CN114750808B - 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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- CN114750808B CN114750808B CN202210468667.9A CN202210468667A CN114750808B CN 114750808 B CN114750808 B CN 114750808B CN 202210468667 A CN202210468667 A CN 202210468667A CN 114750808 B CN114750808 B CN 114750808B
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Abstract
The invention relates to the technical field of rail transit, in particular to a dynamic speed limiting method, a dynamic speed limiting system and a storage medium for a train. The invention 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 the starting point in the database. Since the emergency braking distance corresponding to the maximum running speed of the train is taken into consideration, the requirements of all the speed limit information can be satisfied by emergency braking when the actual running speed of the train is higher than the maximum running speed, so that the safe running of the train can be reliably ensured. And since this maximum travel speed is generally large relative to the fixed limit speed of the train, it is possible to allow the driver to drive the train at a faster speed. Thus, compared with the traditional fixed speed limiting method, the dynamic speed limiting method of the embodiment 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 for a train.
Background
In the process of running on the track, the train receives message information of the ground transponder at intervals, wherein the message information contains various key information such as kilometer post, speed limit, gradient and the like, and the train can determine the position of the train 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 (limiting manual driving mode); and, in the event of a communication failure between the train and the trackside equipment, the train may also degrade to RM mode. The train must be driven by the driver in RM mode and the speed of travel is limited, typically not exceeding 25km/h. Wherein long low speed operation of the train can affect its own and normal operation of other trains on the track.
Disclosure of Invention
In view of the above, the present invention provides a dynamic speed limiting method, system and storage medium for a train, which are used for improving the speed limiting speed of the train and the running efficiency of the train in a manual driving limiting mode. Specifically, the present invention can achieve the following objects: firstly, in a manual driving limiting mode of the train, on the premise of ensuring safe running of the train, the speed of a driver driving the train can be improved so as to improve the running efficiency of the train; secondly, aiming at two different scenes of the train in which the positioning information is lost and the positioning information is normal, 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 that the requirement of safe running of the train is met under the condition that the train is lost and positioned.
In a first aspect, in one embodiment of the present invention, a dynamic speed limiting method for a train, the speed limiting method includes: when the train is in a dynamic speed limiting mode under a manual driving limiting mode, acquiring the current position of the train; 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; searching all speed limit information lists in the searching distance range in a database by taking the current position as a starting point, and obtaining a strictest speed limit information list; generating a maximum running speed of the train safely running at the current position according to the strictest speed limit information list; a notification device that transmits the maximum travel speed to a train cab; and when the actual running speed of the train is greater than the maximum running speed, controlling the train emergency braking to reduce the actual running speed of the train to be lower than the maximum running speed.
The speed limit information list in the database comprises a fixed speed limit information list in the vehicle-mounted electronic map and a temporary speed limit information list received by the train from the trackside equipment. The process of obtaining the most stringent speed limit information list includes comparing a plurality of speed limit information lists within a search distance and using a speed limit information list having a lower speed limit value with respect to other speed limit information lists as the most stringent speed limit information list. In addition, different speed limiting values are corresponding to different positions in the strictest speed limiting information list, meanwhile, the normal running speed of the train is considered to meet the requirement of a subsequent lower speed limiting value and the braking capability of the train, and the strictest speed limiting value which can safely run at the current position of the train can be obtained through calculation. For example, the running speed curve of the train can be obtained according to the related braking parameters of the train and the strictest speed limit information list, and the display interface of the train cab can display the current strictest speed limit value in real time according to the current position of the train.
In the dynamic speed limiting method of 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, then the most strict speed limiting information list is searched and obtained in the search distance range by taking the current position of the train as a starting point in the database, and the most strict speed limiting value of the train which can safely run at the current position is obtained. Since the emergency braking distance corresponding to the maximum running speed of the train is considered, the requirements of all speed limit information can be met through emergency braking when the actual running speed of the train is higher than the strictest speed limit value, so that the safe running of the train can be reliably ensured. And the most stringent speed limit value is dynamically changed as the position of the train is changed, and since the most stringent speed limit value is generally large relative to the fixed speed limit of the train, the driver can be allowed to drive the train at a faster speed. Thus, compared with the traditional fixed speed limiting method, the dynamic speed limiting method for the train can improve the running efficiency of the train in the manual driving limiting mode.
In an preferable implementation manner of the dynamic speed limiting method for a train provided in this embodiment, when the train is in the dynamic speed limiting mode in the manual driving limiting mode, 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 the acquisition mode of the current position of the train, the calculation method of the search distance and the 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 by 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 position of the train on the track can be determined through the received message information sent by the transponder, and then the positioning information of the train can be recorded 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 positioning information. In addition, the train should receive the message information of the transponder in the specified range during the running process, and the train may not receive the message information of the transponder in the specified range due to the failure of the train positioning system or the failure of the transponder, etc., which may cause the train to lose positioning. In this case, the train may be positioned by an auxiliary positioning device such as GPS, so that the current position of the train is obtained.
In a preferred implementation manner of the dynamic speed limiting method for a train provided in this embodiment, the step of searching, in a database, all speed limiting information lists within the search distance range with the current position as a starting point includes: if the train positioning information is lost, searching all speed limit information lists in the range of the searching distance along the front and rear directions of the track 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 searching to a turnout, searching is continued along two branches of the turnout until searching to the boundary of the searching distance range.
When the train positioning information is lost, the running direction of the train cannot be determined, and the speed limit information list is searched along the front and rear directions of the track 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 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 the running direction of the train, so the train can meet the requirement of safe running by only searching the speed limit information list in the advancing direction of the train.
In addition, due to the existence of the turnout on the track, the speed limit information may need to be searched along different paths in practice when searching along the track, so that the requirement that the actual searching range reaches the searching distance can be ensured, and the searched strictest speed limit value can meet the requirement of safe driving of the train to the greatest extent. For example, in the case that the train positioning information is normal, only searching along one direction of the track is required, if one switch is encountered, there are two searching paths for one switch, there are 2 speed limit information lists, and so on, there are 2n speed limit information lists for n switches. In addition, in the case of loss of train positioning information, bidirectional searching is required along two directions of the track, if there are m switches in the other direction, there are 2m speed limit information lists in the other direction, and the total number of speed limit information lists in this case is 2n+2m.
In a preferred embodiment 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 running speed of the train includes:
if the positioning information of the train is normal, calculating the searching distance according to the following formula:
S＝S EB +S config
Further, it is considered that the train is continued to run during the time period in which the communication is delayed when the train is positioned with the auxiliary positioning device, and it is considered 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＝S add +S EB +S config
wherein S is EB An emergency braking distance determined according to the maximum running speed of the train; s is S config Additional search distance configured for the operator; s is S add Communication delay time of auxiliary positioning device =maximum travel speed of train + positioning accuracy.
Illustratively, in determining the emergency braking distance S EB In order to ensure safe running of the train to the greatest extent, the emergency braking distance under the worst condition can be considered, for example, the distance required from the maximum running speed to the stopping of the train can be considered under the condition that the maximum gradient value of the train arranged on a line is influenced by factors such as the full load condition of the train and the like. Wherein the operator configures the additional search distance S config The device can ensure that the train can keep a certain safety distance with a front fixed obstacle or the train after the emergency braking is stopped, thereby further improving the running safety of the train Sex. 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 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 the train provided in this embodiment, the dynamic speed limiting method further includes: and sending the information of the 0-speed limited area in the searching distance range to notification equipment of a train cab so as to enable a driver to select whether to filter the information. If the driver receives an instruction for selecting and filtering the 0-speed limiting area information, searching all speed limiting information lists in the searching distance range by taking the current position as a starting point in the database, and not considering the 0-speed limiting area information.
The rail transportation system also comprises a common 0-speed limiting area for stopping the train such as a platform, and a driver drives the train when the train is in a manual driving limiting mode, and the driver can judge that the train is not required to stop in the 0-speed limiting area by connecting the platform or on the premise of meeting safety regulations. If the driver chooses 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. The train will then normally find the most stringent speed limit and send to the notification device of the train cab.
In a preferred implementation manner of the dynamic speed limiting method for the train provided in this embodiment, the dynamic speed limiting method further includes: when receiving the command of the driver to switch the dynamic speed limiting mode to the fixed speed limiting mode, if the actual running speed of the train is greater than the fixed speed limiting mode, sending a prompt message of invalid switching to the notification equipment of the train cab. In addition, when the train just degrades to limit the manual driving mode, the fixed speed limiting mode is automatically entered, and a prompt message of whether the dynamic speed limiting mode is selected is sent to a notification device of the train cab.
Therefore, the method can remind the driver to select the dynamic speed limiting mode so as to improve the running efficiency of the train in the manual driving limiting mode. In addition, a fixed speed limiting mode and a dynamic speed limiting mode can be displayed on a human-computer interface of a train cab, and a driver can directly select through touch control. When the train is in a parking state in a fixed speed limiting mode or normally runs at an actual running speed smaller than the fixed speed limiting speed, a driver can select to switch to a dynamic speed limiting mode; if the train is currently in the dynamic speed limiting mode, 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 smaller than the fixed speed limiting mode, otherwise, the switching is invalid. .
In a second aspect, in an embodiment of the dynamic speed limiting system for a 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 transmitting 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 under 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 the 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; the generation module is used for generating the strictest speed limit value of the train which can safely run at the current position 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 emergency braking of the train 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 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 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 the acquisition mode of the current position of the train, the calculation method of the search distance and the mode of searching the speed limit information list according to the judgment result.
In a preferred implementation manner of the dynamic speed limiting system for a train provided in this embodiment, if the positioning information of the train is lost, the searching module searches all speed limiting information lists in the range of the searching distance along the front and rear directions of the track with the current position of the train as a starting point; if the train positioning information is normal, the searching module searches all speed limiting 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; and when the searching module searches to a turnout, searching is continued along two branches of the turnout until the searching module searches to the boundary of the searching distance range.
In an preferable implementation manner of the dynamic speed limiting system for a train provided in this embodiment, if positioning information of the train is normal, the calculation module calculates the search distance according to the following formula:
S＝S EB +S config
If the positioning information of the train is lost, the calculation module calculates the search distance according to the following formula:
S＝S add +S EB +S config
wherein S is EB An emergency braking distance determined according to the maximum running speed of the train; s is S config Additional search distance configured for the operator; s is S add Communication delay time of auxiliary positioning device =maximum travel speed of train + positioning accuracy.
In a preferred implementation manner of the dynamic speed limiting system of the 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 a preferred implementation manner of the dynamic speed limiting system of the train provided in this embodiment, the sending module is further configured to send the information of the 0-speed limiting area within the search distance range to a notification device of a cab of the train, so that a driver can select whether to filter the information; the dynamic speed limiting system further comprises an instruction receiving module, wherein the instruction receiving module is used for receiving a selection result of whether a driver filters the 0-speed limiting area information; if the command receiving module receives a command of selecting and filtering the 0-speed limiting area information from a driver, the searching module searches all speed limiting information lists in the searching distance range by taking the current position as a starting point in a database, and the 0-speed limiting area information is not considered.
In an preferable implementation manner of the dynamic speed limiting system of the train provided in this embodiment, when an instruction of the driver to switch 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 speed, the sending module may send a notification message that the switching is invalid to the notification device of the cab of the train. In addition, when the train just degrades to limit the manual driving mode, the fixed speed limiting mode is automatically entered, and the sending module can send a prompt message of whether the dynamic speed limiting mode is selected or not 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 perform the dynamic speed limit method of a train as described in the first aspect above.
Drawings
The above and other features and advantages of the present invention will become more apparent to those of ordinary skill in the art by describing in detail preferred embodiments thereof with reference to the attached drawings in which:
FIG. 1 is a flow chart of a dynamic speed limiting method for a train in one embodiment of the invention.
Fig. 2 is a schematic diagram of a dynamic speed limiting system for a train in one embodiment of the invention.
Wherein, the reference numerals are as follows:
s1, when a train is in a dynamic speed limiting mode under a manual driving limiting mode, acquiring the current position of the train;
s2, 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;
s3, searching all speed limit information lists in a search distance range in a database by taking the current position as a starting point, and obtaining a strictest speed limit information list;
s4, generating a strictest speed limit value of the train which can safely run at the current position according to the strictest speed limit information list;
s5, sending the strictest speed limit value to notification equipment of a train cab;
and S6, controlling the emergency braking of the train 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 below the strictest speed limit value.
1-positioning module 2-computing module 3-searching module
4-generating module 5-transmitting module 6-control module
101-a judging module; 102-selection module 103-instruction receiving module
Detailed Description
The present invention will be further described in detail with reference to the following examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
In the limited manual driving mode (also called RM mode), the train is protected by ATP (Automatic Train Protection, automatic train protection system) but the train is started, stopped and opened and closed by a driver. In the traditional fixed speed limit mode, the driver can only drive the train at a speed lower than 25km/h, and if the train is overspeed, the train can trigger 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 limiting speed of the train in a manual driving limiting mode and the running efficiency of the train.
In a first aspect, in a dynamic speed limiting method for a train provided in this embodiment, as shown in fig. 1, the dynamic speed limiting method includes:
s1, when a train is in a dynamic speed limiting mode under a manual driving limiting mode, acquiring the current position of the train;
s2, 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;
s3, searching all speed limit information lists in a search distance range in a database by taking the current position as a starting point, and obtaining a strictest speed limit information list;
S4, generating a strictest speed limit value of the train which can safely run at the current position based on the strictest speed limit information list;
s5, sending the strictest speed limit value to notification equipment of a train cab;
and S6, controlling the emergency braking of the train 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 below 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 vehicle-mounted electronic map and a temporary speed limit information list received by the train from the trackside equipment. The process of obtaining the most stringent speed limit information list includes comparing a plurality of speed limit information lists within a search distance and using a speed limit information list having a lower speed limit value with respect to other speed limit information lists as the most stringent speed limit information list. In addition, in step S4, different speed limiting values are corresponding to different positions in the strictest speed limiting information list, and meanwhile, the strictest speed limiting value that the train can safely run at the current position can be obtained through calculation by considering that the normal running speed of the train can meet the requirement of the subsequent lower speed limiting value and the braking capability of the train. For example, the running speed curve of the train can be obtained according to the related braking parameters of the train and the strictest speed limit information list, and the display interface of the train cab can display the current strictest speed limit value in real time according to the current position of the train.
In the dynamic speed limiting method of 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, then the most strict speed limiting information list is searched and obtained in the search distance range by taking the current position of the train as a starting point in the database, and the most strict speed limiting value of the train which can safely run at the current position is obtained. Since the emergency braking distance corresponding to the maximum running speed of the train is taken into consideration, the requirements of all speed limit information can be satisfied by emergency braking when the actual running speed of the train is higher than the strictest speed limit value, so that the safe running of the train can be reliably ensured. And the most stringent speed limit value is dynamically changed as the position of the train is changed, and since the most stringent speed limit value is generally large relative to the fixed speed limit of the train, the driver can be allowed to drive the train at a faster speed. Thus, compared with the traditional fixed speed limiting method, the dynamic speed limiting method for the train 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-enabled user interface in the train cab.
It should be noted that, although the detailed steps of the dynamic speed limiting method of the train of the present embodiment are described above in detail, those skilled in the art may combine, split and exchange the above steps without departing from the basic principles of the present embodiment, and the modified embodiment does not change the basic concept of the present embodiment, and therefore falls within the scope of the present invention. For example, although the above embodiment has been described by taking the example of performing step S1 and then step S2, steps S1 and S2 may be performed simultaneously or in a changed order, and the object of the present invention can be achieved.
In addition, communication failure between the train and the trackside equipment or loss of positioning information caused by failure of the train to read the transponder message normally are all reasons for degrading the train to the RM mode. The positioning information of the train comprises information of the position of the transponder received by the train and data of the driving mileage recorded during 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 a track through the received message information sent by the transponder, and then the positioning information of the train can be recorded through the diameter of wheels and the rolling times of the train during the running process. In addition, in the case that the positioning information is not lost, the train can still be positioned normally in a conventional manner, and the running direction of the train is also known. However, when the train loses the positioning information, the train can be positioned only by an auxiliary positioning device such as GPS, but the train cannot determine the traveling direction.
Preferably, when the train is in the dynamic speed limiting mode in the manual driving limiting mode, before step S1, it may also be determined whether the positioning information of the train is normal, so as to determine 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 are critical for improving the running efficiency on the premise of ensuring the safe running of the train.
For example, in the step S1, when the current position of the train is obtained, regarding the selection of the positioning mode, if the positioning information of the train is normal, the train can determine the current position of the train according to the stored positioning information, and then 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 above step S2, the step of calculating the search distance of the speed limit 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 a search distance according to the following formula:
S＝S EB +S config
Wherein S is EB An emergency braking distance determined according to the maximum running speed of the train; s is S config Additional search distance configured for the operator. In determining the emergency braking distance S EB In order to ensure the safe running of the train to the maximum extent, the emergency braking distance under the worst condition can be considered, for example, under the condition of considering the influence of factors such as the maximum gradient value of the train arranged on the line when the train descends, the full load condition of the train and the like, the train can run at the maximum speedEmergency braking is initiated until the train comes to a stop for the required distance. Wherein the operator configures the additional search distance S config The device can ensure that the train can still keep a certain safety distance with a front fixed obstacle or the train after emergency braking and stopping, and further improves the running safety of the train.
Further, it is considered that the train is continued to run during the time period in which the communication is delayed when the train is positioned with the auxiliary positioning device, and it is considered 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 the safe running of the train in the case of loss of the positioning information, in the step S2, if the positioning information of the train is lost, the search distance is calculated according to the following formula:
S＝S add +S EB +S config
Wherein S is add Communication delay time of auxiliary positioning device =maximum travel speed of train + positioning accuracy.
According to the calculation formula, when the positioning information of the train is lost, the search distance is correspondingly increased according to the influence factors of the auxiliary positioning equipment, so that a more sufficient speed limit information list can be searched, and the safe running of the train is ensured.
Preferably, in the step S3, if the train positioning information is lost, all the speed limit information lists are searched within the range of the search distance in the front and rear directions of the track, respectively, with the current position of the train as the starting point. When the train positioning information is lost, the running direction of the train cannot be determined, and at the moment, the current position of the train is used as a starting point to search the speed limit information list along the front and rear directions of the track, 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.
Preferably, in the above step S3, if the train positioning information is normal, all the speed limit information lists are searched for within a search distance range in the advancing direction of the train starting from the current position of the train. 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 a speed limit information list in the advancing direction of the train.
Preferably, in the above step S3, when a switch is searched, the search is continued along both branches of the switch until the boundary of the search distance range is searched. Because of the existence of the turnout on the track, the speed limit information may need to be searched along different paths in practice when searching along the track, so that the requirement that the actual searching range reaches the searching distance can be ensured, and the searched strictest speed limit value can meet the requirement of safe driving of the train to the greatest extent. For example, in the case that the train positioning information is normal, only searching along one direction of the track is required, if one switch is encountered, there are two searching paths for one switch, there are 2 speed limit information lists, and so on, there are 2n speed limit information lists for n switches. In addition, in the case of loss of train positioning information, bidirectional searching is required along two directions of the track, if there are m switches in the other direction, there are 2m speed limit information lists in the other direction, and the total number of speed limit information lists in this case is 2n+2m.
In addition, the speed limit information list in the database in step S3 includes a speed limit information list in the vehicle-mounted electronic map and a speed limit information list received by the train from the trackside equipment. For example, if communication between the train and the trackside equipment fails, an on-board electronic map may be used; if normal communication can be carried out between the train and the trackside equipment, the train can also receive some speed limiting information from the trackside equipment, so that the strictest speed limiting value can be obtained by combining the speed limiting 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 greatest extent.
The railway transportation further comprises a common 0-speed limiting area for stopping the train such as a platform, when the train is in a manual driving limiting mode, a driver drives the train, and the driver can connect the platform or judge that the train is not required to stop in the 0-speed limiting area on the premise of meeting safety regulations. Preferably, the dynamic speed limiting method provided in this embodiment further includes: transmitting the information of the 0-speed limited area within the searching distance range to notification equipment of a train cab so as to enable a driver to select whether to filter the information; if the driver receives the instruction of selecting and filtering the 0-speed limit area information, the 0-speed limit area information is not considered when searching all the speed limit information lists in the searching distance range by taking the current position as a starting point in the database for step S3. The train will then normally find the most stringent speed limit and send to the notification device of the train cab.
Preferably, the speed limiting method of the train provided in the embodiment further includes: when receiving the command of the driver to switch the dynamic speed limiting mode to the fixed speed limiting mode, if the actual running speed of the train is greater than the fixed speed limiting mode, sending a prompt message of invalid switching to the notification equipment of the train cab. And automatically entering a fixed speed limit mode when the train just degrades to limit the manual driving mode, and sending a prompt message of whether to select the dynamic speed limit mode to a notification device of the train cab.
Therefore, the method for sending the prompt message can remind the driver to select the dynamic speed limiting mode so as to improve the running efficiency of the train in the manual driving limiting mode. In addition, the human-computer interface of the train cab can also display a fixed speed limiting mode and a dynamic speed limiting mode, and a driver can directly select through touch control. When the train is in a parking state in a fixed speed limiting mode or normally runs at an actual running speed smaller than the fixed speed limiting speed, a driver can select to switch to a dynamic speed limiting mode; if the train is currently in the dynamic speed limiting mode, 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 smaller than the fixed speed limiting mode, otherwise, the switching is invalid.
It should be noted that, the dynamic speed limiting system of the train described in the following second aspect 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 with reference to the foregoing embodiment of the dynamic speed limiting method, and the same contents will not be described in detail.
In a second aspect, in an embodiment of the dynamic speed limiting system for a 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 transmitting module 5, and a control module 6.
The positioning module 1 may be configured to execute step S1 in the above 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 limiting mode in the manual driving limiting mode. The calculation module 2 may be configured to perform step S2 in the above-described 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 search module 3 may be configured to perform step S3 in the above-described method embodiment, that is, the search module 3 is configured to search the database for all the speed limit information lists within the search distance range with the current location as the starting point, and obtain the most strict speed limit information list. The generating module 4 may be configured to perform step S4 in the above-described method embodiment, that is, the generating module 4 may be configured to generate, according to the=strictest speed limit information list, a strictest speed limit value at which the train can safely run at the current location. The sending module 5 may be used to perform step S5 in the above-described method embodiment, i.e. the sending module 5 is used to send the most stringent speed limit value to the notification device of the train cab. The control module 6 may be configured to perform step S6 in the above-described method embodiment, where the control module 6 is configured to control the emergency braking of the train to reduce the actual running speed of the train below the strictest speed limit value when the actual running speed of the train is greater than the strictest speed limit value.
In a preferred implementation manner of the dynamic speed limiting system of the train provided by 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 positioning information of the train is normal; the selection module 102 is configured to automatically select at least one of an acquisition mode of a current position of the train, a calculation method of a search distance, and a mode of searching a speed limit information list according to a determination result.
In a preferred implementation manner of the dynamic speed limiting system for a train provided in this embodiment, if the positioning information of the train is lost, the searching module 3 is further configured to search all the speed limiting information lists in a range of search distances along the front and rear directions of the track with the current position of the train as a starting point. If the train positioning information is normal, the searching module 3 is further used for searching all speed limit information lists in a 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 for a switch, the search is continued along both branches of the switch until the boundary of the search distance range is searched.
In a preferred implementation manner of the dynamic speed limiting system for a train provided in this embodiment, if the positioning information of the train is normal, the calculation module 2 calculates the search distance according to the following formula:
S＝S EB +S config
In a preferred implementation manner of the dynamic speed limiting system for a train provided in this embodiment, if positioning information of the train is lost, the calculation module 2 calculates the search distance according to the following formula:
S＝S add +S EB +S config
wherein S is EB An emergency braking distance determined according to the maximum running speed of the train; s is S config Additional search distance configured for the operator; s is S add Communication delay time of auxiliary positioning device =maximum travel speed of train + positioning accuracy.
In a preferred implementation manner of the dynamic speed limiting system of the 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 of the train provided in this embodiment, the sending module 5 is further configured to send the information of the 0-speed limited area within the search distance range to the notification device of the cab of the train, so that the driver can choose whether to filter the information. And, the dynamic speed limiting system further 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 for the driver to select to filter the 0-speed limit area information, the searching module 3 searches the database for all the speed limit information lists within the search distance range with the current position as the starting point, without considering the 0-speed limit area information.
In a preferred implementation manner of the dynamic speed limiting system of the train provided in this embodiment, when receiving an instruction from the driver to switch the dynamic speed limiting mode to the fixed speed limiting mode, if the actual running speed of the train is greater than the fixed speed limit, the sending module 5 may further send a notification message indicating that the switching is invalid to the notification device of the cab of the train. And automatically entering a fixed speed limit mode when the train just degrades to limit the manual driving mode, the sending module 5 can also send a prompt message of whether to select the dynamic speed limit mode to a notification device of the train cab.
It should be noted that not all the steps and modules in the above flowcharts and the system configuration diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented jointly by some components in multiple independent devices.
In a third aspect, the invention also provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the dynamic speed limiting method of the train of the first aspect above.
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 providing 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 by a communications network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented 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.
Further, it is understood that the computer instructions read out by the storage medium are written 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 the CPU or the like mounted on the expansion board or the expansion unit is caused to perform part or all of the actual operations based on the instructions of the computer instructions, thereby realizing the functions of any of the above embodiments.
In the above embodiments, the hardware unit may be mechanically or electrically implemented. For example, a hardware unit may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware unit may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The particular 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, a dynamic speed limiting system and a storage medium for a train. The invention 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 strictest speed limit value in the searching distance range by taking the current position of the train as the starting point in the database. Since the emergency braking distance corresponding to the maximum running speed of the train is taken into consideration, the requirements of all speed limit information can be satisfied by emergency braking when the actual running speed of the train is higher than the strictest speed limit value, so that the safe running of the train can be reliably ensured. And since the most stringent speed limit value is generally large relative to the fixed limit speed of the train, it is possible to allow the driver to drive the train at a faster speed. Thus, compared with the traditional fixed speed limiting method, the dynamic speed limiting method of the embodiment can improve the running efficiency of the train in the manual driving limiting mode.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (12)
1. A dynamic speed limiting method for a train, comprising:
when the train is in a dynamic speed limiting mode under a manual driving limiting mode, acquiring (S1) the current position of the train;
calculating (S2) a search distance of a speed limit information list based on an emergency braking distance corresponding to the maximum running 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 continuing searching along two branches of a turnout when the turnout is searched until the boundary of the searching distance range is searched, and obtaining the strictest speed limit information list; if the train positioning information is lost, searching all speed limit information lists in the range of the searching distance along the front and rear directions of the track by taking the current position of the train as a starting point;
generating (S4) a strictest speed limit value of the train which can safely run at the current position according to the strictest speed limit information list;
A notification device that sends (S5) the most stringent speed limit value to 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 to reduce the actual running speed of the train to be less than the strictest speed limit value.
2. The dynamic speed limiting method according to claim 1, characterized in that the step of searching (S3) a database for all speed limiting information lists within the search distance range starting from the current location further comprises:
and 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.
3. The dynamic speed limiting method according to claim 1, wherein the step of calculating (S2) 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＝S EB +S config
if the positioning information of the train is lost, calculating the searching distance according to the following formula:
S＝S add +S EB +S config
wherein S is EB An emergency braking distance determined according to the maximum running speed of the train; s is S config Additional search distance configured for the operator; s is S add Communication delay time of auxiliary positioning device =maximum travel speed of train + positioning accuracy.
4. The dynamic speed limiting method according to claim 1, further comprising:
when receiving an instruction of a driver to switch the dynamic speed limiting mode into the fixed speed limiting mode, if the actual running speed of the train is greater than the fixed speed limiting mode, sending a prompt message of invalid switching to notification equipment of a train cab; and/or the number of the groups of groups,
and when the train is just degraded to limit the manual driving mode, automatically entering a fixed speed limiting mode, and sending a prompt message of whether the dynamic speed limiting mode is selected or not to a notification device of a train cab.
5. The dynamic speed limiting method according to claim 1, further comprising: transmitting the information of the 0-speed limited area within the searching distance range to notification equipment of a train cab so as to enable a driver to select whether to filter the information;
if the driver receives an instruction for selecting and filtering the 0-speed limit area information, 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 not considering the 0-speed limit area information.
6. The dynamic speed limiting method according to claim 1, characterized in that, when the train is in the dynamic speed limiting mode in the manual driving limiting mode, the step of acquiring (S1) the current position of the train further comprises:
judging whether the positioning information of the train is normal or not; the method comprises the steps of,
and automatically selecting at least one of the acquisition mode of the current position of the train, the calculation method of the search distance and the mode of searching the speed limit information list according to the judgment result.
7. The dynamic speed limiting method according to claim 1, wherein the step of obtaining (S1) the current position 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 by the train; and/or the number of the groups of groups,
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 limiting 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 in a manual driving limiting mode;
a calculation module (2) for calculating a search distance of the speed limit information list based on an emergency braking distance corresponding to a maximum traveling 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 when the searching module (3) searches to a turnout, the searching module continues searching along two branches of the turnout until the searching to the boundary of the searching distance range and the strictest speed limit information list is obtained; if the train positioning information is lost, the searching module (3) searches all speed limiting information lists in the range of the searching distance along the front and rear directions of the track by taking the current position of the train as a starting point;
the generation module (4) is used for generating the strictest speed limit value of the train which can safely run at the current position according to the strictest speed limit information list;
a transmission module (5) for transmitting the most stringent speed limit value to a notification device of a train cab;
and the control module (6) is used for controlling the train to be braked emergently when the actual running speed of the train is larger 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 limiting system of claim 8, wherein:
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; and/or the number of the groups of groups,
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 by the train; and 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 limiting system according to claim 8, wherein the transmitting module (4) is further configured to transmit the 0-speed limit area information within the search distance range to a notification device of a train cab for a driver to select whether to filter it; the method comprises the steps of,
the speed limiting system further comprises an instruction receiving module (103), wherein the instruction receiving module (103) is used for receiving a selection result of whether a driver filters the 0-speed limiting area information;
if the command receiving module (103) receives a command of selecting and filtering the 0-speed limit area information from a driver, the searching module (3) searches all speed limit information lists in the searching distance range by taking the current position as a starting point in a database without considering the 0-speed limit area information.
11. The dynamic speed limiting system of claim 8, further comprising:
a judging module (101) for judging whether the positioning information of the train is normal;
and the selection module (102) is used for automatically selecting at least one of the acquisition mode of the current position of the train, the calculation method of the search distance and the 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 perform the dynamic speed limiting method of a train of any one of claims 1 to 7.
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