wherein the target adhesion early warning level is used for representing the severity of idling or sliding.
When the first adhesion information is the adhesion early warning level, the electronic device can analyze the first adhesion information, so that the target adhesion early warning level is determined. When the first adhesion information is an adhesion coefficient, after the electronic device acquires the first adhesion information, a target adhesion early warning level may be determined based on a pre-stored correspondence between the adhesion coefficient and each adhesion early warning level, each adhesion early warning level corresponds to one adhesion coefficient threshold range, and after the electronic device acquires the first adhesion information, which adhesion coefficient threshold range the first adhesion information belongs to is determined, thereby determining the target adhesion early warning level. In the embodiment of the present application, the target adhesion warning level is used to indicate the severity of idling or coasting, and the greater the adhesion warning level, the higher the severity of idling or coasting. For example, the pre-adhesion warning rating may be 1, 2, or 3, with the severity of class 1 idling or coasting being less than the severity of class 2 control or coasting, and the severity of class 2 idling or coasting being less than the severity of class 3 idling or coasting.
Step S103, determining a target adjustment ratio based on the target adhesion early warning level and a pre-stored corresponding relation table, wherein the corresponding relation table comprises: and (4) the corresponding relation between the adhesion early warning grade and the proportion.
In an embodiment of the present application, a correspondence table is stored in an electronic device, where the correspondence table includes: the method comprises the steps that a first adhesion early warning grade corresponds to a first adjustment proportion, a second adhesion early warning grade corresponds to a second adjustment proportion, and a reference adhesion early warning grade corresponds to a third adjustment proportion, wherein the first adjustment proportion is larger than the third adjustment proportion, the second adjustment proportion is smaller than the third adjustment proportion, the third adjustment proportion is 1, the first adhesion early warning grade is smaller than the reference adhesion early warning grade, and the second adhesion early warning grade is larger than the reference adhesion early warning grade.
The first adhesion warning level and the second adhesion warning level may be any two levels in a corresponding relationship table, in this embodiment of the application, the corresponding relationship table may be established in advance, and the establishment of the corresponding relationship table may be implemented in the following manner: establishing a first corresponding relation between the first adhesion early warning grade and a first adjustment proportion, establishing a second corresponding relation between the second adhesion early warning grade and a second adjustment proportion, and establishing a third corresponding relation between the reference adhesion early warning grade and a third adjustment proportion; determining a correspondence table based on the first correspondence, the second correspondence, and the third correspondence. .
Illustratively, the adhesion warning level includes level 1, level 2, and level 3, where the adjustment ratio for level 1 is 120%, the adjustment ratio for level 2 is 100%, and the adjustment ratio for level 3 is 80%. In this embodiment of the application, the target adjustment ratio is used to adjust the ratio of the first given power information corresponding to the previous train in the target area, and the target adjustment ratio may be any ratio in the correspondence table.
And step S104, determining second given power information of the train running in the target area in the next time based on the target adjustment proportion and the first given power information.
In the embodiment of the application, after the electronic device determines the adjustment proportion and obtains the first given power information, second given power information of the train running in the target area at the next time can be calculated based on the adjustment proportion and the first given power information, and when the calculation is carried out, the result of the product of the adjustment proportion and the first given power information is determined as the second given power information. In the embodiment of the application, the position of each power in the first given power information corresponds to the position of each power in the second given power information.
In the embodiment of the application, when the previous train and the next train operate on the positive line, no other train exists between the previous train and the next train.
And S105, generating a first control instruction based on the second given power information, and sending the first control instruction to the next train, so that the next train runs based on the first control instruction under the condition that the next train enters the target area, wherein the previous train and the next train run in a rain and snow mode in the target area.
In the embodiment of the application, after the electronic device determines the second given power information, a second control command is generated and sent to the next train. And after receiving second given power information, the train operates based on the first control instruction under the condition of entering a target area. When the train enters the target area in the next time, the train also runs in a rain and snow mode.
According to the control method of the automatic driving train, the first given power information and the first adhesion information of the previous train running in the target area are obtained, the second given power information of the next train in the target area is determined based on the first adhesion information, the first given power information and the corresponding relation table, the next train is controlled to run in the target area based on the second given power information, the given power of the next train running in the target area is adjusted, the running speed of the next train in the target area is adjusted, the frequency of idling/sliding of the next train in the target area can be reduced, the running speed of the train in the target area can be improved, and the operation efficiency of the train is improved.
In some embodiments, before step S101, how to determine to enter the rain and snow mode, fig. 3 is a schematic implementation flow chart of how to determine to enter the rain and snow mode provided in an embodiment of the present application, and as shown in fig. 3, the step of how to enter the rain and snow mode may be implemented by:
and step S11, second adhesion information reported by a plurality of trains passing through the same area in the target time period is obtained.
In the embodiment of the application, each train can detect the second adhesion information between the wheel tracks, and after each train determines the second adhesion information corresponding to each train, the second adhesion information can be sent to the electronic device, so that the electronic device can obtain the second adhesion information reported by a plurality of trains. In the embodiment of the present application, the target time period is preset.
Step S12, determining the number of trains that are coasting or idling in the same area based on the second adhesion information.
In the embodiment of the present application, the second adhesion information may represent idle/sliding information, or may be an adhesion coefficient. When the second adhesion information identifies information that is idle or coasting, the electronic device may determine the number of trains based on the amount of information that represents idle or coasting.
When the second adhesion information is an adhesion coefficient, after determining the adhesion coefficient, the electronic device may determine, based on the adhesion coefficient and an adhesion coefficient threshold, the number of trains that slide or idle in the same area. A number of trains with a sticking coefficient greater than a sticking coefficient threshold may be determined, thereby determining the number of trains that are coasting or idling.
Step S13, determining a first ratio between the number of trains that are coasting or idling and the total number of trains that pass through the same zone within the target time period.
In this embodiment of the application, the total number of trains passing through the same area in the target time period may be determined based on the number of trains establishing communication connection with the electronic device in the target time period. In the embodiment of the present application, the first ratio may be obtained by dividing the number of trains that slide or idle by the total number of trains that pass through the same area in the target time period.
And step S14, determining the same area as a target area when the first ratio is larger than a preset ratio threshold.
In the embodiment of the present application, the preset proportion threshold is set according to an actual situation, for example, the preset proportion threshold is 70%, and if the first proportion is greater than the preset proportion threshold, it indicates that the number of trains sliding or idling in the same area is greater, because it can be considered that the rail surface condition of the area is poor and the adhesion coefficient is low. Therefore, the same area is determined as a target area. In this embodiment of the application, when the first ratio is smaller than the preset ratio threshold, it is indicated that the rail surface condition of the same area may also be, and at this time, the operation planning driving is still performed.
And step S15, generating prompt information under the condition that the target area exists, wherein the prompt information is used for prompting whether the train is authorized to operate in a rain and snow mode under the condition that the train enters the target area.
In the embodiment of the application, under the condition that the target area is determined to exist, the electronic device can output the prompt information, and the electronic device is provided with a display module and can display the prompt information on the display module. Illustratively, the display module may be a touch display module, and the display module may receive input information of a user.
And step S16, sending a rain and snow mode instruction to the previous train and the next train under the condition that the authorization aiming at the prompt message is received, so that the previous train and the next train can run in the rain and snow mode under the condition that the previous train and the next train enter a target area.
In the embodiment of the application, when the rain and snow mode instruction is sent to the previous train and the next train, the rain and snow mode can be sent to all trains connected with the electronic equipment.
In the embodiment of the application, if the authorized operation aiming at the prompt message is not received, the operation is not carried out in a rain and snow mode or is carried out according to the operation plan stored in advance.
In some embodiments, after step S105, the method further comprises: acquiring a third adhesion coefficient reported by a plurality of trains passing through the target area in a target time period; determining a number of trains that are coasting or idling within the target area based on the third adhesion coefficient; determining a fourth ratio between the number of trains that are coasting or idling and the total number of trains that pass through the same area during the target time period; and when the fourth proportion is smaller than a preset proportion threshold value, quitting the rain and snow mode, and sending a command of quitting the rain and snow mode to each train.
In some embodiments, each train is provided with a sanding device, where each train may include: in the embodiment of the present application, after determining the target area, the method further includes:
and S106, sending a second control command for controlling the sanding device to perform sanding to each train, so that each train controls the corresponding sanding device to perform sanding in the target area based on the second control command.
In the embodiment of the application, the second control instruction is generated to control the sanding device to sand, so that the rail surface condition can be improved, the adhesion coefficient can be improved, the sliding or idling condition of a train can be reduced, and the traction/braking force of the train can be exerted as much as possible.
In some embodiments, after step S105, the method further comprises:
and step S107, under the condition that the target area is determined to exist, adjusting the departure time of each train based on the operation information, and sending the departure time to each train so that each train departs based on the corresponding departure time.
In the embodiment of the application, the departure time of each train is adjusted, and the departure time of each train is usually earlier.
In the embodiment of the application, due to the existence of the target area, when the train runs in the target area, the speed is generally reduced, so that the time passing through the target area is increased, and the train late can be avoided or the probability of the train late can be reduced by sending the train in advance.
In some embodiments, after step S105, the method further comprises:
and S108, reducing the highest running speed of each train running in the target area based on the operation information and the route information to obtain a target speed, increasing the running time of each train running at the target speed, generating a third control instruction based on the target speed and the running time, and sending the third control instruction to each train so that each train runs based on the third control instruction.
In some embodiments, in the case where the second given power is a braking force, the method further comprises:
step S109, reducing the coasting time of the train of the next time to obtain a target time;
and step S110, generating a fourth control instruction based on the target time, and sending the fourth control instruction to the next train so that the next train can perform coasting based on the fourth control instruction.
In the embodiment of the application, the next train enters the braking working condition in advance by reducing the coasting time of the next train, so that the loss of the braking deceleration caused by the advance adjustment of the given braking force can be partially compensated.
Based on the foregoing embodiments, an embodiment of the present application further provides a control method for automatically driving a train, where the method is applied to a signal system, and the method is implemented in the following manner:
when a certain proportion (same as the preset proportion threshold value in the above embodiment) of trains exceeds a certain proportion during a period of time (same as the target time period in the above embodiment), and multiple idling/sliding occurs in a certain area, the ATS collects information (same as the second adhesion information in the above embodiment) reported by the train with idling/sliding, and prompts whether to enter the rain and snow mode at the train operation scheduling workstation. After authorization via the operational schedule, the autonomous train will enter a "rain and snow mode" in the area. In the rain and snow mode, a signal system and a train adopt a control strategy which is more favorable for adhesion, and if the rail surface conditions are consistent when a plurality of trains pass through the same area, the traction/braking force is generally recovered more slowly when the load is reduced, or the vehicle is easy to idle/slide for a second time, and the vehicle shakes. Therefore, in the embodiment of the present application, the ATS system adopts a power adjustment strategy for a subsequent train to adjust the given power (given traction/braking force) of the train, and adjusts the given traction/braking force when the train reaches an idle/sliding area, in the embodiment of the present application, the adjustment range is determined according to the idle/sliding information fed back by the previous train and the actual traction/braking force, if the idle/sliding severity is 1, 2, and 3 levels from small to large, the 2 level is taken as a reference, when the severity is 2 levels, the actual traction/braking force is adjusted to 120% of the actual traction/braking force of the previous train at level 1, and when the severity is 3 levels, the actual traction/braking force is adjusted to 80% of the actual traction/braking force of the previous train at level 3, and the idle/sliding severity is smaller than that of the previous train at this time, the actual traction/braking force is smaller than that of the previous train in load shedding amplitude and frequency caused by idling/sliding; the adjustment time of the given traction/braking force is determined according to the idle running/sliding information fed back by the previous train and the position and speed information, and the adjustment amount of the given traction/braking force is determined according to the severity of idle running/sliding reported by the previous train; in addition, under the braking working condition, in order to ensure the braking distance, the train coasting time can be properly shortened, and the train enters the braking working condition in advance, so that the loss of braking deceleration caused by the advanced adjustment of the given braking force can be partially compensated.
After the train power distribution principle is utilized, the actual traction/braking force of the current train (the train at the next time in the embodiment) is adjusted according to the actual traction/braking force of the train at the previous time, so that the occurrence frequency of idling/sliding can be obviously reduced, the severity of idling/sliding is reduced, the load reduction and fluctuation amplitude of the actual traction/braking force are reduced, and the smooth exertion of the actual traction/braking force is facilitated; in addition, in the braking process of the train, if the train slides seriously, the electric braking force is unloaded frequently and has large amplitude, and is easy to be removed by mechanical braking, and the rest braking process is completed by the electric braking force.
If the train is provided with the sand scattering device, the idling/sliding information reported by the line and the train can be combined to intervene sand scattering control in advance for the idling/sliding frequency high-frequency section, so that the idling/sliding occurrence probability is reduced, and the train traction/braking force is exerted as much as possible. In addition, the characteristics of the ATS to the whole vehicle fleet and the grasping conditions of the line and the schedule are fully utilized, the time point of the train arrival is properly adjusted, and the influence of a signal system on the adjustment of the train operation strategy is reduced.
According to the train control method provided by the embodiment of the application, the running state information (including idling/sliding conditions) fed back by a plurality of trains (the same as the second adhesion information in the embodiment) is utilized, the rain and snow mode is executed, a corresponding strategy is adopted to perform multi-train cooperative intervention, the running speed of the train, the arrival time point and the like are reasonably adjusted, the idling/sliding frequency of the train at the relevant places can be reduced, and the running speed of the train can be maximally improved.
The control method of the train provided by the embodiment of the application adopts the schemes of decelerating and slowing down at the up-down ramp/curve point, reducing the highest running speed of the section, properly prolonging the coasting time at the target speed and the like by utilizing the line and the operation information, so as to realize the optimal operation efficiency of the train.
Based on the foregoing embodiments, the present application provides a control device for automatically driving a train, where each module included in the control device and each unit included in each module may be implemented by a processor in a computer device; of course, the implementation can also be realized through a specific logic circuit; in the implementation process, the processor may be a Central Processing Unit (CPU), a Microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
An embodiment of the present application provides a control device for an autonomous train, fig. 4 is a schematic structural diagram of the control device for an autonomous train provided in the embodiment of the present application, and as shown in fig. 4, a control device 400 for a train includes:
a first obtaining module 401, configured to obtain first given power information and first adhesion information between wheel tracks, where a previous train travels in a target area;
a first determining module 402, configured to determine a target adhesion warning level based on the first adhesion information, where the target adhesion warning level is used to indicate a severity of idling or coasting;
a second determining module 403, configured to determine a target adjustment ratio based on the target adhesion warning level and a pre-stored correspondence table, where the correspondence table includes: the corresponding relation between the adhesion early warning grade and the adjustment proportion;
a third determining module 404, configured to determine second given power information of a train traveling in the target area in the next time based on the target adjustment ratio and the first given power information;
and a first control module 405, configured to generate a first control instruction based on the second given power information, and send the first control instruction to the next train, so that the next train operates based on the first control instruction when entering the target area, where the previous train and the next train travel in a rain and snow mode in the target area.
In some embodiments, the correspondence table includes: the method comprises the following steps that a first adhesion early warning grade corresponds to a first adjustment proportion, a second adhesion early warning grade corresponds to a second adjustment proportion, and a reference adhesion early warning grade corresponds to a third adjustment proportion, wherein the first adjustment proportion is larger than the third adjustment proportion, the second adjustment proportion is smaller than the third adjustment proportion, the third adjustment proportion is 1, the first adhesion early warning grade is smaller than the reference adhesion early warning grade, and the second adhesion early warning grade is larger than the reference adhesion early warning grade;
the control device 400 of the train further includes:
the establishing module is used for establishing a first corresponding relation between the first adhesion early warning grade and a first adjusting proportion, establishing a second corresponding relation between the second adhesion early warning grade and a second adjusting proportion, and establishing a third corresponding relation between the reference adhesion early warning grade and a third adjusting proportion;
a fourth determining module, configured to determine a correspondence table based on the first correspondence, the second correspondence, and the third correspondence.
In some embodiments, the control device 400 of the train further includes:
the second acquisition module is used for acquiring second adhesion information reported by a plurality of trains in the same area within a target time period;
a fifth determining module for determining the number of trains that are coasting or idling in the same area based on the second adhesion information;
a sixth determining module, configured to determine a first ratio between the number of trains that slide or idle in the target time period and the same area and the total number of trains that pass through;
and the seventh determining module is used for determining the same area as the target area under the condition that the first ratio is larger than a preset ratio threshold.
In some embodiments, the control device 400 of the train further includes:
the prompting module is used for outputting prompting information under the condition that the target area exists, and the prompting information is used for prompting whether the train is authorized to run in a rain and snow mode under the condition that the train enters the target area;
and the second control module is used for sending a rain and snow mode instruction to the previous train and the next train under the condition of receiving the authorized operation aiming at the prompt message so as to enable the previous train and the next train to operate in the rain and snow mode under the condition of entering a target area.
In some embodiments, a sand scattering device is disposed on each train, and the control device 400 of the train further includes:
and the first sending module is used for sending a second control instruction for controlling the sanding device to perform sanding to each train so as to enable each train to control the corresponding sanding device to perform sanding in the target area based on the second control instruction.
In some embodiments, the control device 400 of the train further includes:
the first adjusting module is used for adjusting departure time of each train based on operation information under the condition that the target area is determined to exist, and sending the departure time to each train so that each train can depart based on corresponding departure time; or the like, or, alternatively,
and the second adjusting module is used for reducing the highest running speed of each train running in the target area to obtain a target speed based on operation information and route information under the condition that the target area is determined to exist, increasing the running time of each train running at the target speed, generating a third control instruction based on the target speed and the running time, and sending the third control instruction to each train so that each train runs based on the third control instruction.
In some embodiments, in the case where the second given power is a braking force, the control device 400 of the train further includes:
the third adjusting module is used for reducing the coasting time of the train at the next time to obtain the target time;
and the second sending module is used for generating a fourth control instruction based on the target time and sending the fourth control instruction to the next train so as to enable the next train to perform coasting based on the fourth control instruction.
It should be noted that, in the embodiment of the present application, if the method for determining development parameters is implemented in the form of a software functional module and is sold or used as a standalone product, the method may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, an embodiment of the present application provides a storage medium, on which a computer program is stored, wherein the computer program is executed by a processor to implement the steps in the control method of a train provided in the above embodiment.
The embodiment of the application provides an electronic device; fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 5, the electronic device 500 includes: a processor 501, at least one communication bus 502, a user interface 503, at least one external communication interface 504, and a memory 505. Wherein the communication bus 502 is configured to enable connective communication between these components. The user interface 503 may include a display screen, and the external communication interface 504 may include a standard wired interface and a wireless interface, among others. The processor 501 is configured to execute a program for controlling a train stored in the memory to implement the steps in the train control method provided in the above-described embodiment.
Here, it should be noted that: the above description of the storage medium and the electronic device embodiments is similar to the description of the method embodiments described above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, 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 like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
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; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a controller to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (16)
1. A control method for automatically driving a train, the method comprising:
acquiring first given power information and first adhesion information between wheel tracks of a previous train running in a target area;
determining a target adhesion warning level based on the first adhesion information, wherein the target adhesion warning level is used for indicating the severity of idling or sliding;
determining a target adjustment ratio based on the target adhesion early warning grade and a pre-stored corresponding relation table, wherein the corresponding relation table comprises: the corresponding relation between the adhesion early warning grade and the adjustment proportion;
determining second given power information of the train running in the target area at the next time based on the target adjustment proportion and the first given power information;
and generating a first control instruction based on the second given power information, and sending the first control instruction to the next train so as to operate based on the first control instruction under the condition that the next train enters the target area, wherein the previous train and the next train run in a rain and snow mode in the target area.
2. The method of claim 1, wherein the correspondence table comprises: the method comprises the following steps that a first adhesion early warning grade corresponds to a first adjustment proportion, a second adhesion early warning grade corresponds to a second adjustment proportion, and a reference adhesion early warning grade corresponds to a third adjustment proportion, wherein the first adjustment proportion is larger than the third adjustment proportion, the second adjustment proportion is smaller than the third adjustment proportion, the third adjustment proportion is 1, the first adhesion early warning grade is smaller than the reference adhesion early warning grade, and the second adhesion early warning grade is larger than the reference adhesion early warning grade;
the method further comprises the following steps:
establishing a first corresponding relation between the first adhesion early warning grade and a first adjustment proportion, establishing a second corresponding relation between the second adhesion early warning grade and a second adjustment proportion, and establishing a third corresponding relation between the reference adhesion early warning grade and a third adjustment proportion;
determining a correspondence table based on the first correspondence, the second correspondence, and the third correspondence.
3. The method of claim 1, further comprising:
acquiring second adhesion information reported by a plurality of trains in the same area within a target time period;
determining a number of trains that are coasting or idling in the same area based on the second adhesion information;
determining a first ratio between the number of trains that are coasting or idling and the total number of trains that pass through the same area within the target time period;
and determining the same area as a target area when the first ratio is larger than a preset ratio threshold.
4. The method of claim 3, further comprising:
under the condition that the target area exists, outputting prompt information, wherein the prompt information is used for prompting whether the train is authorized to run in a rain and snow mode under the condition that the train enters the target area;
and under the condition that the authorized operation aiming at the prompt information is received, sending a rain and snow mode instruction to the previous train and the next train so as to enable the previous train and the next train to operate in the rain and snow mode under the condition that the previous train and the next train enter a target area.
5. The method of claim 3, wherein each train is provided with a sanding device, the method further comprising:
and sending a second control command for controlling the sanding device to perform sanding to each train so that each train controls the corresponding sanding device to perform sanding in the target area based on the second control command.
6. The method of claim 3, further comprising:
under the condition that the target area exists, adjusting departure time of each train based on operation information, and sending the departure time to each train so that each train departs based on the corresponding departure time; or the like, or, alternatively,
and under the condition that the target area exists, reducing the highest running speed of each train running in the target area based on operation information and route information to obtain a target speed, increasing the running time of each train running at the target speed, generating a third control instruction based on the target speed and the running time, and sending the third control instruction to each train so that each train runs based on the third control instruction.
7. The method of claim 1, wherein in the case where the second given power is a braking force, the method further comprises:
reducing the coasting time of the next train to obtain target time;
and generating a fourth control instruction based on the target time, and sending the fourth control instruction to the next train so as to enable the next train to perform coasting based on the fourth control instruction.
8. A control device for automatically driving a train, comprising:
the first acquisition module is used for acquiring first given power information of the previous train running in the target area and first adhesion information between wheel tracks;
the first determining module is used for determining a target adhesion early warning level based on the first adhesion information, and the target adhesion early warning level is used for indicating the severity of idling or sliding;
a second determining module, configured to determine a target adjustment ratio based on the target adhesion warning level and a pre-stored correspondence table, where the correspondence table includes: the corresponding relation between the adhesion early warning grade and the adjustment proportion;
the third determination module is used for determining second given power information of the train running in the target area at the next time based on the target adjustment proportion and the first given power information;
and the first control module is used for generating a first control instruction based on the second given power information and sending the first control instruction to the next train so as to enable the next train to operate based on the first control instruction under the condition that the next train enters the target area, wherein the previous train and the next train run in a rain and snow mode in the target area.
9. The control device for automatically driving a train according to claim 8, wherein the correspondence table includes: the method comprises the following steps that a first adhesion early warning grade corresponds to a first adjustment proportion, a second adhesion early warning grade corresponds to a second adjustment proportion, and a reference adhesion early warning grade corresponds to a third adjustment proportion, wherein the first adjustment proportion is larger than the third adjustment proportion, the second adjustment proportion is smaller than the third adjustment proportion, the third adjustment proportion is 1, the first adhesion early warning grade is smaller than the reference adhesion early warning grade, and the second adhesion early warning grade is larger than the reference adhesion early warning grade;
the control device for an autonomous train further includes:
the establishing module is used for establishing a first corresponding relation between the first adhesion early warning grade and a first adjusting proportion, establishing a second corresponding relation between the second adhesion early warning grade and a second adjusting proportion, and establishing a third corresponding relation between the reference adhesion early warning grade and a third adjusting proportion;
a fourth determining module, configured to determine a correspondence table based on the first correspondence, the second correspondence, and the third correspondence.
10. The control device of an autonomous train according to claim 8, further comprising:
the second acquisition module is used for acquiring second adhesion information reported by a plurality of trains in the same area within a target time period;
a fifth determining module for determining the number of trains that are coasting or idling in the same area based on the second adhesion information;
a sixth determining module, configured to determine a first ratio between the number of trains that slide or idle in the target time period and the same area and the total number of trains that pass through;
and the seventh determining module is used for determining the same area as the target area under the condition that the first ratio is larger than a preset ratio threshold.
11. The control device of an autonomous train according to claim 10, further comprising:
the prompting module is used for outputting prompting information under the condition that the target area exists, and the prompting information is used for prompting whether the train is authorized to run in a rain and snow mode under the condition that the train enters the target area;
and the second control module is used for sending a rain and snow mode instruction to the previous train and the next train under the condition of receiving the authorized operation aiming at the prompt message so as to enable the previous train and the next train to operate in the rain and snow mode under the condition of entering a target area.
12. The control device of an autonomous driving train according to claim 10, wherein each of said trains is provided with a sand scattering device, said control device of an autonomous driving train further comprising:
and the first sending module is used for sending a second control instruction for controlling the sanding device to perform sanding to each train so as to enable each train to control the corresponding sanding device to perform sanding in the target area based on the second control instruction.
13. The control device of an autonomous train according to claim 10, further comprising:
the first adjusting module is used for adjusting departure time of each train based on operation information under the condition that the target area is determined to exist, and sending the departure time to each train so that each train can depart based on corresponding departure time; or the like, or, alternatively,
and the second adjusting module is used for reducing the highest running speed of each train running in the target area to obtain a target speed based on operation information and route information under the condition that the target area is determined to exist, increasing the running time of each train running at the target speed, generating a third control instruction based on the target speed and the running time, and sending the third control instruction to each train so that each train runs based on the third control instruction.
14. The control device of an autonomous train according to claim 8, wherein in a case where the second given power is a braking force, the control device of an autonomous train further comprises:
the third adjusting module is used for reducing the coasting time of the train at the next time to obtain the target time;
and the second sending module is used for generating a fourth control instruction based on the target time and sending the fourth control instruction to the next train so as to enable the next train to perform coasting based on the fourth control instruction.
15. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, performs a method of controlling a train according to any one of claims 1 to 7.
16. A storage medium storing a computer program executable by one or more processors and operable to implement a method of controlling a train as claimed in any one of claims 1 to 7.
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| CN202111349238.1A CN113911179B (en) | 2021-11-15 | 2021-11-15 | Control method and device for automatic driving train, electronic equipment and storage medium |
| PCT/CN2021/131788 WO2023082309A1 (en) | 2021-11-15 | 2021-11-19 | Train control method and apparatus, electronic device, and storage medium |
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| CN113911179B (en) | 2022-09-09 |
| WO2023082309A1 (en) | 2023-05-19 |
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