CN114750808A - Dynamic speed limiting method, system and storage medium for train - Google Patents
Dynamic speed limiting method, system and storage medium for train Download PDFInfo
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- CN114750808A CN114750808A CN202210468667.9A CN202210468667A CN114750808A CN 114750808 A CN114750808 A CN 114750808A CN 202210468667 A CN202210468667 A CN 202210468667A CN 114750808 A CN114750808 A CN 114750808A
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Abstract
The invention relates to the technical field of rail transit, in particular to a dynamic speed limiting method and system of a train and a storage medium. The method calculates the searching distance of the speed limit information list based on the emergency braking distance corresponding to the maximum running speed of the train, and then searches and finds the maximum running speed in the searching distance range by taking the current position of the train as a starting point in the database. The emergency braking distance corresponding to the maximum running speed of the train is considered, and when the actual running speed of the train is higher than the maximum running speed, all requirements of the speed limit information can be met through emergency braking, so that the safe running of the train can be reliably ensured. And since the maximum travel speed is generally greater relative to the fixed limit speed of the train, the driver can be allowed to drive the train at a faster speed. Therefore, compared with the traditional fixed speed limiting method, the dynamic speed limiting method can improve the running efficiency of the train in the manual driving limiting mode.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a speed limiting method, a speed limiting system and a storage medium of a train.
Background
In the process that the train runs on the track, the message information of the ground transponder can be received at intervals, the message information contains various key information such as kilometer posts, speed limit, gradient and the like, and the train can determine the position according to the message information. When the train runs to a certain distance, if the message information of the transponder is not received, the train is degraded to an RM mode (manual driving limiting mode); and, when a communication failure occurs between the train and the trackside equipment, the train may also be downgraded to the RM mode. The train must be driven by the driver in the RM mode and the speed of travel is limited, typically not to exceed 25 km/h. Wherein, the long-time low-speed operation of train can influence its own and other normal operation of train on this track.
Disclosure of Invention
In view of this, the invention provides a dynamic speed limiting method, system and storage medium for a train, so as to improve the speed limitation of the train in the manual driving limiting mode and the operation efficiency of the train. Specifically, the present invention can achieve the following objects: firstly, in a limited manual driving mode of the train, the speed of a driver driving the train can be improved on the premise of ensuring the safe running of the train, so that the running efficiency of the train is improved; and secondly, aiming at two different scenes of loss of positioning information and normal positioning information of the train, different determination schemes of the maximum running speed are respectively provided, and particularly, the running speed of the train can be improved on the premise of meeting the requirement of safe running of the train under the condition that the train is lost and positioned.
In a first aspect, in an embodiment of a dynamic speed limiting method for a train provided by the present invention, the speed limiting method includes: when the train is in a dynamic speed limiting mode in a manual driving limiting mode, acquiring the current position of the train; calculating a search distance of a speed limit information list based on an emergency braking distance corresponding to the maximum driving speed of the train; searching all speed limit information lists in the searching distance range by taking the current position as a starting point in a database, and obtaining the strictest speed limit information list; generating the maximum running speed of the train which can safely run at the current position according to the strictest speed limit information list; sending the maximum running speed to a notification device of a train cab; and when the actual running speed of the train is greater than the maximum running speed, controlling the train to perform emergency braking so as to reduce the actual running speed of the train to be lower than the maximum running speed.
Illustratively, the speed limit information list in the database includes a fixed speed limit information list in an on-board electronic map and a temporary speed limit information list received by the train from a trackside device. The process of obtaining the most strict speed limit information list includes comparing a plurality of speed limit information lists within the search distance, and using a speed limit information list having a lower speed limit value relative to other speed limit information lists as the most strict speed limit information list. In addition, different speed limit values correspond to different positions in the strictest speed limit information list, the subsequent requirement on lower speed limit values and the braking capacity of the train can be met by considering the normal running speed of the train, and the strictest speed limit value of the train which can safely run at the current position can be obtained through calculation. For example, the running speed curve of the train can be obtained according to the relevant braking parameters of the train and the strictest speed limit information list, and the current strictest speed limit value can be displayed in real time on the display interface of the train cab according to the current position of the train.
In the dynamic speed limiting method for the train provided by the embodiment, the search distance of the speed limiting information list is calculated based on the emergency braking distance corresponding to the maximum running speed of the train, and then the strictest speed limiting information list is searched and obtained in the search distance range by taking the current position of the train as the starting point in the database, so that the strictest speed limiting value of the train which can safely run at the current position is obtained. Because the emergency braking distance corresponding to the maximum running speed of the train is considered, when the actual running speed of the train is higher than the strictest speed limit value, all requirements of the speed limit information can be met through emergency braking, so that the safe running of the train can be reliably ensured. And the strictest speed limit value is dynamically changed along with the change of the running position of the train, and the strictest speed limit value is generally higher than the fixed limit speed of the train, so that a driver can be allowed to drive the train at a higher speed. Therefore, compared with the traditional fixed speed limiting method, the dynamic speed limiting method for the train provided by the embodiment can improve the running efficiency of the train in the manual driving limiting mode.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, when the train is in a dynamic speed limiting mode in which manual driving is limited, before the step of obtaining the current position of the train, the method further includes: the dynamic speed limiting method further comprises the following steps: judging whether the positioning information of the train is normal or not; and automatically selecting at least one of an acquisition mode of the current position of the train, a calculation method of the search distance and a mode of searching the speed limit information list according to the judgment result.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, the step of obtaining the current position of the train includes: if the positioning information of the train is normal, determining the current position of the train according to the positioning information stored in the train; and if the positioning information of the train is lost, acquiring the current position of the train according to the auxiliary positioning equipment. When the train passes through the transponder, the train can determine the position of the train on the track through the received message information sent by the transponder, and then the train can record the positioning information of the train through the diameter of the wheels and the rolling times of the train in the running process. In this case, the train can determine its current location from its stored location information. In addition, the train should receive the message information of the transponder within the specified range of the journey in the running process, and the train may not receive the message information of the transponder within the specified range of the journey due to the fault of the train positioning system or the fault of the transponder, and the train loses positioning. In this case, the train may be located by an auxiliary locating device such as a GPS to acquire the current position of the train.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, the step of searching all speed limiting information lists within the search distance range in a database with the current position as a starting point includes: and if the train positioning information is lost, searching all speed limit information lists in the searching distance range along the front direction and the rear direction of the track respectively by taking the current position of the train as a starting point. If the train positioning information is normal, searching all speed limit information lists in the searching distance range in the advancing direction of the train by taking the current position of the train as a starting point; when a turnout is searched, the search is continued along two branches of the turnout until the boundary of the search distance range is searched.
For example, when train positioning information is lost, the running direction of the train itself cannot be determined, and at this time, the speed limit information list is searched along the front and rear directions of the track respectively with the current position of the train as a starting point, so that the speed limit requirements of the train in the front and rear running directions can be met simultaneously, and the safe running of the train is ensured. For another example, when the train positioning information is normal, the train can confirm its own driving direction, so the train can meet the requirement of safe driving by only searching the speed limit information list in the advancing direction.
In addition, due to the existence of the turnout on the track, when the speed limit information is searched along the track, the speed limit information may be actually searched along different paths, so that the actual searching range can be ensured to meet the requirement of the searching distance, and the searched strictest speed limit value can meet the requirement of safe driving of the train to the maximum extent. For example, in the case that the train positioning information is normal, only one direction of the track needs to be searched, if one turnout is encountered, one turnout has two search paths, that is, 2 speed limit information lists exist, and so on, n turnouts have 2n speed limit information lists. In addition, when the train positioning information is lost, bidirectional search is required along two directions of the track, if there are m turnouts in the other direction, there are 2m speed limit information lists in the other direction, and the total number of the speed limit information lists in this case is 2n +2 m.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, the step of calculating the search distance of the speed limiting information list based on the emergency braking distance corresponding to the maximum traveling speed of the train includes:
if the positioning information of the train is normal, calculating the searching distance according to the following formula:
S＝SEB+Sconfig
further, it is considered that the train is continuously operated during the period of time in which the communication is delayed while the train is being positioned by the auxiliary positioning device, and that the auxiliary positioning device affects the positioning accuracy of the current position of the train obtained thereby. If the positioning information of the train is lost, calculating the searching distance according to the following formula:
S＝Sadd+SEB+Sconfig
wherein, SEBAn emergency braking distance determined according to the maximum running speed of the train; sconfigAn additional search distance configured for the operator; saddThe communication delay time of the auxiliary positioning equipment is the maximum running speed of the train plus the positioning precision.
For example, in determining the emergency braking distance SEBIn order to ensure the safe operation of the train to the maximum extent, the emergency braking distance in the worst case may be considered, for example, the distance required for the train to start emergency braking from the maximum driving speed until the train stops when the maximum gradient value of the train in the route arrangement at the time of descending, the full load condition of the train, and the like are considered. Wherein the operator configures the additional search distance SconfigAfter the train is stopped by emergency braking, the train can still keep a certain safe distance with a front fixed barrier or the train, and the running safety of the train is further improved. Therefore, when the positioning information of the train is lost, the searching distance is correspondingly increased according to the influence factors of the auxiliary positioning equipment, so that a relatively sufficient speed limit information list can be searched, and the safe running of the train is ensured.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, the dynamic speed limiting method further includes: and sending the 0-speed limited area information in the search distance range to a notification device of the train cab so that a driver can select whether to filter the information. And if an instruction that the driver selects to filter the 0-speed limited area information is received, the 0-speed limited area information is not considered when all speed limit information lists in the search distance range are searched in the database by taking the current position as a starting point.
The railway transportation system also comprises a more common 0-speed limit area where the train needs to stop, such as a platform, and the like, wherein when the train is in a manual driving limit mode, a driver drives the train, and the driver can contact the platform or judge that the train does not need to stop in the 0-speed limit area by himself or herself on the premise of meeting safety regulations. If the driver selects to filter the 0-speed limit area information, the 0-speed limit area information may not be considered when the train searches the speed limit information list within the search distance range. Then, the train will normally find the most severe speed limit and send it to the notification device of the train cab.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, the dynamic speed limiting method further includes: and when an instruction that a driver switches the dynamic speed limit mode into the fixed speed limit mode is received, if the actual running speed of the train is greater than the fixed limit speed, sending a prompt message of invalid switching to the notification equipment of the train cab. In addition, when the train just degrades to the limited manual driving mode, the fixed speed limit mode is automatically entered, and a prompt message for whether the dynamic speed limit mode is selected or not is sent to a notification device of the train cab.
Therefore, a driver can be reminded to select the dynamic speed limiting mode through the method, so that the running efficiency of the train in the manual driving limiting mode is improved. In addition, a fixed speed limit mode and a dynamic speed limit mode can be displayed on a human-computer interface of a train cab, and a driver can directly select the speed limit mode through touch control. When the train is in a parking state in the fixed speed limiting mode or normally runs at an actual running speed which is lower than the fixed speed limiting mode, a driver can select to switch to the dynamic speed limiting mode; if the train is in the dynamic speed limiting mode at present, when a driver needs to switch to the fixed speed limiting mode, the switching is allowed when the running speed of the train is reduced to be less than the fixed limiting speed, otherwise, the switching is invalid. .
In a second aspect, in an embodiment of the dynamic speed limiting system of the train provided by the present invention, the dynamic speed limiting system includes a positioning module, a calculating module, a searching module, a generating module, a sending module, and a control module. The positioning module is used for acquiring the current position of the train when the train is in a dynamic speed limiting mode in a manual driving limiting mode; the calculation module is used for calculating the search distance of the speed limit information list based on the emergency braking distance corresponding to the maximum running speed of the train; the searching module is used for searching all speed limit information lists in the searching distance range by taking the current position as a starting point in a database and obtaining the strictest speed limit information list; the generating module is used for generating a strictest speed limit value which can safely run at the current position of the train according to the strictest speed limit information list; the sending module is used for sending the strictest speed limit value to notification equipment of a train cab; and the control module is used for controlling the train to perform emergency braking when the actual running speed of the train is greater than the strictest speed limit value so as to reduce the actual running speed of the train to be lower than the strictest speed limit value.
In a preferred implementation manner of the dynamic speed limiting system of the train provided in this embodiment, the dynamic speed limiting system further includes a judging module and a selecting module. The judging module is used for judging whether the positioning information of the train is normal or not; the selection module is used for automatically selecting at least one of an acquisition mode of the current position of the train, a calculation method of the search distance and a mode of searching the speed limit information list according to the judgment result.
In a preferred embodiment of the dynamic speed-limiting system for a train provided in this embodiment, if train positioning information is lost, the search module searches all speed-limiting information lists within a range of the search distance along two directions, namely front and rear directions of a track, respectively, using a current position of the train as a starting point; if the train positioning information is normal, the searching module searches all speed limit information lists in the searching distance range in the advancing direction of the train by taking the current position of the train as a starting point; when the search module searches a turnout, the search is continued along two branches of the turnout until the boundary of the search distance range is searched.
In an embodiment of the dynamic speed-limiting system for a train, if the location information of the train is normal, the calculating module calculates the search distance according to the following formula:
S＝SEB+Sconfig
if the positioning information of the train is lost, the calculation module calculates the search distance according to the following formula:
S＝Sadd+SEB+Sconfig
wherein, SEBAn emergency braking distance determined according to the maximum running speed of the train; sconfigAn additional search distance configured for the operator; saddThe communication delay time of the auxiliary positioning equipment is the maximum running speed of the train plus the positioning precision.
In an embodiment of the dynamic speed-limiting system for a train provided in this embodiment, if the positioning information of the train is normal, the positioning module determines the current position of the train according to the positioning information stored in the train; and if the positioning information of the train is lost, the positioning module acquires the current position of the train according to the auxiliary positioning equipment.
In an preferable implementation manner of the dynamic speed limiting system for a train provided by this embodiment, the sending module is further configured to send information of the 0-speed limited area within the search distance range to a notification device of a train cab, so that a driver can select whether to filter the information; the dynamic speed limiting system also comprises an instruction receiving module, wherein the instruction receiving module is used for receiving a selection result of whether the driver filters the information of the 0-speed limiting area; if the instruction receiving module receives an instruction that the driver selects to filter the 0-speed limited area information, the searching module does not consider the 0-speed limited area information when searching all speed limit information lists in the searching distance range in the database by taking the current position as a starting point.
In a preferred embodiment of the dynamic speed-limiting system for a train provided in this embodiment, when an instruction that a driver switches the dynamic speed-limiting mode to the fixed speed-limiting mode is received, if the actual running speed of the train is greater than the fixed speed limit, the sending module may send a prompt message indicating that the switching is invalid to a notification device in a cab of the train. In addition, when the train just degrades to the limited manual driving mode, the fixed speed limit mode is automatically entered, and the sending module can send a prompt message for judging whether the dynamic speed limit mode is selected to the notification equipment of the train cab.
In a third aspect, the present invention also provides a computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, cause the processor to execute the method for dynamic speed limit of a train as described in the above first aspect.
Drawings
The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a dynamic speed limit method of a train according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a dynamic speed limit system of a train in one embodiment of the invention.
Wherein the reference numbers are as follows:
s1, when the train is in a dynamic speed limiting mode in a manual driving limiting mode, acquiring the current position of the train;
s2, calculating the searching distance of the speed limit information list based on the emergency braking distance corresponding to the maximum driving speed of the train;
s3, searching all speed limit information lists in the searching distance range by taking the current position as a starting point in the database, and obtaining the strictest speed limit information list;
s4, generating a strictest speed limit value which can safely run at the current position of the train according to the strictest speed limit information list;
s5, sending the strictest speed limit value to a notification device of a train cab;
and S6, when the actual running speed of the train is greater than the strictest speed limit value, controlling the train to brake emergently so as to reduce the actual running speed of the train to be less than the strictest speed limit value.
1-positioning module 2-calculating module 3-searching module
4-generating module 5-sending module 6-control module
101-a judgment module; 102-selection module 103-instruction receiving module
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by referring to the following examples.
In the limited manual driving mode (also called RM mode), the Train is also protected by an ATP (Automatic Train Protection system), but the Train is started, stopped, and doors are opened and closed by a driver. In the traditional fixed speed limiting mode, a driver can only drive the train at the speed lower than 25km/h, and if the train is overspeed, the train triggers emergency braking to force the train to stop. Therefore, the embodiment provides a dynamic speed limiting method, a dynamic speed limiting system and a storage medium for a train, which are used for improving the speed limitation of the train in the manual driving limiting mode and the running efficiency of the train.
In a first aspect, in a dynamic speed limiting method of a train provided in this embodiment, as shown in fig. 1, the dynamic speed limiting method includes:
s1, when the train is in a dynamic speed limiting mode in a manual driving limiting mode, acquiring the current position of the train;
s2, calculating the searching distance of the speed limit information list based on the emergency braking distance corresponding to the maximum driving speed of the train;
s3, searching all speed limit information lists in the searching distance range by taking the current position as a starting point in the database, and obtaining the strictest speed limit information list;
s4, generating a strictest speed limit value which can safely run at the current position of the train based on the strictest speed limit information list;
s5, sending the strictest speed limit value to a notification device of a train cab;
and S6, when the actual running speed of the train is greater than the strictest speed limit value, controlling the train to brake emergently so as to reduce the actual running speed of the train to be less than the strictest speed limit value.
Illustratively, in step S3, the speed limit information list in the database includes a fixed speed limit information list in the on-board electronic map and a temporary speed limit information list received by the train from the trackside device. The process of obtaining the strictest speed limit information list includes comparing a plurality of speed limit information lists within a search distance and regarding a speed limit information list having a lower speed limit value with respect to other speed limit information lists as the strictest speed limit information list. In addition, in step S4, different speed limit values are corresponded to different positions in the strictest speed limit information list, and the strictest speed limit value at which the train can safely operate at the current position can be obtained by calculation in consideration of the normal running speed of the train that can satisfy the subsequent requirement of a lower speed limit value and the braking capability of the train. For example, the running speed curve of the train can be obtained according to the relevant braking parameters of the train and the strictest speed limit information list, and the current strictest speed limit value can be displayed in real time on the display interface of the train cab according to the current position of the train.
In the dynamic speed limiting method for the train provided by the embodiment, the search distance of the speed limiting information list is calculated based on the emergency braking distance corresponding to the maximum driving speed of the train, then the strictest speed limiting information list is searched and obtained in the search distance range by taking the current position of the train as the starting point in the database, and further the strictest speed limiting value of the train which can safely run at the current position is obtained. The emergency braking distance corresponding to the maximum running speed of the train is considered, and when the actual running speed of the train is higher than the strictest speed limit value, all requirements of the speed limit information can be met through emergency braking, so that the safe running of the train can be reliably ensured. And the strictest speed limit value is dynamically changed along with the change of the running position of the train, and the strictest speed limit value is generally higher than the fixed limit speed of the train, so that a driver can be allowed to drive the train at a higher speed. Therefore, compared with the traditional fixed speed limiting method, the dynamic speed limiting method for the train provided by the embodiment can improve the running efficiency of the train in the manual driving limiting mode.
The notification device may be a display screen or a touch-control user interface in the cab of the train.
It should be noted that although the detailed steps of the dynamic speed limiting method of the train according to the embodiment are described in detail above, those skilled in the art can combine, split and change the order of the above steps without departing from the basic principle of the embodiment, and the implementation paradigm after modification does not change the basic concept of the embodiment, and therefore, the invention also falls into the protection scope. For example, although the above embodiment has been described by taking the case where step S1 is performed first and then step S2 is performed, steps S1 and S2 may be performed simultaneously or in a reversed order, and the object of the present invention can be achieved.
In addition, communication failure between the train and the trackside equipment or positioning information loss caused by the fact that the train cannot normally read a transponder message are all reasons for the train degradation to the RM mode. The positioning information of the train comprises the position information of the transponder received by the train and the data of the driving mileage recorded in the driving process of the train, for example, when the train passes through the transponder, the train can determine the position of the train on the track through the message information sent by the received transponder, and then the positioning information of the train can be recorded through the diameter of the wheel and the rolling times of the train in the running process. In addition, under the condition that the train does not lose the positioning information, the train can still be normally positioned in a traditional mode, and the running direction of the train is also known. However, when the positioning information is lost, the train can be positioned only by an auxiliary positioning device such as a GPS, but the train cannot determine the traveling direction.
Preferably, when the train is in the dynamic speed limit mode in the limited manual driving mode, before step S1, it may be further determined whether the location information of the train is normal, so as to clarify the reason why the train is degraded to the RM mode. And automatically selecting an acquisition mode of the current position of the train, a calculation method of the search distance, a mode of searching the speed limit information list and the like according to the judgment result, which is more critical for improving the operation efficiency on the premise of ensuring the safe running of the train.
For example, in the selection of the positioning method in the above step S1 when the current position of the train is acquired, if the positioning information of the train is normal and the train can determine the current position of the train according to the stored positioning information, the train can determine the current position of the train according to the stored positioning information. And if the positioning information of the train is lost, acquiring the current position of the train according to the auxiliary positioning equipment.
Preferably, in the step S2, the step of calculating the search distance of the speed limit information list based on the sudden braking distance corresponding to the maximum traveling speed of the train includes:
if the positioning information of the train is normal, calculating the searching distance according to the following formula:
S＝SEB+Sconfig
wherein S isEBAn emergency braking distance determined according to the maximum running speed of the train; sconfigAdditional search distances configured for the operator. In determining emergency braking distance SEBIn order to ensure the safe operation of the train to the maximum extent, the emergency braking distance in the worst case may be considered, for example, the distance required for the train to start emergency braking from the maximum driving speed until the train stops when the maximum gradient value of the train in the route arrangement at the time of descending, the full load condition of the train, and the like are considered. Wherein the operator configures the additional search distance SconfigThe train can still keep a certain safety distance with a front fixed barrier or the train after the emergency braking and stopping, and the running safety of the train is further improved.
Further, it is considered that the train is continuously operated during the period of time in which the communication is delayed while the train is being positioned by the auxiliary positioning device, and that the auxiliary positioning device affects the positioning accuracy of the current position of the train obtained thereby. In order to improve the reliability of safe running of the train in the case where the positioning information is lost, if the positioning information of the train is lost, the search distance is calculated according to the following formula in step S2:
S＝Sadd+SEB+Sconfig
wherein S isaddThe communication delay time of the auxiliary positioning equipment is the maximum running speed of the train plus the positioning precision.
According to the calculation formula, when the positioning information of the train is lost, the searching distance is correspondingly increased according to the influence factors of the auxiliary positioning equipment, so that a relatively sufficient speed limit information list can be searched, and the safe running of the train is ensured.
Preferably, in step S3, if the train positioning information is lost, all speed limit information lists are searched within a search distance range along two directions, i.e., the front and rear directions of the track, respectively, using the current position of the train as a starting point. When the train positioning information is lost, the running direction of the train can not be determined, and at the moment, the speed limit information list is searched along the front and back directions of the track respectively by taking the current position of the train as a starting point, so that the speed limit requirements of the train in the front and back running directions can be met simultaneously, and the safe running of the train is ensured.
Preferably, in step S3, if the train positioning information is normal, all speed limit information lists are searched within a search distance range in the advancing direction of the train with the current position of the train as a starting point. When the train positioning information is normal, the train can confirm the running direction of the train, so that the train can meet the requirement of safe running only by searching the speed limit information list in the advancing direction of the train.
Preferably, in step S3, when a switch is searched, the search is continued along two branches of the switch until the boundary of the search distance range is searched. Due to the existence of the turnout on the track, when the speed limit information is searched along the track, the speed limit information may be actually searched along different paths, so that the actual searching range can be ensured to meet the requirement of the searching distance, and the searched strictest speed limit value can meet the requirement of safe driving of the train to the maximum extent. For example, in the case that the train positioning information is normal, only one direction of the track needs to be searched, if one turnout is encountered, one turnout has two search paths, that is, 2 speed limit information lists exist, and so on, n turnouts have 2n speed limit information lists. In addition, when the train positioning information is lost, bidirectional search is required along two directions of the track, if there are m turnouts in the other direction, there are 2m speed limit information lists in the other direction, and the total number of the speed limit information lists in this case is 2n +2 m.
Further, the speed limit information list in the database in step S3 includes a speed limit information list in the on-vehicle electronic map and a speed limit information list received by the train from the trackside equipment. For example, if the communication between the train and the trackside equipment fails, a vehicle-mounted electronic map is used; if the train and the trackside equipment can be normally communicated, the train can receive some speed limit information from the trackside equipment, so that the strictest speed limit value can be obtained by combining the speed limit information from the trackside equipment on the basis of the vehicle-mounted electronic map, and the requirement of safe driving of the train can be met to the maximum extent.
The rail transportation system also comprises a common 0-speed limiting area such as a platform where the train needs to stop, when the train is in a manual driving limiting mode, a driver drives the train, and the driver can contact the platform or judge that the train does not need to stop in the 0-speed limiting area on the premise of meeting safety regulations. Preferably, the dynamic speed limiting method provided by this embodiment further includes: sending the 0-speed limited area information in the search distance range to a notification device of a train cab for a driver to select whether to filter the information; if an instruction for the driver to select filtering of the 0-speed limited area information is received, the 0-speed limited area information is not considered when searching all speed limit information lists within the search distance range from the current position in the database with respect to step S3. Then, the train will normally find the most severe speed limit and send it to the notification device of the train cab.
Preferably, the speed limiting method for a train provided in this embodiment further includes: and when an instruction that a driver switches the dynamic speed limit mode into the fixed speed limit mode is received, if the actual running speed of the train is greater than the fixed limit speed, sending a prompt message of invalid switching to the notification equipment of the train cab. And when the train just degrades to the manual driving limiting mode, automatically entering the fixed speed limiting mode, and sending a prompt message for judging whether the dynamic speed limiting mode is selected to a notification device of the train cab.
Therefore, the driver can be reminded to select the dynamic speed limiting mode by the method for sending the prompt message, so that the running efficiency of the train in the mode of limiting manual driving is improved. In addition, a fixed speed limiting mode and a dynamic speed limiting mode can be displayed on a human-computer interface of the train cab, and a driver can directly select the speed limiting mode through touch control. When the train is in a parking state in the fixed speed limiting mode or normally runs at an actual running speed which is lower than the fixed speed limiting mode, a driver can select to switch to the dynamic speed limiting mode; if the train is in the dynamic speed limiting mode at present, when a driver needs to switch to the fixed speed limiting mode, the switching is allowed when the running speed of the train is reduced to be less than the fixed limiting speed, otherwise, the switching is invalid.
It should be noted that, a dynamic speed limiting system of a train introduced in the second aspect below corresponds to the dynamic speed limiting method of the train in the foregoing embodiment, and the dynamic speed limiting system in the following embodiment may be understood by referring to the foregoing embodiment of the dynamic speed limiting method, and the same contents will not be described again.
In a second aspect, in an embodiment of the dynamic speed limiting system of the train provided by the present invention, as shown in fig. 2, the dynamic speed limiting system includes a positioning module 1, a calculating module 2, a searching module 3, a generating module 4, a sending module 5, and a control module 6.
The positioning module 1 may be configured to perform step S1 in the foregoing method embodiment, that is, the positioning module 1 is configured to obtain the current position of the train when the train is in the dynamic speed limit mode in the manual driving limit mode. The calculation module 2 may be configured to execute step S2 in the above method embodiment, that is, the calculation module 2 is configured to calculate the search distance of the speed limit information list based on the emergency braking distance corresponding to the maximum traveling speed of the train. The searching module 3 may be configured to execute step S3 in the foregoing method embodiment, that is, the searching module 3 is configured to search all speed limit information lists within the search distance range in the database by using the current position as a starting point, and obtain a strictest speed limit information list. The generating module 4 may be configured to execute step S4 in the above method embodiment, that is, the generating module 4 may be configured to generate the strictest speed limit value at which the train can safely operate at the current location according to the strictest speed limit information list. The sending module 5 may be configured to execute step S5 in the above method embodiment, that is, the sending module 5 is configured to send the strictest speed limit to the notification device of the cab of the train. The control module 6 may be configured to execute step S6 in the above method embodiment, and the control module 6 is configured to control the train to perform emergency braking when the actual traveling speed of the train is greater than the strictest speed limit value, so as to reduce the actual traveling speed of the train below the strictest speed limit value.
In a preferred implementation manner of the dynamic speed limiting system of the train provided in this embodiment, the dynamic speed limiting system further includes a judging module 101 and a selecting module 102, where the judging module 101 is configured to judge whether the positioning information of the train is normal; the selection module 102 is configured to automatically select at least one of an acquisition mode of the current position of the train, a calculation method of the search distance, and a mode of searching the speed limit information list according to the determination result.
In an embodiment of the dynamic speed limiting system for a train provided in this embodiment, if the train positioning information is lost, the searching module 3 is further configured to search all speed limiting information lists in the searching distance range along the front and rear directions of the track respectively using the current position of the train as a starting point. If the train positioning information is normal, the searching module 3 is also used for searching all speed limit information lists in the searching distance range in the advancing direction of the train by taking the current position of the train as a starting point; when the search module 3 searches a turnout, the search is continued along two branches of the turnout until the boundary of the search distance range is searched.
In an embodiment of the dynamic speed-limiting system for a train, if the location information of the train is normal, the calculating module 2 calculates the search distance according to the following formula:
S＝SEB+Sconfig
in an embodiment of the dynamic speed-limiting system for a train, if the location information of the train is lost, the calculating module 2 calculates the search distance according to the following formula:
S＝Sadd+SEB+Sconfig
wherein, SEBAn emergency braking distance determined according to the maximum running speed of the train; sconfigAn additional search distance configured for the operator; s. theaddThe communication delay time of the auxiliary positioning equipment is the maximum running speed of the train plus the positioning accuracy.
In a preferred embodiment of the dynamic speed-limiting system for a train provided in this embodiment, if the positioning information of the train is normal, the positioning module 1 is further configured to determine the current position of the train according to the positioning information stored in the train; if the positioning information of the train is lost, the positioning module 1 is further configured to obtain the current position of the train according to the auxiliary positioning device.
In a preferred implementation manner of the dynamic speed limiting system for a train provided in this embodiment, the sending module 5 is further configured to send the 0-speed limited area information within the search distance range to a notification device of a train cab, so that a driver can select whether to filter the information. The dynamic speed limiting system also comprises an instruction receiving module 103, wherein the instruction receiving module 103 is used for receiving a selection result of whether the driver filters the 0-speed limiting area information; if the instruction receiving module 103 receives an instruction that the driver selects to filter the 0-speed limited area information, the searching module 3 does not consider the 0-speed limited area information when searching all speed limit information lists in the searching distance range in the database by taking the current position as a starting point.
In a preferred embodiment of the dynamic speed-limiting system for a train provided in this embodiment, when an instruction that a driver switches the dynamic speed-limiting mode to the fixed speed-limiting mode is received, if the actual running speed of the train is greater than the fixed speed-limiting mode, the sending module 5 may further send a prompt message indicating that the switching is invalid to a notification device in the cab of the train. And when the train just degrades to the limited manual driving mode, the fixed speed limit mode is automatically entered, and the sending module 5 can also send a prompt message for judging whether the dynamic speed limit mode is selected to the notification equipment of the train cab.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structures described in the above embodiments may be physical structures or logical structures, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities separately, or some components may be implemented together in a plurality of independent devices.
In a third aspect, the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the processor is caused to execute the dynamic speed limiting method for a train in the above first aspect.
In this case, the computer instructions read from the storage medium may themselves implement the functions of any of the above-described embodiments, and thus the computer instructions and the storage medium storing the computer instructions form part of the present invention. Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the computer instructions may be downloaded from a server computer over a communications network.
Further, it should be clear that the functions of any of the above embodiments can be realized not only by executing computer instructions read out by a computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations by the computer instructions.
Further, it is to be understood that the functions of any of the above-described embodiments are realized by writing computer instructions read out from a storage medium to a memory provided in an expansion board inserted into a computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the computer instructions.
In the above embodiments, the hardware unit may be implemented mechanically or electrically. For example, a hardware element may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. The hardware elements may also comprise programmable logic or circuitry, such as a general purpose processor or other programmable processor, that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
The invention relates to the technical field of rail transit, in particular to a dynamic speed limiting method and system of a train and a storage medium. The invention calculates the searching distance of the speed limit information list based on the emergency braking distance corresponding to the maximum driving speed of the train, and then searches and finds the strictest speed limit value in the searching distance range by taking the current position of the train as a starting point in the database. Because the emergency braking distance corresponding to the maximum running speed of the train is considered, when the actual running speed of the train is higher than the strictest speed limit value, all the requirements of the speed limit information can be met through emergency braking, and the safe running of the train can be reliably ensured. And since the strictest limit speed is generally large relative to the fixed limit speed of the train, the driver can be allowed to drive the train at a faster speed. Therefore, compared with the traditional fixed speed limiting method, the dynamic speed limiting method can improve the running efficiency of the train in the manual driving limiting mode.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (12)
1. A dynamic speed limiting method of a train is characterized by comprising the following steps:
when the train is in a dynamic speed limiting mode in a manual driving limiting mode, acquiring (S1) the current position of the train;
calculating (S2) a search distance of the speed limit information list based on an emergency braking distance corresponding to a maximum traveling speed of the train;
searching (S3) all speed limit information lists in the searching distance range by taking the current position as a starting point in a database, and obtaining the strictest speed limit information list; generating (S4) a strictest speed limit value which can be safely operated by the train at the current position according to the strictest speed limit information list;
sending (S5) the strictest speed limit to a notification device of a train cab;
and when the actual running speed of the train is greater than the strictest speed limit value, controlling (S6) the emergency braking of the train so as to reduce the actual running speed of the train to be below the strictest speed limit value.
2. The dynamic speed limiting method of claim 1, wherein the step of searching (S3) all speed limit information lists within the search distance range in a database with the current position as a starting point comprises:
if the train positioning information is lost, searching all speed limit information lists in the searching distance range along the front direction and the back direction of the track respectively by taking the current position of the train as a starting point; if the train positioning information is normal, searching all speed limit information lists in the searching distance range in the advancing direction of the train by taking the current position of the train as a starting point;
when a turnout is searched, the search is continued along two branches of the turnout until the boundary of the search distance range is searched.
3. The dynamic speed limit method according to claim 1, wherein the step of calculating (S2) a search distance of the speed limit information list based on the emergency braking distance corresponding to the maximum traveling speed of the train comprises:
if the positioning information of the train is normal, calculating the searching distance according to the following formula:
S＝SEB+Sconfig
if the positioning information of the train is lost, calculating the searching distance according to the following formula:
S＝Sadd+SEB+Sconfig
wherein, SEBAn emergency braking distance determined according to a maximum driving speed of the train; sconfigAn additional search distance configured for the operator; saddThe communication delay time of the auxiliary positioning equipment is the maximum running speed of the train plus the positioning precision.
4. The dynamic speed limiting method according to claim 1, further comprising:
when an instruction that a driver switches the dynamic speed limit mode into the fixed speed limit mode is received, if the actual running speed of the train is greater than the fixed limit speed, a prompt message of invalid switching is sent to a notification device of a train cab; and/or the like and/or,
and when the train just degrades to the manual driving limiting mode, automatically entering the fixed speed limiting mode, and sending a prompt message for judging whether the dynamic speed limiting mode is selected to a notification device of the train cab.
5. The dynamic speed limiting method according to claim 1, further comprising: sending the 0-speed limited area information in the search distance range to a notification device of a train cab for a driver to select whether to filter the information;
if an instruction that the driver selects to filter the 0-speed limited area information is received, the 0-speed limited area information is not considered when searching (S3) all speed limit information lists within the search distance range in the database with the current position as a starting point.
6. The dynamic speed limit method of claim 1, further comprising, before the step of acquiring (S1) the current location of the train when the train is in the dynamic speed limit mode in the restricted manned driving mode:
judging whether the positioning information of the train is normal or not; and the number of the first and second groups,
and automatically selecting at least one of an acquisition mode of the current position of the train, a calculation method of the search distance and a mode of searching the speed limit information list according to the judgment result.
7. The dynamic speed limit method according to claim 1, wherein the step of acquiring (S1) the current location of the train comprises:
if the positioning information of the train is normal, determining the current position of the train according to the positioning information stored in the train; and/or the like, and/or,
and if the positioning information of the train is lost, acquiring the current position of the train according to the auxiliary positioning equipment.
8. A dynamic speed limit system for a train, comprising:
the positioning module (1) is used for acquiring the current position of the train when the train is in a dynamic speed limiting mode under a manual driving limiting mode;
the calculating module (2) is used for calculating the searching distance of the speed limit information list based on the emergency braking distance corresponding to the maximum running speed of the train;
the searching module (3) is used for searching all speed limit information lists in the searching distance range by taking the current position as a starting point in a database and obtaining the strictest speed limit information list;
the generating module (4) is used for generating a strictest speed limit value which can safely run at the current position of the train according to the strictest speed limit information list; a sending module (5) for sending the strictest speed limit value to a notification device of a train cab;
and the control module (6) is used for controlling the train to be emergently braked when the actual running speed of the train is greater than the strictest speed limit value so as to reduce the actual running speed of the train to be lower than the strictest speed limit value.
9. The speed limit system of claim 8, wherein:
if the train positioning information is lost, the searching module (3) searches all speed limit information lists in the searching distance range along the front direction and the rear direction of the track respectively by taking the current position of the train as a starting point; if the train positioning information is normal, the searching module (3) searches all speed limit information lists in the searching distance range in the advancing direction of the train by taking the current position of the train as a starting point; when a turnout is searched, the searching module (3) continues to search along two branches of the turnout until the boundary of the searching distance range is searched; and/or the like and/or,
if the positioning information of the train is normal, the positioning module (1) determines the current position of the train according to the positioning information stored in the train; if the positioning information of the train is lost, the positioning module (1) acquires the current position of the train according to the auxiliary positioning equipment.
10. The dynamic speed limit system according to claim 8, wherein the sending module (4) is further configured to send the 0-speed limit area information within the search distance range to a notification device of a train cab, so that a driver can select whether to filter the information; and the number of the first and second groups,
the speed limiting system also comprises an instruction receiving module (103), wherein the instruction receiving module (103) is used for receiving a selection result of whether the driver filters the information of the 0-speed limiting area;
if the instruction receiving module (103) receives an instruction that the driver selects to filter the 0-speed limited area information, the searching module (3) does not consider the 0-speed limited area information when searching all speed limit information lists in the searching distance range by taking the current position as a starting point in a database.
11. The dynamic speed limit system of claim 8, further comprising:
the judging module (101) is used for judging whether the positioning information of the train is normal or not;
and the selection module (102) is used for automatically selecting at least one of an acquisition mode of the current position of the train, a calculation method of the search distance and a mode of searching the speed limit information list according to the judgment result.
12. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the processor to execute the method for dynamic speed limit of a train according to any one of claims 1 to 7.
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