CN114537476A

CN114537476A - Train anti-collision processing method, device and system

Info

Publication number: CN114537476A
Application number: CN202011347255.7A
Authority: CN
Inventors: 南小凤
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2022-05-27

Abstract

The disclosure relates to a train anti-collision processing method, a device and a system, wherein the method comprises the following steps: the method comprises the following steps that a first train controls at least one UWB tag arranged on the first train to transmit a positioning signal under the condition of running along a track; acquiring tag distribution information of a track provided by a UWB positioning system, wherein the tag distribution information comprises position information of UWB tags of a first train and other trains running along the track, and the position information is acquired by the UWB positioning system according to positioning signals transmitted by the corresponding UWB tags; obtaining relative position information of a first train and a second train according to the label distribution information, wherein the second train is adjacent to the first train on the track and is positioned in front of the first train in the driving direction; and executing the set anti-collision processing according to the relative position information. Through set up the UWB label on the train, utilize UWB technique to fix a position for the train to confirm the concrete position of train, can realize the train anticollision, be applicable to the track that turns round.

Description

Train anti-collision processing method, device and system

Technical Field

The embodiment of the disclosure relates to the technical field of computers, and more particularly, to a train anti-collision processing method, device and system.

Background

The rail transit has the characteristics of large passenger capacity, rapidness and convenience, and is a main choice for daily travel of people. However, accidents such as collision and rear-end collision between trains occur, the passenger capacity borne by the trains is much larger than that of other vehicles, once the collision accident occurs, the number of casualties is large and cannot be controlled, and therefore rail transit safety is paid special attention to.

The current anti-collision technologies mainly include laser ranging, anti-collision radar, ultrasonic wave anti-collision and the like. These techniques are not suitable for curved tracks.

Disclosure of Invention

An object of the disclosed embodiments is to provide a new technical solution for train collision avoidance processing.

According to a first aspect of the present disclosure, there is provided a train collision avoidance processing method, the train being provided with at least one UWB tag, the method being applied to a first train, the method comprising: the first train controls at least one UWB tag of the first train to transmit a positioning signal under the condition of running along a track; the first train acquires tag distribution information of the track provided by a UWB positioning system, wherein the tag distribution information comprises position information of UWB tags of the first train and position information of UWB tags of other trains running along the track, and the position information is acquired by the UWB positioning system according to positioning signals transmitted by the corresponding UWB tags; the first train obtains relative position information of the first train and a second train according to the label distribution information, wherein the second train is adjacent to the first train on the track and positioned in front of the first train in the driving direction; and the first train executes the set anti-collision processing according to the relative position information.

Optionally, the positioning signal carries a time point for transmitting the positioning signal and tag identification information of a UWB tag corresponding to the positioning signal; the position information comprises position coordinates and time points carried by the corresponding positioning signals.

Optionally, the other trains traveling along the track include all trains traveling along the track that are distinct from the first train; alternatively, the other train running along the track is the second train.

Optionally, the train is provided with two UWB tags, the two UWB tags being respectively provided at both ends of the train in the traveling direction;

the first train obtains the relative position information of the first train and the second train according to the label distribution information, and the method comprises the following steps: determining first position information of a first UWB tag of the first train according to the tag distribution information, wherein the first UWB tag is a UWB tag arranged at the front end of the first train in the traveling direction; determining second position information of a second UWB tag of the second train at the same time point according to the tag distribution information and the first position information, wherein the second UWB tag is a UWB tag arranged at the rear end of the second train in the traveling direction; and obtaining the relative position information of the first train and the second train according to the first position information and the second position information.

Optionally, the obtaining, according to the first location information and the second location information, the relative location information between the first train and the second train includes: according to the first position information and the second position information, the actual bending distance of the first train and the second train along the track is obtained; and obtaining the relative position information of the first train and the second train according to the actual bending distance.

Optionally, the tag distribution information further includes: the tag tracks of the UWB tags of the other trains are obtained by the UWB positioning system according to the position information of the corresponding UWB tags at a plurality of time points;

the obtaining an actual bending distance of the first train and the second train along the track according to the first position information and the second position information includes: and obtaining the actual bending distance according to the first position information, the second position information and the label track of the second UWB label.

Optionally, the obtaining an actual bending distance of the first train and the second train along the track according to the first position information and the second position information includes: and obtaining the actual bending distance according to the first position information, the second position information and the pre-stored track route of the track.

Optionally, the method further comprises: acquiring a first preset linear distance between the first UWB tag and the head end of the first train in the traveling direction; acquiring a second preset linear distance between the second UWB tag and the tail end of the second train in the traveling direction; acquiring a preset safety margin;

the obtaining of the relative position information between the first train and the second train according to the actual bending distance includes: and obtaining the relative position information of the first train and the second train according to the actual bending distance, the first preset linear distance, the second preset linear distance and the safety allowance.

Optionally, the first train performs the set collision avoidance processing according to the relative position information, including: judging whether a preset safety braking distance exists between the first train and the second train or not according to the relative position information; under the condition that the safety braking distance is not separated, the running state of the second train is obtained according to the position information of the UWB tag of the second train at a plurality of time points; executing parking processing as the anti-collision processing in a case where the driving state is a parking state; and executing deceleration processing as the anti-collision processing when the driving state is a deceleration state.

According to a second aspect of the present disclosure, there is also provided a train comprising a memory for storing a first computer program and a processor for executing the first computer program to implement the method of any one of the first aspects of the present disclosure.

According to a third aspect of the present disclosure, there is also provided a train collision avoidance processing system comprising the train of the second aspect of the present disclosure and a UWB positioning system, the UWB positioning system comprising a server and a plurality of UWB base stations;

the UWB base station is used for sending transmission state data of the positioning signal to the server under the condition of receiving the positioning signal transmitted by the UWB tag of the train, wherein the positioning signal carries a first time point for transmitting the positioning signal and tag identification information of the UWB tag, and the transmission state data comprises the first time point, the tag identification information, a second time point and base station identification information of the UWB base station;

the server comprises a memory and a processor, wherein the memory of the server is used for storing a second computer program, and the second computer program is used for controlling the processor of the server to operate so as to execute a set train positioning method, wherein the train positioning method comprises the following steps:

receiving transmission state data corresponding to the positioning signals respectively sent by a plurality of target UWB base stations, wherein the target UWB base stations are UWB base stations receiving the positioning signals; acquiring the position information of the UWB tag according to the received transmission state data; and transmitting the position information of the UWB tag to a train running along the track.

Optionally, the location information includes a location coordinate and a first time point carried by the corresponding positioning signal.

Optionally, the train positioning method further includes: obtaining a label track of the UWB label according to the position information of the UWB label at a plurality of time points; and transmitting the tag track of the UWB tag to a train running along the track.

According to a fourth aspect of the present disclosure, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any one of the first aspects of the present disclosure.

The anti-collision method has the advantages that the UWB tag is arranged on the train, and the train is positioned by the UWB technology, so that the specific position of the train can be determined even when the train runs on a turning track, and the problem that the position of the train cannot be determined by means of laser, radar, ultrasonic waves and the like when the train runs on the turning track by the existing anti-collision technology can be solved. Therefore, the anti-collision method and the anti-collision device for the train can achieve the anti-collision of the train under the condition of turning the track based on the determined train position.

Other features of embodiments of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.

Fig. 1 is a schematic illustration of an implementation environment in which a train collision avoidance processing method according to one embodiment can be applied;

fig. 2 is a schematic diagram of a train capable of implementing a train collision avoidance process according to one embodiment;

fig. 3 is a schematic diagram of a system architecture capable of implementing a train collision avoidance process in accordance with one embodiment;

fig. 4 is a flow diagram of a train collision avoidance processing method according to one embodiment;

fig. 5 is a flow diagram of a train collision avoidance processing method according to yet another embodiment;

FIG. 6 is a block schematic diagram of a train according to one embodiment;

fig. 7 is a block schematic diagram of a train collision avoidance processing system according to one embodiment.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

One application scenario of the embodiment of the present disclosure is anti-collision processing of train cars traveling on the same track. In the implementation process, the inventor finds that when a train runs on a turning part of a track, if collision prevention technologies such as laser ranging and collision prevention radar are used for achieving collision prevention of the train, the collision prevention precision is not high. In order to improve the anti-collision precision and achieve the purpose of preventing collision of trains at turning tracks, the inventor proposes a train anti-collision processing method, in which UWB (Ultra Wide Band) tags are arranged on the trains, and the trains are positioned by using UWB technology to determine the specific positions of the trains, so as to achieve train anti-collision and be suitable for turning tracks.

In detail, the UWB technology is a wireless carrier communication technology.

A UWB tag is an electronic device developed based on UWB technology for positioning. When the UWB tag is used for positioning a vehicle or large-scale equipment, a vehicle-mounted tag with a strong magnetic chuck and a large-capacity battery can be selected.

The UWB base station is a base station designed and developed based on UWB technology, can be used for positioning, has the function equivalent to a GPS satellite, provides position reference, and can realize accurate positioning of a target object by matching with a positioning tag.

Fig. 1 is a schematic illustration of an implementation environment in which a train collision avoidance processing method according to one embodiment can be applied. Fig. 2 is a schematic diagram of a train capable of implementing a train collision avoidance processing method according to one embodiment. As shown in fig. 1 and 2, 2 UWB tags are provided on the train. As shown in fig. 1, a plurality of UWB base stations are distributed on both sides of a track on which a train travels.

< implementation Environment and hardware configuration >

Fig. 3 is a schematic diagram of a configuration of a train collision avoidance processing system to which a train collision avoidance processing method according to an embodiment can be applied. As shown in fig. 3, the system includes a train 1000 and a UWB positioning system including a server 3000 and a plurality of UWB base stations 2000, and can be applied to an anti-collision processing scenario of train cars traveling on the same track.

The train 1000 may be a train traveling along a track as shown in fig. 1 or fig. 2, and may be, for example, a train, a high-speed rail, a motor train, a subway, or other forms, which are not limited herein.

As shown in fig. 3, train 1000 may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, an output device 1500, an input device 1600, and a UWB tag 1700. The processor 1100 may be a microprocessor MCU or the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 1400 is capable of wired or wireless communication, for example, and also capable of short-range and long-range communication, for example. The output device 1500 may be, for example, a device that outputs a signal, a display device such as a liquid crystal display panel or a touch panel, or a speaker that outputs voice information or the like. The input device 1600 may include, for example, a touch screen, a keyboard, etc., and may also input voice information through a microphone.

Although a plurality of devices of the train 1000 are shown in fig. 3, the present invention may relate to only some of the devices, for example, the train 1000 only relates to the communication device 1400, the memory 1200 and the processor 1100.

In this embodiment, the train 1000 may receive the tag distribution information of the track sent from the server 3000.

As applied to the disclosed embodiments, the memory 1200 of the train 1000 is used to store a computer program for controlling the processor 1100 of the train 1000 to operate to implement the train collision avoidance processing method according to any of the embodiments. A skilled person can design a computer program according to the solution of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

The server 3000 provides a service point for processes, databases, and communications facilities. The server 3000 may be a unitary server or a distributed server across multiple computers or computer data centers. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In one embodiment, the server 3000 may be as shown in fig. 3, including a processor 3100, a memory 3200, an interface device 3300, a communication device 3400.

In other embodiments, the server 3000 may further include a speaker, a microphone, and the like, which are not limited herein.

The processor 3100 may be a dedicated server processor, or may be a desktop processor, a mobile processor, or the like that satisfies performance requirements, and is not limited thereto. The memory 3200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 3300 includes, for example, various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. The communication device 3400 can perform wired or wireless communication, for example.

As applied to the disclosed embodiment, the memory 3200 of the server 3000 is configured to store a computer program for controlling the processor 3100 of the server 3000 to operate so as to provide support for implementing the train collision avoidance processing method according to any of the embodiments. A skilled person can design a computer program according to the solution of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

Although a plurality of devices of the server 3000 are shown in fig. 3, the present invention may relate only to some of the devices, for example, the server 3000 relates only to the memory 3200 and the processor 3100.

The UWB tag 1700 and the UWB base station 2000 provided in the train 1000 can communicate with each other by using UWB technology. The UWB base station 2000 and the server may communicate with each other by using UWB technology. The server and the train can communicate via a network 4000. The network 4000 may be a wireless communication network, a wired communication network, a local area network, or a wide area network.

It should be understood that although only some of the train 1000, the UWB base station 2000, and the server 3000 are illustrated in fig. 1 to 3, the number of each is not meant to be limited, and a plurality of the train 1000, the UWB base station 2000, and the server 3000 may be included in the train collision avoidance processing system.

Various embodiments and examples according to the present invention are described below with reference to the accompanying drawings.

< method examples >

Fig. 4 is a flow diagram of a train collision avoidance processing method according to one embodiment. The main body of the embodiment is, for example, a train in fig. 3.

As shown in fig. 4, the train collision avoidance processing method of the present embodiment is applied to a first train provided with at least one UWB tag, and may include the following steps S401 to S404:

step S401, under the condition that the first train runs along the track, controlling at least one UWB tag of the first train to transmit a positioning signal.

The first train may be any train that travels along a track.

In the embodiment, the train is provided with the UWB tag, and the relative positions of the UWB tag and the train are substantially fixed, so that the relative position information of the following train at the same time point can be determined based on the position coordinates of the UWB tag, so as to determine whether there is a possibility of collision between trains, and thus perform the anti-collision process as needed.

In order to obtain the position coordinates of the UWB tag at different time points, in an embodiment of the present disclosure, the positioning signal carries a time point at which the positioning signal is transmitted and tag identification information of the UWB tag corresponding to the positioning signal. In detail, the tag identification information may be a tag ID for identifying or distinguishing different UWB tags.

Referring to fig. 1, during the process of the train moving along the track, the UWB tag of the train can be controlled to transmit a positioning signal, and the positioning signal can be received by all UWB base stations arranged in the wireless coverage area of the UWB tag. Of course, since the train is running all the time, the positioning signals transmitted by the same UWB tag at different time points will be received by the UWB base stations disposed at different positions, respectively.

Correspondingly, the UWB base station may send, to the server, transmission state data of the positioning signal in a case where the positioning signal transmitted by the UWB tag of the train is received, wherein the positioning signal carries a first time point at which the positioning signal is transmitted and tag identification information of the UWB tag, and the transmission state data includes the first time point, the tag identification information, a second time point, and base station identification information of the UWB base station. In detail, the base station identification information may be a base station ID or a base station location. In the case of the base station ID, the server may generally store the base station location corresponding to each base station ID in advance.

Correspondingly, the server executes a set train positioning method according to the received transmission state data of the positioning signal sent by the UWB base station, wherein the train positioning method may include: receiving transmission state data corresponding to the positioning signals respectively sent by a plurality of target UWB base stations, wherein the target UWB base stations are UWB base stations receiving the positioning signals; acquiring the position information of the UWB tag according to the received transmission state data; and transmitting the position information of the UWB tag to a train running along the track.

As can be seen from the above, in this embodiment, for any positioning signal, the UWB base station that receives the positioning signal may send the transmission status data of the positioning signal to the server, and the server may further calculate the position coordinates of the corresponding UWB tag when sending out the positioning signal according to the transmission status data. Thereafter, the server may transmit the position information of the UWB tag to the train running along the track.

In detail, the server can determine the position of the UWB tag using a UWB positioning technique of a TDOA (time difference of arrival) positioning method. Specifically, at any time, due to different distances between the UWB tag and different UWB base stations, time nodes at which different UWB base stations receive the same positioning signal are different, that is, there is a time difference of arrival. In this way, for any positioning signal transmitted by any UWB tag, the server may determine the position coordinates of the UWB tag when the positioning signal is transmitted according to the time difference when the positioning signal is received by the plurality of UWB base stations and by combining the base station positions of the plurality of UWB base stations.

Based on this, the position information of the UWB tag may include the position coordinates and the time point at which the positioning signal is transmitted. Therefore, in one embodiment of the present disclosure, the position information includes position coordinates and a time point carried by a corresponding positioning signal.

As can be seen from the above, after the above step S401, the following step S402 may be performed.

Step S402, the first train acquires the tag distribution information of the track provided by the UWB positioning system, the tag distribution information includes the position information of the UWB tag of the first train and the position information of the UWB tags of other trains running along the track, and the position information is acquired by the UWB positioning system according to the positioning signal emitted by the corresponding UWB tag.

As mentioned above, the server of the UWB positioning system may transmit the position information of the UWB tag to the train traveling along the track, so that the train performs the anti-collision process according to the received position information. Generally, collision avoidance of trains is mainly aimed at adjacent trains traveling in the same direction along the same track. In this way, after obtaining the position information of each UWB tag, the server may transmit the position information to each train running along the track, or may pre-process the position information so that, for any train, only the position information of the UWB tag of the train and the position information of the UWB tag of the preceding train adjacent to the train are transmitted to the train.

In the case where the server transmits the position information to each train, for any train, the train may determine the position information of the UWB tag provided by its adjacent preceding train according to the position information of the UWB tag provided by the train, thereby determining whether there is a possibility of collision with the adjacent preceding train according to the two position information.

For the case where the server performs the above preprocessing, for any train, the server may determine the position information of the UWB tag set by the adjacent preceding train according to the position information of the UWB tag set by the server, and send the two pieces of position information to the train. Further, the train can determine whether there is a possibility of collision with an adjacent preceding train room based on the two pieces of position information.

Based on this, in one embodiment of the present disclosure, the other trains traveling along the track include all trains traveling along the track that are different from the first train; alternatively, the other train running along the track is the second train.

As can be seen from the above, after the step S402, the following step S403 may be executed.

Step S403, the first train obtains relative position information between the first train and a second train according to the tag distribution information, where the second train is adjacent to the first train on the track and located in front of the first train in the driving direction.

The second train is a preceding train adjacent to the first train.

Specifically, the tag ID of each UWB tag installed in any train may be prestored, and the position information of the UWB tag may be determined from the tag distribution information transmitted from the server based on the tag ID.

As described above, if the other trains include all trains other than the first train running along the track, the first train may determine the position information of the UWB tag thereof and the position information of the UWB tag of the second train from the respective position information, and obtain the relative position information between the first train and the second train based on the two position information.

If the other train is the second train, the first train may obtain the relative position information between the first train and the second train directly from the position information of the UWB tag of the first train and the position information of the UWB tag of the second train.

As mentioned above, the relative position information of any train and its adjacent preceding train cars can be obtained from the position information of the UWB tag set by the train. The number of UWB tags provided for a train may be 1, 2 as shown in fig. 1 or 2, or a plurality of UWB tags as needed. If the train is provided with 1 UWB tag, the UWB tag may be provided at a middle position of the train in the traveling direction. As shown in fig. 1 or fig. 2, if a train is provided with 2 UWB tags, the UWB tags may be respectively provided at both ends of the train in the traveling direction.

For the case that a train is provided with 2 UWB tags, please refer to fig. 1 or fig. 2, in an embodiment of the present disclosure, the train is provided with two UWB tags, and the two UWB tags are respectively arranged at two ends of the train in the traveling direction;

in step S403, the obtaining, by the first train, the relative position information between the first train and the second train according to the tag distribution information includes: determining first position information of a first UWB tag of the first train according to the tag distribution information, wherein the first UWB tag is a UWB tag arranged at the front end of the first train in the traveling direction; determining second position information of a second UWB tag of the second train at the same time point according to the tag distribution information and the first position information, wherein the second UWB tag is a UWB tag arranged at the rear end of the second train in the traveling direction; and obtaining the relative position information of the first train and the second train according to the first position information and the second position information.

Referring to fig. 2, taking a first train and a second train as a left train and a right train respectively shown in fig. 2, and both of them run along a track from left to right as an example, the first UWB tag is disposed at the front end of the first train, the second UWB tag is disposed at the rear end of the second train, and the relative position information between the first train and the second train can be obtained according to the position information of the first UWB tag and the position information of the second UWB tag.

In this embodiment, the first UWB tag and the second UWB tag are selected in the following manner: the tag arranged at the front end of the first train is used as a first UWB tag, and the tag arranged at the rear end of the second train is used as a second UWB tag. Compared with other selection methods (for example, selecting the front end tags of the trains, selecting the rear end notes of the two trains, and selecting the rear end tag of the first train and the front end tag of the second train respectively), the selection method used in this embodiment can reduce the distance value of the UWB tag from a specific end of the train (the specific end is the end of the train closer to another train), that is, reduce the value of the letter b in fig. 2, to the maximum extent. Considering that the gaps between the train carriages are usually not completely consistent under different driving conditions, and the like, the distance value is a preset value, so that the preset value and the actual value are easy to deviate, and thus, the embodiment can be beneficial to calculating and obtaining the more accurate actual distance between the two trains by reducing the value of the distance value, and can realize more accurate anti-collision control.

Preferably, in consideration of a case where the track turns, in order to improve accuracy of the collision avoidance process, the relative position information may be an actual bending distance between the first train and the second train along the track. Based on this, in an embodiment of the present disclosure, the obtaining, according to the first location information and the second location information, the relative location information between the first train and the second train includes: according to the first position information and the second position information, the actual bending distance of the first train and the second train along the track is obtained; and obtaining the relative position information of the first train and the second train according to the actual bending distance.

When the actual bending distance is calculated, the calculation can be realized according to the tag track of the UWB tag set by the second train, or the calculation can be realized according to the pre-stored track route.

For the case where the actual bending distance is calculated based on the label trajectory:

in an embodiment of the present disclosure, the tag distribution information further includes: the tag tracks of the UWB tags of the other trains are obtained by the UWB positioning system according to the position information of the corresponding UWB tags at a plurality of time points;

In this embodiment, the server may obtain the tag track of the UWB tag according to the position information of the same UWB tag at different time points. For example, the trajectory route may be obtained by sequentially connecting the position coordinates at different time points in time order. The duration of the trajectory route may be set as required according to the requirement of the anti-collision processing, for example, may be 5 min. In this way, the tag distribution information sent by the server may include the tag tracks of UWB tags of other trains in addition to the position information of UWB tags of other trains.

Since the second train runs in front of the first train, at the same time point, the position coordinates of the UWB tag of the first train are located on the tag track of the UWB tag of the second train, so that the actual bending distance between the first train and the second train can be obtained according to the tag track of the UWB tag set at the rear end of the adjacent preceding train.

For the case of calculating the actual bending distance based on the track route:

in an embodiment of the present disclosure, the obtaining an actual bending distance between the first train and the second train along the track according to the first position information and the second position information includes: and obtaining the actual bending distance according to the first position information, the second position information and the pre-stored track route of the track.

In this embodiment, the train obtains the actual bending distance between the first train and the second train according to the track route of the current running track prestored inside. In this way, the server can avoid the related operations of generating and transmitting the tag track of each UWB tag to the train, which helps to reduce the processing pressure of the server.

To illustrate one possible implementation of calculating relative position information, the method further comprises: acquiring a first preset linear distance between the first UWB tag and the head end of the first train in the traveling direction; acquiring a second preset linear distance between the second UWB tag and the tail end of the second train in the traveling direction; acquiring a preset safety margin;

Normally, the train is provided with a UWB tag, and the linear distance between the UWB tag and the end of the train is fixed and preset in the train. Referring to fig. 2, taking the first train and the second train as the left train and the right train respectively shown in fig. 2, and both of them run along the track from left to right as an example, the front end and the rear end of the train are both provided with a UWB tag, and the distances from the UWB tag to the end of the train are equal, and are both b. The actual bending distance may be as shown by a in fig. 2, and the actual distance between the first train and the second train may be as shown by c in fig. 2, where c is a-2 b.

Further, to ensure the anti-collision effect, two rows of workshops may have a certain safety margin, and thus, the distance value corresponding to the above-mentioned relative position information may be e, where e is c-d, and d is the safety margin.

After the relative position information of the first train and the second train is obtained, the anti-collision processing can be executed according to the relative position information.

And step S404, the first train executes the set anti-collision processing according to the relative position information.

In an embodiment of the present disclosure, in step S404, the first train performs a set collision avoidance process according to the relative position information, including: judging whether a preset safety braking distance exists between the first train and the second train or not according to the relative position information; under the condition that the safety braking distance is not separated, the running state of the second train is obtained according to the position information of the UWB tag of the second train at a plurality of time points; executing parking processing as the anti-collision processing in a case where the driving state is a parking state; and executing deceleration processing as the anti-collision processing when the driving state is a deceleration state.

As described above, the distance value corresponding to the relative position information between the first train and the second train is e, and if the safe braking distance is f, if e is greater than or equal to f, it can be considered that the two trains are separated by the safe braking distance, the first train can normally run, and if e is less than f, it can be considered that the two trains are not separated by the safe braking distance, the first train can execute the anti-collision processing according to the running state of the second train.

In detail, the driving state of the second train can be obtained according to the position coordinates of the UWB tag set by the second train at different time points, for example, the driving state can be a parking state or a deceleration state. The first train can further control the running state of the first train according to the running state of the second train so as to realize anti-collision processing.

Further, unlike the train shown in fig. 2 provided with two UWB tags, the train may be provided with only one UWB tag, for example, the UWB tag may be provided at the front end, the rear end, or the middle position of the train in the traveling direction. Since the train is only provided with one UWB tag, when the first position information and the second position information are determined according to the tag distribution information, the position information of the UWB tag corresponding to the first train is the first position information, and the position information of the UWB tag corresponding to the second train is the second position information. Based on this, other implementation steps of the train anti-collision processing method are the same as those described above, and details are not described herein in this embodiment.

In summary, the embodiment of the present disclosure sets the UWB tag on the train, and locates the train by using the UWB technology to determine the specific position of the train, so as to achieve train collision prevention, and is suitable for a rail that turns.

Based on the above, fig. 5 is a schematic flow chart of a train anti-collision processing method according to an embodiment, and the train anti-collision processing method according to the embodiment will be described by taking the train anti-collision processing system shown in fig. 3 as an example.

As shown in fig. 5, the method of this embodiment may include the following steps S501 to S516:

step S501, under the condition that a first train runs along a track, controlling each UWB tag of the first train to emit a positioning signal, wherein the first train is provided with two UWB tags which are respectively arranged at two ends of the first train in the running direction, and the positioning signal carries a first time point for emitting the positioning signal and tag identification information of the UWB tag corresponding to the positioning signal.

Step S502, the UWB base station sends the transmission state data of the positioning signal to the server under the condition that the UWB base station receives the positioning signal, wherein the transmission state data comprises the first time point, the label identification information, the second time point and the base station identification information of the UWB base station.

In step S503, the server receives transmission status data corresponding to the positioning signal, which is sent by a plurality of target UWB base stations, respectively, where the target UWB base station is the UWB base station that receives the positioning signal.

Step S504, the server obtains the position information of the UWB tag corresponding to the positioning signal according to the received transmission state data, wherein the position information comprises a position coordinate and a first time point carried by the corresponding positioning signal.

Step S505, the server obtains a tag track of the UWB tag corresponding to the positioning signal according to the position information of the UWB tag corresponding to the positioning signal at a plurality of time points.

In detail, the track of the moving of the tag may be a running track of the tag in the period of time formed by connecting the position information of the tag at each time point.

Step S506, the server sends the position information of the UWB tag and the tag track corresponding to the positioning signal to all trains running along the track.

Step S507, the first train acquires the tag distribution information of the track provided by the server, where the tag distribution information includes position information and tag tracks of UWB tags of all trains running along the track.

Step S508, the first train determines first position information of a first UWB tag of the first train according to the tag distribution information, where the first UWB tag is a UWB tag provided at a front end of the first train in a traveling direction.

Step S509, the first train determines second position information of a second UWB tag of the second train at the same time point according to the tag distribution information and the first position information, where the second UWB tag is a UWB tag provided at a rear end of the second train in a traveling direction, and the second train is a train adjacent to the first train on the track and located ahead of the first train in the traveling direction.

Step S510, the first train obtains an actual bending distance between the first train and the second train along the track according to the first position information, the second position information, and the tag track of the second UWB tag.

In this embodiment, the train calculates the actual bending distance from the train ahead according to the position of the train and the running track of the train running ahead.

For example, the position coordinates of the front tag of the rear vehicle at the current time may be corresponding to the corresponding position of the moving track of the front tag of the rear vehicle, and then the bending distance a of the track between the position coordinates of the front vehicle at the time point and the corresponding position is calculated, wherein the bending distance a of the track may be calculated according to the sum of the distances between the respective small time periods.

Step S511, the first train acquires a first preset linear distance between the first UWB tag and a head end of the first train in the traveling direction, acquires a second preset linear distance between the second UWB tag and a tail end of the second train in the traveling direction, and acquires a preset safety margin.

And S512, the first train obtains the relative position information of the first train and the second train according to the actual bending distance, the first preset linear distance, the second preset linear distance and the safety margin.

And step S513, the first train determining whether a preset safety braking distance exists between the first train and the second train according to the relative position information, and executing step S514 if the safety braking distance does not exist.

For example, the actual bending distance a is subtracted by a safety margin and a safety braking distance to compare whether the two vehicles are safe.

In this embodiment, when the predetermined safety braking distance is provided, the first train normally travels without performing the anti-collision process.

And step S514, the first train obtaining the driving state of the second train according to the position information of the UWB tag of the second train at a plurality of time points, and executing step S515 if the driving state is a stopped state, and executing step S516 if the driving state is a decelerated state.

For example, based on the tags on the train, if the position information of the tags is not changed for a long time, the train is estimated to be in a stop state at the moment, and if the distance between the tags on the train at uniform time points is gradually smaller, the train is predicted to be in a deceleration state.

In the embodiment, whether the front vehicle is in a deceleration state or a stop state can be estimated in time, once the front vehicle is judged to start to decelerate, the train can be predicted in advance, and the preparation for deceleration or braking is made, so that safety protection can be made in advance.

In step S515, the first train executes a parking process as the collision avoidance process.

In step S516, the first train performs deceleration processing as the collision avoidance processing.

The embodiment utilizes UWB technique to fix a position for the train, and the positioning accuracy can be accurate to centimetre level, can realize that the train anticollision, and have protection efficiency height, do not receive the influence that shelters from in tunnel or underground, do not receive the influence of the crooked environment of road, characteristics such as reaction rate is fast, the protection accuracy height, with low costs, the consumption is little, be applicable to the train of high-speed removal, installation are simple.

< apparatus embodiment >

Fig. 6 is a functional block diagram of a train according to one embodiment. As shown in fig. 6, the train 60 comprises a memory 601 and a processor 602, the memory 601 is used for storing a first computer program, and the processor 602 is used for executing the first computer program to implement the method of any of the above embodiments.

The modules of the train 60 may be implemented by the processor 602 executing the computer program stored in the memory 601 in the embodiment, or may be implemented by other circuit structures, which is not limited herein.

Fig. 7 is a block schematic diagram of a train collision avoidance processing system according to one embodiment. As shown in fig. 7, the system includes the train 60 and the UWB positioning system 70 provided in the above embodiment, and the UWB positioning system 70 includes a server 701 and a plurality of UWB base stations 702;

the UWB base station 702 is configured to send, to the server 701, transmission state data of a positioning signal when receiving the positioning signal transmitted by the UWB tag of the train 60, where the positioning signal carries a first time point at which the positioning signal is transmitted and tag identification information of the UWB tag, and the transmission state data includes the first time point, the tag identification information, a second time point, and base station identification information of the UWB base station 702;

the server 701 includes a memory 7011 and a processor 7012, the memory 7011 of the server 701 is configured to store a second computer program, and the second computer program is configured to control the processor 7012 of the server 701 to operate so as to execute a set train positioning method, where the train positioning method includes: receiving transmission state data corresponding to the positioning signal respectively sent by a plurality of target UWB base stations 702, wherein the target UWB base stations 702 are the UWB base stations 702 receiving the positioning signal; acquiring the position information of the UWB tag according to the received transmission state data; the position information of the UWB tag is transmitted to the train 60 traveling along the track.

In detail, the processor in the server may communicate with the UWB base station through the switch. The processor on the train may communicate with the processor in the server through the on-board network.

In one embodiment of the present disclosure, the position information includes position coordinates and a first time point carried by a corresponding positioning signal.

As can be known by referring to the relevant description in the foregoing method embodiment, the positioning signal transmitted by the UWB tag of the train carries the time point at which the positioning signal is transmitted and the tag identification information of the UWB tag corresponding to the positioning signal. Aiming at any positioning signal emitted by a UWB tag of a train, the UWB base station receiving the positioning signal can send the transmission state data of the positioning signal to the server, and the server can further calculate the position coordinate of the corresponding UWB tag when emitting the positioning signal according to the transmission state data. Thereafter, the server may transmit the position information of the UWB tag to the train running along the track.

Based on the method, the train can acquire the positions of different UWB tags at the same time point according to the received position information, and further acquire the actual distance between the train and the adjacent preceding train at the same time point, so that accurate anti-collision control can be realized. As such, in the embodiments of the present disclosure, the position information of the UWB tag may include the position coordinates and the time point at which the positioning signal is transmitted.

In one embodiment of the present disclosure, the train positioning method further includes: obtaining a label track of the UWB label according to the position information of the UWB label at a plurality of time points; and transmitting the tag track of the UWB tag to a train running along the track.

As can be seen from the above description in the method embodiment, when calculating the actual bending distance between the first train and the second train (the second train is an adjacent preceding train of the first train), the calculation may be performed according to a tag track of a UWB tag set by the second train, or may be performed according to a pre-stored track route.

For the case of calculating the actual bending distance based on the tag track, the server may obtain the tag track of the UWB tag according to the position information of the same UWB tag at different time points. For example, the trajectory route may be obtained by sequentially connecting the position coordinates at different time points in time order. The duration of the trajectory route may be set as required according to the requirement of the anti-collision processing, for example, may be 5 min. The obtained tag track can then be sent to trains traveling along the same track.

Since the second train runs in front of the first train, at the same time point, the position coordinates of the UWB tag of the first train are located on the tag track of the UWB tag of the second train, so that the actual bending distance between the first train and the second train can be obtained according to the tag track of the UWB tag set at the rear end of the second train.

In this embodiment, the train obtains the actual bending distance between the first train and the second train according to the label track sent by the server. Therefore, the track route of the current running track does not need to be prestored inside the train, the prestored information inside the train can be simplified, and the method is particularly suitable for scenes that the number of the running tracks of the train is large and the running tracks of the train are long.

The embodiments of the present invention and the embodiments of the method described above are based on the same concept, and specific reference may be made to the description of the embodiments of the method described above, which is not repeated herein.

Furthermore, an embodiment of the present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of the above embodiments.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as punch cards or in-groove raised structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A train collision avoidance processing method, wherein the train is provided with at least one UWB tag, the method being applied to a first train, the method comprising:

the first train controls at least one UWB tag of the first train to transmit a positioning signal under the condition of running along a track;

the first train acquires tag distribution information of the track provided by a UWB positioning system, wherein the tag distribution information comprises position information of UWB tags of the first train and position information of UWB tags of other trains running along the track, and the position information is acquired by the UWB positioning system according to positioning signals transmitted by the corresponding UWB tags;

the first train obtains relative position information of the first train and a second train according to the label distribution information, wherein the second train is adjacent to the first train on the track and positioned in front of the first train in the driving direction;

and the first train executes the set anti-collision processing according to the relative position information.

2. The method according to claim 1, wherein the positioning signal carries a time point for transmitting the positioning signal and tag identification information of a UWB tag corresponding to the positioning signal;

the position information comprises position coordinates and time points carried by the corresponding positioning signals.

3. The method of claim 1, wherein the other trains traveling along the track include all trains traveling along the track distinct from the first train; alternatively, the first and second electrodes may be,

the other train running along the track is the second train.

4. The method according to claim 1, wherein the train is provided with two UWB tags that are respectively provided at both ends of the train in a traveling direction;

the first train obtains the relative position information of the first train and the second train according to the label distribution information, and the method comprises the following steps:

determining first position information of a first UWB tag of the first train according to the tag distribution information, wherein the first UWB tag is a UWB tag arranged at the front end of the first train in the traveling direction;

determining second position information of a second UWB tag of the second train at the same time point according to the tag distribution information and the first position information, wherein the second UWB tag is a UWB tag arranged at the rear end of the second train in the traveling direction;

and obtaining the relative position information of the first train and the second train according to the first position information and the second position information.

5. The method of claim 4, wherein obtaining the relative location information of the first train to the second train of cars based on the first location information and the second location information comprises:

according to the first position information and the second position information, the actual bending distance of the first train and the second train along the track is obtained;

and obtaining the relative position information of the first train and the second train according to the actual bending distance.

6. The method of claim 5, wherein the tag distribution information further comprises: the tag tracks of the UWB tags of the other trains are obtained by the UWB positioning system according to the position information of the corresponding UWB tags at a plurality of time points;

the obtaining the actual bending distance of the first train and the second train along the track according to the first position information and the second position information comprises:

and obtaining the actual bending distance according to the first position information, the second position information and the label track of the second UWB label.

7. The method of claim 5, wherein said obtaining an actual bending distance of the first train from the second train along the track based on the first location information and the second location information comprises:

and obtaining the actual bending distance according to the first position information, the second position information and the pre-stored track route of the track.

8. The method of claim 5, further comprising:

acquiring a first preset linear distance between the first UWB tag and the head end of the first train in the traveling direction;

acquiring a second preset linear distance between the second UWB tag and the tail end of the second train in the traveling direction;

acquiring a preset safety margin;

the obtaining of the relative position information between the first train and the second train according to the actual bending distance includes:

and obtaining the relative position information of the first train and the second train according to the actual bending distance, the first preset linear distance, the second preset linear distance and the safety allowance.

9. The method according to any one of claims 1 to 8, wherein the first train performs the set collision avoidance process according to the relative position information, including:

judging whether a preset safety braking distance exists between the first train and the second train or not according to the relative position information;

under the condition that the safety braking distance is not separated, the running state of the second train is obtained according to the position information of the UWB tag of the second train at a plurality of time points;

executing parking processing as the anti-collision processing in a case where the driving state is a parking state;

and executing deceleration processing as the anti-collision processing when the driving state is a deceleration state.

10. A train, comprising a memory for storing a first computer program and a processor for executing the first computer program to implement the method according to any one of claims 1-9.

11. A train collision avoidance processing system comprising the train of claim 10 and a UWB positioning system, said UWB positioning system comprising a server and a plurality of UWB base stations;

receiving transmission state data corresponding to the positioning signals respectively sent by a plurality of target UWB base stations, wherein the target UWB base stations are UWB base stations receiving the positioning signals;

acquiring the position information of the UWB tag according to the received transmission state data;

and transmitting the position information of the UWB tag to a train running along the track.

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-9.