CN113997981A - Train control method and device, vehicle-mounted controller and train - Google Patents
Train control method and device, vehicle-mounted controller and train Download PDFInfo
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- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
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Abstract
The invention provides a train control method, which comprises the following steps: receiving first control information sent by a ground control center or a previous train, wherein the previous train is adjacent to the current train and is in the same train formation; controlling the current train to execute corresponding operation and generate second control information of the current train according to the first control information; sending the second control information of the current train to a next train, wherein the next train is adjacent to the current train and is in a train formation with the previous train; the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other. The invention solves the problems that the communication reliability between trains can not be effectively ensured in the passenger flow peak and the operation of train workshops can not be dynamically adjusted in the case of train failure in the prior art.
Description
Technical Field
The invention relates to the technical field of control, in particular to a train control method and device, a vehicle-mounted controller and a train.
Background
In the rail transit industry, existing train-to-train communications are not made directly, but through the interaction of trackside equipment with a control center. When a large amount of frequent train information needs to be transmitted between the trackside equipment and the control center, information blockage is easily caused, so that communication between trains cannot be completed in time; meanwhile, communication delay is easily caused by non-direct communication between trains, and particularly when the front train breaks down, the rear train cannot be informed in time.
Disclosure of Invention
The invention provides a train control method, a train-mounted controller and a train, and aims to solve the problems that the communication reliability between trains in train formation cannot be effectively ensured in the passenger flow peak and the operation of train workshops cannot be dynamically adjusted in the case of train failure in the prior art.
The invention is realized in this way, and a train control method includes:
receiving first control information sent by a ground control center or a previous train, wherein the previous train is adjacent to the current train and is in the same train formation;
controlling the current train to execute corresponding operation and generate second control information of the current train according to the first control information;
sending the second control information of the current train to a next train, wherein the next train is adjacent to the current train and is in a train formation with the previous train;
the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other.
Optionally, the first control information is operation control information sent by a previous train, and the operation control information at least includes a departure instruction, positioning information, a traveling speed, and destination information;
the controlling the current train to execute the corresponding operation according to the first control information comprises:
calculating a safe driving speed and a safe driving distance according to the positioning information and the driving speed;
and controlling the current train to be dispatched from the station according to the dispatching instruction and the destination information, the safe running speed and the safe running distance.
Optionally, the first control information is deceleration control information sent by a previous train, and the deceleration control information at least includes a deceleration instruction, positioning information, a traveling speed and an acceleration;
the controlling the current train to execute the corresponding operation according to the first control information comprises:
when the running speed of the previous train is reduced, calculating a safe running speed and a safe running distance according to the positioning information, the running speed and the acceleration;
and controlling the current train to run at a reduced speed according to the speed reduction instruction and the safe running speed and the safe running distance.
Optionally, the method further comprises:
and in the process of decelerating and running the current train, generating deceleration control information and sending the deceleration control information to the next train.
Optionally, the first control information is parking control information sent by a previous train, and the parking control information at least includes a parking instruction, positioning information, and a driving speed;
the controlling the current train to execute the corresponding operation according to the first control information comprises:
when the running speed of the previous train is reduced, calculating a safe stopping distance according to the positioning information and the running speed;
and controlling the current train to decelerate to stop according to the safe stopping distance according to the stopping instruction.
Optionally, the method further comprises:
in the current train running process, generating fault information of a current train when the current train breaks down, and sending the fault information to a ground control center and a next train;
and controlling the current train to decelerate to a stop, generating stop control information, and sending the stop control information to the next train.
Optionally, the method further comprises:
and if the fault of the current train is solved, sending fault solving information to a ground control center so that the ground control center sends operation control information to the current train.
Optionally, the method further comprises:
if the obstacle in front of the current train is detected, transmitting obstacle information to the ground control center and the following train, and transmitting the position information of the current train to an obstacle removing vehicle;
and controlling the current train to decelerate to a stop, generating stop control information, and sending the stop control information to the next train.
A train control apparatus, the apparatus comprising:
the information receiving module is used for receiving first control information sent by a ground control center or a previous train, wherein the previous train is adjacent to the current train and is in a train formation;
the control module is used for controlling the current train to execute corresponding operation and generating second control information of the current train according to the first control information;
the information sending module is used for sending the second control information of the current train to a next train, and the next train is adjacent to the current train and is in a train formation with the previous train;
the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other.
An on-board controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the train control method as described above when executing the computer program.
A train comprising an on-board controller as described above.
According to the embodiment of the invention, the on-board controller of each train in the train formation receives the first control information sent by the ground control center or the previous train, controls the current train to execute corresponding operation according to the first control information and generate the second control information of the current train, and sends the second control information to the next train, so that the direct communication between the trains in the train formation is realized; compared with the prior art of train formation communication mode mainly based on a ground control center, the improved train formation can realize direct communication between front and rear trains, can shorten the communication time between trains, and effectively solves the problem that the existing train formation can not ensure the communication reliability and operation between trains.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an implementation of a train control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of an implementation of a train control method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a train formation provided by an embodiment of the present invention;
FIG. 4 is a flow chart of an implementation of a train control method provided by an embodiment of the present invention;
FIG. 5 is a flowchart of an implementation of a train control method according to an embodiment of the present invention;
FIG. 6 is a flow chart of an implementation of a train control method provided by an embodiment of the present invention;
FIG. 7 is a flow chart of an implementation of a train control method provided by an embodiment of the invention;
FIG. 8 is a flow chart of an implementation of a train control method provided by an embodiment of the present invention;
fig. 9 is a configuration diagram of a train control device according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an onboard controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The train control method provided by the present embodiment is described in detail below. Due to the limitation of the communication mode of the existing train formation, the communication between the trains is completed by using the control center as a communication link in the prior art, so that the problem that the communication between the trains cannot be realized easily occurs at the time of a passenger flow peak, and when any train in the formation breaks down, the train of the whole formation cannot continuously run and the operation between the trains cannot be dynamically adjusted.
In view of this, the present embodiment employs a swarm algorithm to set up a multi-agent train formation that is initiated and established by the host vehicle before the train departs from the station, using a fixed configuration formation, preferably a linear configuration, such as a straight configuration. Each train in the train formation is provided with a positioning system, a radar, a camera, network equipment and the like. The train at the head of the train formation is a main train, and the train following behind the main train is an auxiliary train. In order to enable interactive information between trains to be transmitted timely and safely, the communication between the trains in the embodiment adopts an urban rail transit train-ground integrated communication system LTE-M.
Fig. 1 is a train control method provided by an embodiment of the present invention, and the method is applied to an onboard controller. As shown in fig. 1, the method includes:
in step S101, first control information transmitted by a ground control center or a preceding train is received.
In the embodiment of the invention, the previous train and the current train are adjacent and are in the same train formation; each train may receive control information from a ground control center or a previous train. When the current train is a main train, the current train receives control information from a ground control center; and when the current train is the auxiliary train, the current train receives control information from the previous train.
In step S102, according to the first control information, controlling a current train to perform a corresponding operation and generating second control information of the current train.
Here, the control information includes, but is not limited to, operation control information, deceleration control information, and parking control information according to different application scenarios. And the current train executes corresponding actions according to the received first control information and generates second control information so as to transmit the control instruction backwards along the train queue.
In step S103, the second control information of the current train is sent to the next train.
The train formation is a straight formation and comprises a plurality of trains, the trains run on the same line in the same running direction, and the adjacent trains can communicate with each other. In train formation, each train is followed by at most one train. And after the current train finishes the operation, continuously generating second control information corresponding to the train, transmitting the control information to the next train in the train formation, and finishing the iterative transmission of the information in the train formation. The first control information and the second control information are relative, and for the same application scene, the current train has flows of receiving the control information and sending the control information, wherein the control information received from a ground control center or a previous train is defined as the first control information, and the control information sent to the next train is defined as the second control information.
The embodiment of the invention realizes the direct communication among the trains in the train formation; compared with the communication mode of train formation mainly based on the ground control center in the prior art, the improved train formation can realize direct communication between front and rear trains, can shorten the communication time between the trains, and effectively solves the problem that the existing train formation can not ensure the communication reliability and operation between the trains.
Each application scenario is explained in detail below. Alternatively, the first control information may be operation control information. And the operation control information is used for controlling the departure operation of the train. As shown in fig. 2, the train control method includes:
in step S201, operation control information transmitted from a ground control center or a preceding train is received.
Here, the operation control information is transmitted to the host vehicle by the ground control center in the present embodiment. And each auxiliary vehicle behind the main vehicle receives the operation control information sent by the previous train. The operation control information includes but is not limited to departure instruction, positioning information, driving speed and destination information. The positioning information refers to position information acquired by a positioning module on the train serving as a sender of the operation control information, and the running information refers to speed information acquired by a speed sensor on the train serving as a sender of the operation control information. The destination information refers to destination information sent to the main vehicle when the ground control center issues a vehicle task, and the destination information is transmitted back in an iterative mode along the train formation.
If the current train is the main train, the current train receives operation control information sent by a ground control center; and when the current train is the auxiliary train, the current train receives the outbound command and the operation control information sent by the previous train.
In step S202, a safe driving speed and a safe driving distance are calculated according to the positioning information and the driving speed.
In step S203, the current train is controlled to be dispatched from the station according to the departure instruction and the destination information, the safe traveling speed and the safe traveling distance.
And after the current train receives the operation control information, processing the operation control information, calculating safe driving speed and safe driving distance according to the positioning information and the driving speed, and then, according to the departure instruction, departure is carried out from the station according to the destination information, the safe driving speed and the safe driving distance, so that the current train safely departs from the station.
In step S204, operation control information of the current train is generated.
In step S205, the operation control information of the current train is transmitted to the next train.
The current train takes the self positioning information, the running speed, the destination information and the departure instruction as the running control information of the current train, and the current train sends the running control information to the next train so as to realize the direct communication between the trains without passing through a ground control center. And circulating the steps until the operation control information is transmitted to the last train in the train formation. All vehicles in the train formation have been dispatched so far and kept traveling at the same traveling speed and traveling distance on the track.
Optionally, as a preferred example of the present invention, the train formation is established in a departure scene, and after each train receives the first control information, the train with the closest distance is searched as a train behind the train formation in which the current train is located, so as to establish the train formation. If the train cannot be searched, the operation control information is transmitted to the current train, and the formation of the train is also completed.
Optionally, the embodiment preferably uses a swarm algorithm to search for a train closest to the current train as the next train. When the current train is the master train, the master train searches for a train with the closest distance, sends inquiry information to the train with the closest distance and informs the train of the master train as a next train in a train formation; and the train with the closest distance determines to become the following train of the main train according to the inquiry message, and sends a confirmation message to the ground control center. The ground control center updates train formation according to the confirmation message and adds the train which sends the confirmation message into the train formation; the updated formation of trains is then transmitted to the host vehicle to synchronize the recorded formation of trains in the host vehicle.
When the current train is the auxiliary train, the auxiliary train searches a train with the nearest distance, sends an inquiry message to the train with the nearest distance and informs the train as a next train of the auxiliary train in the train formation; and the train with the closest distance determines to be the following train of the auxiliary train according to the inquiry message, and sends a confirmation message to the ground control center. The ground control center updates train formation according to the confirmation message and adds the train which sends the confirmation message into the train formation; the updated formation of trains is then transmitted to the host vehicle to synchronize the recorded formation of trains in the host vehicle.
Exemplarily, as shown in fig. 3, it is assumed that the train formation constructed based on the swarm algorithm is train a, train B, train C, and train D, where train a is the primary train, and train B and train C and train D are the secondary trains. And when the ground control center needs to issue a task, sending operation control information to the vehicle-mounted controller of the train A. And the vehicle-mounted controller of the train A calculates a safe driving distance and a safe driving speed according to the operation control information, controls the train A to start from the station according to the starting instruction, runs according to the safe driving distance and the safe driving speed, then generates the operation control information of the train A, and sends the operation control information of the train A to the train B behind the operation control information. And the vehicle-mounted controller of the train B calculates a safe driving distance and a safe driving speed according to the operation control information, controls the train B to start from the station according to the starting instruction, operates according to the safe driving distance and the safe driving speed, then generates the operation control information of the train B, and sends the operation control information of the train B to the train C behind the operation control information. And so on.
The embodiment realizes train formation based on the swarm algorithm, realizes communication and control between trains, and compared with a train formation mode which takes a ground control center as a main part in the prior art, the train formation based on the swarm algorithm can realize direct communication between front and rear trains without ground control information handover, can effectively shorten the communication time between trains, can ensure timely communication and normal operation between trains even in the passenger flow peak period, and solves the problem that the existing train formation mode can not ensure the communication and operation between trains.
Optionally, on the basis of the embodiment in fig. 1, a flowchart of another implementation of the train control method provided in the embodiment of the present invention is provided. In an application scenario of train deceleration, the first control information is deceleration control information, when a train as a primary train needs to decelerate, the deceleration operation is executed and the deceleration control information is sent to a subsequent train, and a train as a secondary train receives the deceleration control information from a previous train. If the current train is the main train, the method comprises the following steps:
and in the process of decelerating and running the current train, generating deceleration control information and sending the deceleration control information to the next train.
Here, the deceleration control information includes, but is not limited to, a deceleration command, positioning information, a traveling speed, and an acceleration. The method comprises the steps that when the main vehicle performs deceleration, positioning information of the main vehicle, driving speed, acceleration and deceleration instructions serve as deceleration control information of the main vehicle, and the deceleration control information is sent to a next train, so that direct communication between the trains is achieved, and connection through a ground control center is not needed. Since the rear train of each host vehicle is already determined when the vehicle is dispatched in the front, the deceleration control information of the host vehicle can be directly sent to the rear train.
As shown in fig. 4, if the current train is the secondary train, the method further includes:
in step S401, deceleration control information transmitted from the preceding train is received.
In step S402, when the speed of the previous train decreases, a safe driving speed and a safe driving distance are calculated according to the positioning information, the speed and the acceleration.
In step S403, the current train is controlled to run at a reduced speed according to the reduction command and the safe running speed and the safe running distance.
In step S404, deceleration control information of the current train is generated.
In step S405, the deceleration control information of the current train is transmitted to the following train.
Here, the former train transmits the deceleration control information to the latter train. The rear train senses the running speed of the front train in real time through a radar. And when the running speed of the previous train is reduced and the deceleration control information sent by the previous train is received, and both the two conditions are met, processing the deceleration control information, calculating the safe running speed and the safe running distance, and then performing deceleration operation according to the safe running speed and the safe running distance. Meanwhile, the positioning information of the train, the running speed, the acceleration and the deceleration instruction are used as deceleration control information, and the deceleration control information is sent to the next train, so that the direct communication between the trains is realized, and the connection through a ground control center is not needed. And the process is circulated until the deceleration control information is transmitted to the last train in the train formation. Since the last train of each train is already determined in the scene of departure in the front, the deceleration control information of the current train is directly sent to the last train.
Illustratively, taking the previous example, suppose that the train formation constructed based on the swarm algorithm is train a, train B, train C and train D, wherein train a is the primary train, and train B and train C and train D are the secondary trains. When the train a needs to decelerate, the onboard controller of the train a generates deceleration control information, and sends the deceleration control information to the next train, i.e., the train B. The vehicle-mounted controller of the train B senses the deceleration running of the train A through a radar, and when receiving deceleration control information sent by the train A, the vehicle-mounted controller calculates the safe running speed and the safe running distance according to the deceleration control information, then controls the deceleration running of the train B according to the safe running speed and the safe running distance, simultaneously generates the deceleration control information of the train B, and sends the deceleration control information of the train B to the train C. And so on.
Optionally, on the basis of the embodiment in fig. 1, a flowchart of another implementation of the train control method provided in the embodiment of the present invention is provided. In an application scenario where a train has a fault, both the train as a primary train and the train as a secondary train need to transmit fault information to a ground control center and a subsequent train. As shown in fig. 5, the method further comprises:
in step S501, in the current train operation process, when the current train has a fault, fault information of the current train is generated, and the fault information is sent to the ground control center and the next train.
In step S502, the current train is controlled to decelerate to a stop, and stop control information is generated and sent to the next train.
Here, the failure information is generated by the failed train and transmitted to the ground control center by the failed train to inform the ground control center that the failure occurs and a stop is required, and to inform the latter train. And the train with the fault decelerates to stop, and simultaneously sends stop control information to the next train to inform the next train to also decelerate to stop.
And the subsequent train decelerates to stop according to the stop control information of the previous train. As shown in fig. 6, the method further comprises:
in step S601, the parking control information transmitted from the preceding train is received.
Here, the parking control information includes, but is not limited to, a parking instruction, positioning information, and a driving speed. The rear train senses the running speed of the front train in real time through a radar.
In step S602, when the speed of the preceding train decreases, a safe stopping distance is calculated according to the positioning information and the speed.
In step S603, according to the stop instruction, the current train is controlled to decelerate to stop according to the safe stopping distance.
In step S604, the parking control information of the current train is generated.
In step S605, the parking control information of the current train is transmitted to the next train.
And when the running speed of the previous train is reduced and the parking control information sent by the previous train is received, and the two conditions are met, processing the parking control information, calculating a safe parking distance, and then controlling the current train to decelerate to park according to the safe parking distance. Meanwhile, the positioning information of the train, the running speed and the parking instruction are used as parking control information, and the parking control information is sent to the next train, so that the direct communication between the trains is realized, and the connection through a ground control center is not needed. And circulating the steps until the stopping control information is transmitted to the last train in the train formation, and decelerating all trains in the train formation to stop.
Illustratively, taking the previous example, suppose that the train formation constructed based on the swarm algorithm is train a, train B, train C and train D, wherein train a is the primary train, and train B and train C and train D are the secondary trains.
When the main vehicle breaks down and needs to stop, the vehicle-mounted controller of the train A sends the fault information of the train A to the ground control center and the next train, and meanwhile, the train A decelerates to stop, generates stopping control information and sends the stopping control information to the train B. And the vehicle-mounted controller of the train B senses the running speed of the train A through a radar. And when the driving speed of the train A is sensed to be reduced and the stopping control information sent by the train A is received, calculating a safe stopping distance according to the stopping control information and controlling the current train to slow down to stop. And meanwhile, generating parking control information of the train B and sending the parking control information to the train C. And so on.
When the auxiliary train breaks down and needs to stop, taking the train B as an example, the vehicle-mounted controller of the train B transmits the fault information of the train B to the ground control center and the next train, and decelerates to stop at the same time, generates stopping control information and transmits the stopping control information to the train C. And the vehicle-mounted controller of the train C senses the running speed of the train B through a radar. And when the running speed of the train B is reduced and the stopping control information sent by the train B is received, calculating a safe stopping distance according to the stopping control information and controlling the current train to slow down to stop. And meanwhile, generating the parking control information of the train C and sending the parking control information to the train D. And so on. The train before the train having the fault, for example, the train a in the present embodiment, keeps the original speed operation.
After the auxiliary vehicle automatically solves the fault, the auxiliary vehicle with the fault solved is taken as the main vehicle to re-establish the train formation. The method further comprises the following steps:
and if the fault of the current train is solved, sending fault solving information to a ground control center so that the ground control center sends operation control information to the current train.
Here, if the failed subsidiary vehicle can be repaired by itself, after the failure is solved, the ground control center is informed that the failure has been solved, so that the receiving ground control center reorganizes the train formation with the failed subsidiary vehicle as the main vehicle. The auxiliary train sends the train according to the operation control information of the ground control center, generates the operation control information and sends the operation control information to the next train; and the subsequent train sends the train according to the operation control information, generates the operation control information, sends the operation control information to the subsequent train, and so on to form a new cluster formation. Please refer to the departure scenario in the above embodiment.
In connection with the foregoing example, after the failure of the train B is resolved, the failure resolution information is sent to the ground control center, and the ground control center reorganizes train formation for the remaining trains, including the train C and the train D, after receiving the failure resolution information. And when the ground control center needs to issue a task, sending operation control information to the vehicle-mounted controller of the train B. And the vehicle-mounted controller of the train B calculates the safe driving distance and the safe driving speed according to the operation control information, then controls the train B to send out from the station where the train B is located, operates according to the safe driving distance and the safe driving speed, then generates the operation control information of the train B, sends the operation control information of the train B to the train C behind the train B, and so on.
Optionally, on the basis of the embodiment in fig. 1, a flowchart of another implementation of the train control method provided in the embodiment of the present invention is provided. In an application scenario where the host vehicle finds a front obstacle, the host vehicle needs to send fault information to a ground control center and a following train as well as to the obstacle removing vehicle. As shown in fig. 7, the method further comprises:
in step S701, if it is detected that there is an obstacle in front of the current train, obstacle information is sent to the ground control center and the following train, and position information of the current train is sent to an obstacle removing vehicle.
In step S702, the current train is controlled to decelerate to a stop, and stop control information is generated and sent to the next train.
Here, the obstacle information is generated by the host vehicle and transmitted to the ground control center to inform the ground control center of the need to stop when encountering an obstacle, and to inform the obstacle-removing vehicle of the position information of the host vehicle to clear the obstacle. The main vehicle decelerates to stop, and simultaneously sends stop control information to the next train to inform the next train to also decelerate to stop.
And the subsequent train decelerates to stop according to the stop control information of the previous train. As shown in fig. 8, the method further comprises:
in step S801, the parking control information transmitted from the preceding train is received.
In step S802, when the speed of the previous train decreases, a safe stopping distance is calculated according to the positioning information and the speed.
In step S803, the current train is controlled to decelerate to a stop according to the safe stopping distance according to the stopping command.
In step S804, the parking control information of the current train is generated.
In step S805, the parking control information of the current train is transmitted to the following train.
Here, the parking control information includes, but is not limited to, a parking instruction, position information, and a driving speed. The rear train senses the running speed of the front train in real time through a radar. And when the running speed of the previous train is reduced and the parking control information sent by the previous train is received, processing the parking control information, calculating a safe parking distance, and then controlling the current train to run to park at a reduced speed according to the safe parking distance. Meanwhile, the positioning information of the train, the running speed and the parking instruction are used as parking control information, and the parking control information is sent to the next train, so that the direct communication between the trains is realized, and the connection through a ground control center is not needed. And circulating the steps until the stopping control information is transmitted to the last train in the train formation, and decelerating all trains in the train formation to stop.
Illustratively, taking the previous example, assume that the trains formed based on the swarm algorithm are train a, train B, and train C, where train a is the primary train, train B, and train C.
When the train A meets an obstacle and needs to stop, the vehicle-mounted controller of the train A sends the obstacle information to the ground control center and the next train, meanwhile, sends the position information to the obstacle clearing vehicle, then decelerates to stop, generates stopping control information, and sends the stopping control information to the train B. And the vehicle-mounted controller of the train B senses the running speed of the train A through a radar. And when the running speed of the train A is reduced and the stopping control information sent by the train A is received, calculating a safe stopping distance according to the stopping control information and controlling the current train to slow down to stop. And meanwhile, generating parking control information of the train B and sending the parking control information to the train C. And so on.
In conclusion, the train formation constructed by the invention realizes communication and control between trains; compared with the prior art of train formation mainly based on a ground control center, the method has the advantages that the direct communication between front and rear trains in the train formation established based on the swarm algorithm can reduce the communication time between trains, effectively solves the problem that the existing train formation mode can not ensure the communication reliability and operation between trains, can ensure the communication reliability between trains even in the peak time of passenger flow, and can dynamically adjust the operation between trains when the trains break down and encounter obstacles.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an 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 invention.
In one embodiment, a train control device is provided, which corresponds to the train control method in the above embodiments one to one. As shown in fig. 9, the train control device includes an information receiving module 91, a control module 92, and an information transmitting module 93. The functional modules are explained in detail as follows:
the information receiving module 91 is configured to receive first control information sent by a ground control center or a previous train, where the previous train is adjacent to and in the same train formation as a current train;
the control module 92 is configured to control a current train to perform a corresponding operation according to the first control information sent by a previous train and generate second control information of the current train;
the information sending module 93 is configured to send the second control information of the current train to a next train, where the next train is adjacent to the current train and is in a train formation with the previous train;
the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other.
Optionally, the first control information is operation control information sent by a previous train, and the operation control information at least includes a departure instruction, positioning information, a traveling speed, and destination information;
the control module 92 includes:
a calculating unit for calculating a safe driving speed and a safe driving distance according to the positioning information and the driving speed,
and the control unit is used for controlling the current train to be dispatched from the station according to the dispatching instruction and the destination information, the safe travelling speed and the safe travelling distance.
Optionally, the first control information is deceleration control information sent by a previous train, and the deceleration control information at least includes a deceleration instruction, positioning information, a traveling speed and an acceleration;
the computing unit in the control module 92 is further configured to:
when the running speed of the previous train is reduced, calculating a safe running speed and a safe running distance according to the positioning information, the running speed and the acceleration;
and the control unit is also used for controlling the current train to run at a reduced speed according to the reduction instruction and the safe running speed and the safe running distance.
Optionally, the apparatus further comprises:
and the information generation module is used for generating deceleration control information and sending the deceleration control information to a next train in the current deceleration running process of the train.
Optionally, the first control information is parking control information sent by a previous train, and the parking control information at least includes a parking instruction, positioning information, and a driving speed;
the computing unit in the control module 92 is further configured to:
when the running speed of the previous train is reduced, calculating a safe stopping distance according to the positioning information and the running speed;
the control unit is further configured to: and controlling the current train to decelerate to stop according to the safe stopping distance according to the stopping instruction.
Optionally, the apparatus further comprises:
and the fault feedback module is used for generating fault information of the current train when the current train breaks down in the running process of the current train and sending the fault information to the ground control center and the next train.
The information generation module is further configured to: and controlling the current train to decelerate to a stop, generating stop control information, and sending the stop control information to the next train.
Optionally, the apparatus further comprises:
and the fault solution sending module is used for sending fault solution information to the ground control center if the fault of the current train is solved, so that the ground control center sends operation control information to the current train.
Optionally, the apparatus further comprises:
the obstacle feedback module is used for sending obstacle information to the ground control center and a rear train and sending position information of the current train to an obstacle clearing vehicle if an obstacle in front of the current train is detected;
the information generation module is further configured to: and controlling the current train to decelerate to a stop, generating stop control information, and sending the stop control information to the next train.
For specific limitations of the train control device, reference may be made to the above limitations of the train control method, which are not described herein again. The respective modules in the above-described train control device may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, an on-board controller is provided, the internal structure of which may be as shown in fig. 10, including a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the onboard controller is configured to provide computing and control capabilities. The memory of the vehicle-mounted controller comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the vehicle-mounted controller is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a train control method.
In one embodiment, there is provided an on-board controller comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
receiving first control information sent by a ground control center or a previous train, wherein the previous train is adjacent to the current train and is in the same train formation;
controlling the current train to execute corresponding operation and generate second control information of the current train according to the first control information;
sending the second control information of the current train to a next train, wherein the next train is adjacent to the current train and is in a train formation with the previous train;
the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (11)
1. A train control method, characterized in that the method comprises:
receiving first control information sent by a ground control center or a previous train, wherein the previous train is adjacent to the current train and is in the same train formation;
controlling the current train to execute corresponding operation and generate second control information of the current train according to the first control information;
sending the second control information of the current train to a next train, wherein the next train is adjacent to the current train and is in a train formation with the previous train;
the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other.
2. The train control method according to claim 1, wherein the first control information is operation control information transmitted by a preceding train, and the operation control information at least includes a departure instruction, positioning information, a traveling speed, and destination information;
the controlling the current train to execute the corresponding operation according to the first control information comprises:
calculating a safe driving speed and a safe driving distance according to the positioning information and the driving speed;
and controlling the current train to be dispatched from the station according to the dispatching instruction and the destination information, the safe running speed and the safe running distance.
3. The train control method according to claim 1, wherein the first control information is deceleration control information transmitted from a preceding train, and the deceleration control information includes at least a deceleration command, positioning information, a traveling speed, and an acceleration;
the controlling the current train to execute the corresponding operation according to the first control information comprises:
when the running speed of the previous train is reduced, calculating a safe running speed and a safe running distance according to the positioning information, the running speed and the acceleration;
and controlling the current train to run at a reduced speed according to the speed reduction instruction and the safe running speed and the safe running distance.
4. The train control method of claim 3, wherein the method further comprises:
and in the process of decelerating and running the current train, generating deceleration control information and sending the deceleration control information to the next train.
5. The train control method according to claim 1, wherein the first control information is parking control information transmitted from a preceding train, and the parking control information includes at least a parking instruction, positioning information, and a traveling speed;
the controlling the current train to execute the corresponding operation according to the first control information comprises:
when the running speed of the previous train is reduced, calculating a safe stopping distance according to the positioning information and the running speed;
and controlling the current train to decelerate to stop according to the safe stopping distance according to the stopping instruction.
6. The train control method of claim 1, wherein the method further comprises:
in the current train running process, generating fault information of a current train when the current train breaks down, and sending the fault information to a ground control center and a next train;
and controlling the current train to decelerate to a stop, generating stop control information, and sending the stop control information to the next train.
7. The train control method of claim 6, wherein the method further comprises:
and if the fault of the current train is solved, sending fault solving information to a ground control center so that the ground control center sends operation control information to the current train.
8. The train control method of claim 1, wherein the method further comprises:
if the obstacle in front of the current train is detected, transmitting obstacle information to the ground control center and the following train, and transmitting the position information of the current train to an obstacle removing vehicle;
and controlling the current train to decelerate to a stop, generating stop control information, and sending the stop control information to the next train.
9. A train control apparatus, characterized in that the apparatus comprises:
the information receiving module is used for receiving first control information sent by a ground control center or a previous train, wherein the previous train is adjacent to the current train and is in a train formation;
the control module is used for controlling the current train to execute corresponding operation and generating second control information of the current train according to the first control information;
the information sending module is used for sending the second control information of the current train to a next train, and the next train is adjacent to the current train and is in a train formation with the previous train;
the train formation is composed of a plurality of trains, the trains run on the same line in the same running direction, and adjacent trains can communicate with each other.
10. An on-board controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the train control method according to any one of claims 1 to 8 when executing the computer program.
11. A train comprising an on-board controller according to claim 10.
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