CN116946220B - Manual auxiliary driving method and device - Google Patents
Manual auxiliary driving method and device Download PDFInfo
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- CN116946220B CN116946220B CN202311204425.XA CN202311204425A CN116946220B CN 116946220 B CN116946220 B CN 116946220B CN 202311204425 A CN202311204425 A CN 202311204425A CN 116946220 B CN116946220 B CN 116946220B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a manual auxiliary driving method and a manual auxiliary driving device, relates to the technical field of urban rail transit, and mainly aims to reduce the cost of staff guiding drivers to perform manual driving. The main technical scheme of the invention is as follows: in a manual driving state, acquiring corresponding standard driving parameters according to the current position of a target train; judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range or not; if the magnitude exceeds the first threshold range, generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude exceeding the first threshold range; if the deviation value exceeds the first threshold range, generating operation prompt information corresponding to the level of the first threshold range according to the magnitude exceeding the first threshold range when the deviation value exceeds the second threshold range after the preset time.
Description
Technical Field
The invention relates to the technical field of urban rail transit, in particular to a manual auxiliary driving method and device.
Background
Currently, subway trains are classified into two types of subway trains, namely an automatic driving subway train and a manual driving subway train. In the running process of the subway train, the automatic driving subway train can run automatically according to the preset running speed, a driver is not required to manually control the speed of the subway train, and the manual driving subway train is required to control the speed of the subway train according to the driving experience of the driver.
For new drivers who are on duty or drivers with less driving age, because the subway train cannot be driven skillfully, a driver with long driving age usually takes a teacher as a guide to drive the subway train during driving. In the driving process, a teacher prompts a driver to perform operations such as acceleration, deceleration and the like so as to reduce bad operations such as overspeed, sudden braking and the like in the driving process.
However, the new way of the old belt causes the problem of high personnel cost, so how to reduce the personnel cost for guiding the driver to drive the subway train is a problem to be solved in the field.
Disclosure of Invention
In view of the above problems, the present invention provides a manual driving assistance method and device, and is mainly aimed at reducing the cost of guiding the driver to perform manual driving.
In order to achieve the above purpose, the present invention mainly provides the following technical solutions:
in a first aspect, the present invention provides a manual assistance driving method, including:
in a manual driving state, acquiring corresponding standard driving parameters according to the current position of a target train;
judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range or not;
If the magnitude exceeds the first threshold range, generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude exceeding the first threshold range;
if the deviation value exceeds the first threshold range, generating operation prompt information corresponding to the level of the first threshold range according to the magnitude exceeding the first threshold range when the deviation value exceeds the first threshold range after the preset time.
In a second aspect, the present invention provides a manual assistance driving apparatus, the apparatus comprising:
the acquisition unit is used for acquiring corresponding standard running parameters according to the current position of the target train in a manual driving state;
the judging unit is used for judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range;
the first generation unit is used for generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude of the magnitude exceeding the first threshold range if the magnitude exceeds the first threshold range;
and the second generation unit is used for generating operation prompt information corresponding to the level of the second threshold range according to the magnitude exceeding the second threshold range when the deviation value exceeds the second threshold range and the deviation value after the preset time exceeds the first threshold range if the deviation value does not exceed the second threshold range, wherein the second threshold range is included in the first threshold range.
On the other hand, the invention also provides a processor, which is used for running a program, wherein the program runs to execute the manual auxiliary driving method in the first aspect.
In another aspect, the present invention further provides a storage medium, where the storage medium is configured to store a computer program, where the computer program controls a device where the storage medium is located to execute the manual driving assistance method of the first aspect when running.
By means of the technical scheme, the manual auxiliary driving method and device provided by the invention can prompt the driver to drive correctly when the driver does not drive the subway train correctly. According to the method, when a target train is in a manual driving state, a standard driving parameter corresponding to the current position is obtained according to the current position of the target train, a real-time driving parameter is obtained, the real-time driving parameter is compared with the standard driving parameter, whether the deviation value of the real-time driving parameter and the standard driving parameter exceeds a first threshold range is judged, if the deviation value exceeds the first threshold range, the magnitude exceeding the first threshold range is judged, operation prompt information corresponding to the magnitude exceeding the first threshold range is generated according to the magnitude exceeding the first threshold range, if the magnitude exceeding the first threshold range is not exceeded, a second threshold range is exceeded at the deviation value, and when the deviation value after preset time exceeds the first threshold range, operation prompt information corresponding to the magnitude exceeding the second threshold range is generated according to the magnitude exceeding the second threshold range, and the second threshold range is included in the first threshold range. The method and the device achieve the purpose of prompting the driver to execute correct driving operation by using the operation prompt information. According to the method and the device, a new driver does not need to be manually guided to manually drive the subway train, and the personnel cost of guiding the driver is reduced.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 shows a flowchart of a manual driving assistance method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method of manually assisted driving according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for determining whether a deviation value exceeds a first threshold range according to an embodiment of the present invention;
fig. 4 shows a schematic structural diagram of a manual driving assistance device according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of another manual driving assistance device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Currently, the subway trains operated in China are divided into manual driving subway trains and automatic driving subway trains, wherein the automatic driving subway trains have two operation modes, namely an automatic driving operation mode and a manual driving operation mode, and under normal conditions, the automatic driving subway trains can run in the automatic driving operation mode. Since the driver drives the subway train in the automatic driving operation mode for a long time, the proficiency of the driver for manual driving operation is reduced, and in order to consolidate the proficiency of the driver for manual driving of the subway train, sometimes, in off-peak hours, the driver switches the driving mode of the automatic driving of the subway train from automatic driving to manual driving for driving. In addition, due to the consideration of driving safety, when a new person drives a subway train manually, a teacher accompanies the whole course to guide the new person to drive the subway train correctly, and the old person brings a new mode to cause the problem of high personnel cost. Therefore, the inventor has found that it is highly desirable to guide a driver to correctly and manually drive a subway train in an intelligent manner, whether the subway train is driven manually or automatically.
Therefore, when the target train is in a manual driving state, according to the current position of the target train, acquiring a standard driving parameter corresponding to the current position, then acquiring a current real-time driving parameter, comparing the real-time driving parameter with the standard driving parameter, judging whether the deviation value of the real-time driving parameter and the standard driving parameter exceeds a threshold range, judging the magnitude exceeding the first threshold range if the deviation value exceeds the first threshold range, generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude exceeding the first threshold range, and if the magnitude does not exceed the first threshold range, generating operation prompt information corresponding to the magnitude of the second threshold range according to the magnitude exceeding the second threshold range when the deviation value exceeds the second threshold range and the deviation value after the preset time exceeds the first threshold range, wherein the second threshold range is included in the first threshold range. The method and the device achieve the purpose of prompting the driver to execute correct driving operation by using the operation prompt information. In the running process of the subway train, the running condition of the target train is judged, and when a driver does not drive the subway train correctly, the driver is prompted to drive correctly. The method reduces the personnel cost for guiding the driver to manually drive the subway train. The specific implementation steps of the embodiment of the invention are shown in fig. 1, and include:
101. And in the manual driving state, acquiring corresponding standard driving parameters according to the current position of the target train.
The manual driving state is a driving state of a manual driving subway train or a driving state of an automatic driving subway train in a manual driving mode. The standard running parameter is an optimal running parameter corresponding to each position of the subway rail during running of the subway train. The standard driving parameters may include standard speed, standard acceleration, standard time, standard light conditions, etc. The method and the system have the advantages that a group of standard running parameters corresponding to each position on the subway rail are stored in advance, and the group of standard running parameters indicate the optimal speed, acceleration, train light conditions and the like of subway train running at the position. The standard driving parameters in the application can be consistent with the running parameters of the automatic driving train, and can be set individually according to different drivers. In addition, the standard running parameters can be stored in the target train in advance or in the cloud, and the storage position of the standard running parameters is not particularly limited in the application. It should be noted that the target trains in the application are all target subway trains.
In the step, when the target train is in a manual driving state, the current position of the target train is acquired, and the pre-stored standard running parameters corresponding to the current position are acquired according to the current position. The method and the device take the standard driving parameters as the reference to judge whether the driver drives the subway train correctly.
102. And judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range.
The deviation value may be a value by which the real-time running parameter deviates from the standard running parameter.
In this step, the real-time running parameter of the target train is obtained, the real-time running parameter is compared with the standard running parameter to obtain a deviation value, and it is determined whether the deviation value exceeds the first threshold range, if yes, the step 103 is executed, and if no, the step 104 is executed. Generally, the sections of a subway rail are divided into inter-station sections, i.e., sections between one subway station and another adjacent subway station, and intra-station sections, i.e., subway station interior sections. The present application may use different driving parameters for different subway sections. For example, when a target train is traveling in an inter-station zone after the target train is out of the station, the target train traveling speed does not normally change frequently, and frequent acceleration and deceleration operations by a driver are not required, so that whether the driver drives the target train correctly can be determined by using the standard speed. When the target train runs and the station is in the section, a driver is required to perform deceleration operation in the process of entering the target train, and is required to perform acceleration operation in the process of exiting the target train, so that whether the driver drives the target train correctly or not can be judged by using standard acceleration.
When the target train is in the inter-station section, the current actual speed of the target train and the current standard speed corresponding to the current position of the target train are obtained, the difference value between the current actual speed and the current standard speed is calculated, a deviation value of the current actual speed from the standard speed is obtained, whether the deviation value exceeds a first threshold range is judged, if the deviation value exceeds the first threshold range, a driver is considered to not drive the target train correctly, the driver needs to be prompted to drive correctly, and if the deviation value does not exceed the first threshold range, whether the deviation value after a preset time period still exceeds the first threshold range needs to be further judged.
When the target train is in the station section, whether the target train is in a station state is judged according to the head position of the target train, if so, the current actual speed of the target train and the standard speed corresponding to the current position of the target train are obtained, the difference value between the current actual speed and the standard speed is calculated, a deviation value of the current actual speed from the standard speed is obtained, and whether the deviation exceeds a speed first threshold range is judged. It should be noted that, the standard speed corresponding to the current position is calculated by a preset configurable standard acceleration, and in the embodiment of the application, the speed curve calculated according to a plurality of current standard speeds is matched with the entering and exiting processes, that is, the speed curve can show that the speed gradually decreases in the entering process and the speed gradually increases in the exiting process. In addition, the acceleration of the target train during deceleration is negative.
103. And generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude exceeding the first threshold range.
The operation prompt information is information for prompting a driver to drive correctly, and the operation prompt information triggers an alarm corresponding to the operation prompt information based on the operation prompt information. In addition, the magnitude of the threshold range can be configured according to the actual application scene, for example, the specific range of the threshold range is assumed to be-1 which is less than or equal to 1, the magnitude can be configured into three levels, namely a common level, an importance level and a severe level, and the specific range of each magnitude can be the common level range: -2 is less than or equal to the common level range < -1, and 1 is less than or equal to 2; importance range: -3 is less than or equal to importance range < -2,2 is less than or equal to importance range 3; the severity scale is: severity level range < -3,3< severity level range. The corresponding operation prompt information is also classified into three grades of a common grade, an important grade and a serious grade. The normal-level operation prompt information can trigger an image flickering alarm, and the image flickering alarm specifically comprises a dynamic speed code pointer which can be flickering on a display screen of a target train. The dynamic speed code pointer indicates the current optimal speed on the vehicle speed dial plate of the display screen in real time based on the standard speed, and when the deviation value is judged to be in the normal level range by the method, the dynamic speed code pointer can flash so as to prompt a driver to drive correctly. The important level operation prompt information can trigger the sound alarm, and the severe level operation prompt information can trigger the sound alarm and the image flashing alarm at the same time.
The magnitude of the first threshold range includes a normal level and an important level, wherein operation prompt information of the normal level is used for displaying text alarm information to a driver on a target train display screen, and operation prompt information of the important level is used for flashing an alarm image on the target train display screen.
The magnitude of the first threshold range includes a common level and an important level, the operation prompt information of the common level is used for displaying text alarm information to a driver on a target train display screen, and after a preset time, displaying the text alarm information is stopped. The operation prompt information of the importance level is used for flashing an alarm image on the target train display screen, and triggering an audible alarm to prompt the driver to perform alarm feedback operation if alarm feedback of the driver is not received within preset time.
104. And when the deviation value exceeds the second threshold range and the deviation value after the preset time exceeds the first threshold range, generating operation prompt information corresponding to the level of the second threshold range according to the magnitude exceeding the second threshold range.
Wherein the second threshold range is included in the first threshold range.
In this step, when the deviation value exceeds the first threshold range, it is further determined whether the deviation value after the preset time exceeds the first threshold range, and if the deviation value after the preset time is calculated to exceed the first threshold range, the operation prompt information corresponding to the level of the second threshold range is generated according to the magnitude exceeding the second threshold range. According to the method and the device, under the condition that the current running state is judged to be in the safe running state, whether the subway train is still in the safe running state in the future time period can be judged in advance, if the potential safety running hazard possibly exists in the future time period is judged in advance, the driver is correspondingly reminded of timely adjusting the driving behavior according to the magnitude exceeding the second threshold range, and the subway train is prevented from deviating from the safe running state after the preset time.
According to the method and the device, the current standard running parameters and the real-time running parameters are obtained in real time by using the current position of the target train, the current standard running parameters and the real-time running parameters are used for real-time judgment in the whole running process of the target train, the running condition of the target train is monitored in the whole process, and the monitoring and guidance of the whole driving process of a driver are realized. Secondly, the subway section is divided into the inter-station section and the intra-station section, the driving parameters are selected by utilizing different characteristics of each section, whether the driver drives correctly or not is judged by utilizing standard speed in the inter-station section, whether the driver drives correctly or not is judged by utilizing standard acceleration in the intra-station section, and the important driving parameters of each section are used as basis in the embodiment of the application, so that the driver is guided to drive correctly. In addition, the embodiment of the application classifies the exceeding of the threshold range, and under the condition of smaller exceeding of the threshold range, the weaker alarm prompt is triggered, and under the condition of larger exceeding of the threshold range, the stronger alarm prompt is triggered, so that a driver can quickly and intuitively feel the degree of the current driving error, and the user experience is improved.
In order to describe in more detail a manual driving assistance method according to the present invention, another embodiment of the manual driving assistance method is provided, and specific implementation steps of the embodiment of the present invention are shown in fig. 2, including:
201. and configuring a preset multiple of the first threshold range and corresponding operation prompt information of each level.
In this step, a plurality of multiples may be preset, each multiple corresponds to an order, and each order is configured with an operation prompt message. In the embodiment of the present application, only one multiple may be configured, and the quantity is divided into two levels of normal level and importance level by using the multiple as a dividing line. For example, the preset multiple of the first threshold range is configured to be 2 times, the first threshold range exceeding the first threshold range and not exceeding 2 times is determined as the normal level, and the first threshold range exceeding 2 times is determined as the importance level. Namely, when the deviation value is judged to be beyond the first threshold range but not beyond the first threshold range which is 2 times, generating operation prompt information of a common level; and when the deviation value exceeds the first threshold range by 2 times, generating the operation prompt information of the importance level. The operation prompt information of the common level is configured to trigger the image flashing alarm, and the operation prompt information of the important level is configured to trigger the sound alarm.
202. And acquiring corresponding standard running parameters according to the current position of the target train.
The execution of this step is the same as step 101 in the embodiment shown in fig. 1, and the detailed description thereof will not be repeated.
203. And judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range.
The standard driving parameters comprise standard speed and parking position of the target train head. The standard speed is the optimal speed of the current position of the target train, and the standard speed can be the speed of the current position of the target train in an automatic driving state. The real-time running parameters comprise the current actual speed of the target train and the current position of the head of the target train.
In the step, the current position of the target train is judged, if the target train is in a section between stations, the deviation value is determined by using the standard speed and the current actual speed, and if the target train is in a section in stations and the head position of the target train exceeds the parking position of the head of the target train, the deviation value is determined by using the current position of the head of the target train and the parking position of the head of the target train. And comparing the determined deviation value with a first threshold range, if the deviation value does not exceed the first threshold range, executing step 204, and if the deviation value exceeds the first threshold range, executing step 205.
As shown in fig. 3, when the target train is in the inter-station section, the specific implementation steps for determining whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds the first threshold range are as follows:
2031. a current speed difference between the standard speed and the current actual speed is calculated.
In the step, the standard speed is selected as the standard running parameter, the current actual speed of the target train is the real-time running parameter, and the difference between the standard speed and the current actual speed is calculated to obtain the current speed difference. The current speed difference is compared with the first speed threshold range in step 2032, and whether the deviation value exceeds the threshold range is preliminarily judged. The first speed threshold range is a wider speed threshold range, and if the current speed difference value is judged to exceed the first speed threshold range, the current actual speed is obviously deviated from the standard speed, and the deviation value can be directly confirmed to exceed the first threshold range.
2032. It is determined whether the current speed difference exceeds a first speed threshold range.
Wherein the first speed threshold range is a wider speed threshold range than the second speed threshold range in step 2034, i.e., the second speed threshold range is included in the first speed threshold range. It should be noted that, in the embodiment of the present application, each position on the subway track corresponds to a first speed threshold range and a second speed threshold range, and according to the current position of the target train, the first speed threshold range and the second speed threshold range corresponding to the same position on the subway track as the current position of the target train are found.
In this step, it is determined whether the current speed difference exceeds the first speed threshold range, if yes, step 2033 is executed, and if not, step 2034 is executed.
2033. The deviation value is confirmed to be outside of the first threshold range.
In this step, if the deviation value exceeds the first threshold range, the driver is prompted to perform correct driving.
2034. And judging whether the current speed difference value exceeds a second speed threshold range.
In this step, if the current speed difference value does not exceed the first speed threshold range, it indicates that the current actual speed does not deviate from the standard speed obviously, but it still cannot be ensured whether the actual speed deviates from the standard speed obviously after several seconds, so in order to improve the guiding standard, the speed is predicted according to the embodiment of the present application, and even if the current speed does not deviate from the standard speed obviously, the speed of the target train does not deviate from the standard speed obviously after the preset time is predicted. The preset time may be a reaction time of the human operation driving. And judging whether the current speed difference value exceeds a second speed threshold range, if not, executing 2035, and if so, executing 2036.
2035. The deviation value is confirmed not to exceed the first threshold range.
In the step, if the deviation value is confirmed not to exceed the first threshold range, the fact that the driving operation of the driver is correct at present is indicated, and the driver is not required to be prompted.
2036. And judging whether the speed difference value after the preset time exceeds a first speed threshold range.
The preset time is usually in seconds, and may be a reaction time of the driver operating the driver. The speed difference after the preset time refers to the difference between the speed after the preset time estimated according to the current time speed and the current acceleration and the standard speed of the time. The method and the device are used for pre-judging whether the speed exceeds the first speed threshold range after a few seconds, and if so, alarming is needed in time so as to prevent the actual speed from deviating from the standard speed obviously after a few seconds in advance.
In this step, it is determined whether the speed difference value after the preset time exceeds the first speed threshold range, if yes, step 2037 is executed, and if not, step 2038 is executed.
It should be noted that, the first speed threshold range in this step is a first speed threshold range corresponding to the current position, however, the present application may also determine whether the speed difference value after the preset time exceeds the first speed threshold range corresponding to the position after the preset time, and the specific implementation manner is similar to the embodiment of the present application, and will not be repeated herein.
2037. The deviation value is confirmed to be outside of the first threshold range.
In this step, if the deviation value exceeds the first threshold range, the driver is prompted to perform correct driving.
2038. The deviation value is confirmed not to exceed the first threshold range.
In the step, if the deviation value is confirmed not to exceed the first threshold range, the fact that the driving operation of the driver is correct at present is indicated, and the driver is not required to be prompted.
According to the steps shown in the above figure 3, in the embodiment of the application, whether the current actual speed deviates from the standard speed obviously is judged, whether the speed of the target train deviates from the standard speed obviously after a few seconds is also pre-judged, and the driver is accurately prompted to perform correct speed operation through double judgment.
When the target train is in the inter-station section and the current position of the head of the target train exceeds the stopping position of the head of the target train, the specific implementation steps for judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds the threshold range are as follows:
step one, calculating a distance difference value between the current position of the vehicle head and the parking position.
In this step, when the target train is parked, it is necessary to determine whether the driver is correctly parked. When the current position of the headstock exceeds the parking position of the headstock, calculating a distance difference value between the current position of the headstock and the parking position, and if the distance difference value exceeds a distance threshold range, indicating that a driver does not park correctly, and prompting the driver by alarming.
And step two, judging whether the distance difference value exceeds a distance threshold range.
The distance threshold range can be set by referring to the retrogressive distance of the subway train.
In the step, whether the distance difference value exceeds the distance threshold range is judged, if yes, the step three is executed, and if not, the step four is executed.
And thirdly, confirming that the deviation value exceeds the first threshold range.
In this step, if the deviation value exceeds the first threshold range, the driver is prompted to perform correct driving.
And step four, confirming that the deviation value does not exceed the first threshold range.
In the step, if the deviation value is confirmed not to exceed the first threshold range, the fact that the driving operation of the driver is correct at present is indicated, and the driver is not required to be prompted.
When the target train is an automatic subway train, if the deviation value exceeds the limit distance threshold, the manual driving mode can be directly switched to the automatic driving mode so as to realize forced emergency stop. The limit distance threshold is the maximum distance that the train can back.
According to the embodiment of the application, in the subway train stopping process, the real-time driving parameter is selected as the current position of the target train head, the standard driving parameter is selected as the stopping position of the target train head, the distance difference value of the real-time driving parameter and the standard driving parameter is compared, and once the distance difference value exceeds the distance threshold range, a driver can be prompted to stop correctly.
204. The deviation value is confirmed not to exceed the first threshold range.
In the step, if the deviation value is confirmed not to exceed the first threshold range, the fact that the driving operation of the driver is correct at present is indicated, and the driver is not required to be prompted.
205. And generating operation prompt information of a corresponding magnitude according to the magnitude exceeding the first threshold range.
The quantity is divided into a common level, an important level and a severe level, and the corresponding operation prompt information comprises operation prompt information of the common level, operation prompt information of the important level and operation prompt information of the severe level.
In this step, when the deviation value is confirmed to be out of the first threshold range, it is necessary to continue confirming the magnitude of the deviation value out of the first threshold range, for example, the deviation value is out of the threshold range but not out of the threshold range 1.5 times, at this time, it is determined that the error driving operation degree of the driver is low, and the operation prompt information of the normal level is generated.
In one implementation, when the deviation value does not exceed a preset multiple of the first threshold range, generating operation prompt information of a common level; when the deviation value exceeds a preset multiple of the first threshold range, generating operation prompt information of an important level; and when the deviation value continuously exceeds the preset multiple of the threshold value range in the preset time, generating severe-level operation prompt information.
In the embodiment of the application, when the operation prompt information is displayed, the operation prompt information of a common level is displayed according to the preset time; and displaying the operation prompt information of the importance level according to the feedback operation ending information of the driver, and displaying the operation prompt information of the severity level according to the deviation value until the operation prompt information of the severity level is reduced to a preset threshold ending information.
According to the embodiment of the application, the grades are effectively classified by utilizing the preset times and the preset time, and the degree of the deviation value exceeding the first threshold range is accurately measured by utilizing the preset times of the threshold range.
206. Based on the operation prompt information, triggering an alarm of a corresponding grade.
In the step, the level of the operation prompt information is judged according to the received operation prompt information, and an alarm corresponding to the level is triggered based on the level.
In one implementation, the normal level operation prompt triggers an image flashing alarm, the important level operation prompt triggers an audio alarm, and the severe level operation prompt triggers both an audio alarm and an image flashing alarm.
207. After the preset time, judging whether the deviation value exceeds a first threshold range.
In this step, when the deviation value exceeds the first threshold range, it may be determined again after the preset time if the deviation value exceeds the first threshold range, and if the deviation value still exceeds the first threshold range, it indicates that the driver does not respond to the alarm prompt by making a correct operation, so that the alarm level needs to be improved, and the driver can conveniently implement a correct driving operation as soon as possible. After the preset time, the step determines whether the deviation value exceeds the first threshold range, if not, step 208 is executed, and if yes, step 209 is executed.
208. And stopping alarming.
In this step, if the deviation value after the preset time does not exceed the first threshold range, it indicates that the driver has corrected the wrong driving operation according to the alert alarm, so that the alarm can be stopped.
209. Generating operation prompt information with the operation prompt information grade higher than that of the operation prompt information.
In the step, if the deviation value after the preset time still exceeds the first threshold range, generating the operation prompt information with the level higher than that of the operation prompt information. It should be noted that, if the current operation prompt information is already at the highest level, it is not necessary to execute this step.
As can be seen from the foregoing embodiments, in the embodiment of the present application, different standard driving parameters and real-time driving parameters are selected by using the current position of the target train, when the target train is in the inter-station section, the deviation value is determined by using the speed, and when the target train needs to stop, the deviation value is determined by using the head position. In addition, according to the magnitude exceeding the threshold range, the embodiment of the application generates operation prompt information of different grades, and the more the deviation value exceeds the first threshold range, the higher the grade is, so that a driver can intuitively judge the degree of the current driving error, and the driver can effectively make response operation conveniently.
When the subway train is driven in the section between bigger stations, corresponding driving speed can be faster, and because the driving speed is too fast, once the driving speed exceeds the standard speed too much, potential safety hazards exist. Specifically, before judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range, judging whether the current actual speed is greater than the first speed; if so, when the difference between the current actual speed and the standard speed is larger than a first speed threshold, adjusting the standard speed according to the current actual speed, and if not, executing the step of judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range. Wherein the first speed is a greater speed of the subway train during travel in the inter-station zone. Once the current time speed exceeds the first speed, the current subway train is considered to be in a high-speed running state. The first speed threshold is included within a first speed threshold range. When judging that the difference between the current actual speed and the standard speed is greater than the first speed threshold, the standard speed can be adjusted according to the current actual speed, namely, the numerical value of the standard speed is updated to be a smaller numerical value, and the larger the current actual speed is, the larger the amplitude of the standard speed adjustment is, so that a driver can be reminded of adjusting driving behaviors in time under the condition of smaller potential safety hazards, and the subway train can be safely driven.
In addition, after judging that the current actual speed is greater than the first speed, the method can not only adjust the standard speed corresponding to the current actual speed so as to reduce the standard speed and realize early warning in advance, but also adjust the standard acceleration, and further ensure that early warning can be performed in time. Specifically, whether the current actual speed is greater than the first speed is judged, if yes, when the difference between the current actual acceleration and the standard acceleration is greater than a first acceleration threshold value, the standard acceleration is adjusted according to the current actual acceleration. The standard acceleration is the optimal acceleration of the current position of the target train. According to the method and the device, the standard speed is adjusted by utilizing the current actual speed, the standard acceleration is adjusted by utilizing the current actual acceleration, so that the overspeed subway train can be early warned in advance according to the adjusted standard speed and standard acceleration when the subway train runs at high speed, and the potential safety hazard in the running process of the subway train is eliminated.
Further, as an implementation of the method embodiments shown in fig. 1-3, the embodiment of the present invention provides a manual driving assistance device, which is used for reducing personnel cost for guiding a driver. The embodiment of the device corresponds to the foregoing method embodiment, and for convenience of reading, details of the foregoing method embodiment are not described one by one in this embodiment, but it should be clear that the device in this embodiment can correspondingly implement all the details of the foregoing method embodiment. As shown in fig. 4, the apparatus includes:
An obtaining unit 41, configured to obtain, in a manual driving state, a corresponding standard running parameter according to a current position of a target train;
a first judging unit 42, configured to judge whether a deviation value between the real-time running parameter of the target train and the standard running parameter acquired by the acquiring unit 41 exceeds a threshold range;
the first generating unit 43 is configured to generate operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude exceeding the first threshold range when the first judging unit 42 judges that the magnitude exceeds the first threshold range.
And a second generating unit 44, configured to generate, when the first determining unit 42 determines that the deviation value exceeds the second threshold range and the deviation value after the preset time exceeds the first threshold range, operation prompt information corresponding to the level of the second threshold range according to the magnitude exceeding the second threshold range, where the second threshold range is included in the first threshold range.
Further, as shown in fig. 5, the standard running parameter is a current standard speed, the current standard speed is an optimal speed of a current position of the target train, the real-time running parameter is a current actual speed of the target train, and the first judging unit 42 includes:
A first calculating module 421, configured to calculate a current speed difference between the standard speed and the current actual speed;
a first determining module 422, configured to determine whether the current speed difference obtained by the first calculating module 421 exceeds a first speed threshold range;
the first confirming module 423 is configured to confirm that the deviation value exceeds the first threshold range when the first judging module 422 judges yes;
and a second confirmation module 424, configured to confirm that the deviation value exceeds a first threshold range when the current actual speed exceeds a second speed threshold range and the speed difference value after the preset time exceeds the first speed threshold range, where the second speed threshold range is included in the first speed threshold range, when the first judgment module 422 judges that the current actual speed exceeds the second speed threshold range.
Further, as shown in fig. 5, the real-time running parameter is a current position of the target train head, the standard running parameter is a stopping position of the target train head, and the first determining unit 42 includes:
a second calculating module 425, configured to calculate a distance difference between the current position of the headstock and the parking position when the current position of the headstock exceeds the parking position;
A second judging module 426, configured to judge whether the distance difference obtained by the second calculating module 425 exceeds the distance threshold range;
a third confirming module 427, configured to confirm that the deviation value exceeds the first threshold range when the second judging module 426 judges yes;
and a fourth confirming module 428, configured to confirm that the deviation value does not exceed the first threshold range when the second judging module 426 judges no.
Further, as shown in fig. 5, the magnitude of the first threshold range is at least divided into a normal level and an important level, and the generating unit 43 includes:
a first generating module 431, configured to generate a normal level operation prompt message when the deviation value does not exceed a preset multiple of the first threshold range;
the second generating module 432 is configured to generate the operation prompt information of the importance level when the deviation value exceeds a preset multiple of the first threshold range.
Further, as shown in fig. 5, when the operation prompt information is displayed, the device further includes:
a first display unit 44, configured to display the operation prompt information of the normal level according to a preset time ending information;
and the second display unit 45 is configured to display the operation prompt information of the importance level according to feedback operation ending information of the driver.
Further, as shown in fig. 5, the apparatus further includes:
the configuration unit 46 is configured to configure a preset multiple of the threshold range and operation prompt information of each level.
Further, as shown in fig. 5, the standard running parameters include a standard speed and a standard acceleration, where the standard speed is an optimal speed of the current position of the target train, and the apparatus further includes:
a second judging unit 47 for judging whether the current actual speed is greater than the first speed;
an adjusting unit 48, configured to adjust the standard speed according to the current actual speed when the difference between the current actual speed and the standard speed is greater than the first speed threshold when the second judging unit 47 judges yes; and/or when the difference between the current actual acceleration and the standard acceleration is greater than a first acceleration threshold value, adjusting the standard acceleration according to the current actual acceleration.
Further, an embodiment of the present invention further provides a processor, where the processor is configured to execute a program, where the program executes the manual driving assistance method described in fig. 1-3.
Further, an embodiment of the present invention further provides a storage medium, where the storage medium is configured to store a computer program, where the computer program controls a device where the storage medium is located to execute the manual driving assistance method described in fig. 1 to 3.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the methods and apparatus described above may be referenced to one another. In addition, the "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent the merits and merits of the embodiments.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
Furthermore, the memory may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), in a computer readable medium, the memory including at least one memory chip.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (9)
1. A method of manually assisting driving, the method comprising:
in a manual driving state, acquiring corresponding standard driving parameters according to the current position of a target train;
judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range or not;
If the magnitude exceeds the first threshold range, generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude exceeding the first threshold range;
if the deviation value exceeds the first threshold range, generating operation prompt information corresponding to the level of the first threshold range according to the magnitude exceeding the first threshold range when the deviation value exceeds the first threshold range after the preset time, wherein the first threshold range is included in the first threshold range;
the standard running parameters comprise standard speed and standard acceleration, the standard speed is the optimal speed of the current position of the target train, the real-time running parameters comprise current actual speed, and before judging whether the deviation value of the real-time running parameters of the target train and the standard running parameters exceeds a first threshold range, the method further comprises:
judging whether the current actual speed is greater than a first speed or not;
if so, when the difference between the current actual speed and the standard speed is greater than a first speed threshold, adjusting the standard speed according to the current actual speed; and/or when the difference between the current actual acceleration and the standard acceleration is greater than a first acceleration threshold value, adjusting the standard acceleration according to the current actual acceleration.
2. The method of claim 1, wherein the real-time travel parameter is a current position of the target train head, the standard travel parameter is a stopping position of the target train head, and determining whether a deviation value of the real-time travel parameter and the standard travel parameter of the target train exceeds a first threshold range comprises:
when the current position of the headstock exceeds the parking position, calculating a distance difference value between the current position of the headstock and the parking position;
judging whether the distance difference value exceeds a distance threshold range or not;
if yes, confirming that the deviation value exceeds a first threshold range;
if not, confirming that the deviation value does not exceed the first threshold range.
3. The method according to any one of claims 1-2, wherein the magnitudes of the first threshold range are at least divided into a normal level and an importance level, and generating operation prompt information corresponding to the magnitudes of the first threshold range according to the magnitudes exceeding the first threshold range comprises:
when the deviation value does not exceed the preset multiple of the first threshold range, generating operation prompt information of a common level;
and when the deviation value exceeds a preset multiple of the first threshold range, generating operation prompt information of the importance level.
4. The method of claim 3, wherein when presenting the operation prompt message, the method further comprises:
displaying the operation prompt information of the common level according to preset time ending information;
and displaying the operation prompt information of the importance level according to the feedback operation ending information of the driver.
5. The method of claim 1, wherein prior to obtaining the corresponding standard travel parameter based on the current location of the target train, the method further comprises:
and configuring preset multiples of a threshold range and operation prompt information of each level.
6. The method of claim 1, wherein after generating the operation prompt message corresponding to the magnitude of the first threshold range based on the magnitude exceeding the first threshold range, the method further comprises:
triggering an alarm of a corresponding grade based on the operation prompt information;
after the preset time, judging whether the deviation value exceeds a first threshold range;
and if the operation prompt information exceeds the operation prompt information, generating operation prompt information with the grade higher than that of the operation prompt information.
7. A manual assistance driving apparatus, characterized in that the apparatus comprises:
the acquisition unit is used for acquiring corresponding standard running parameters according to the current position of the target train in a manual driving state;
The first judging unit is used for judging whether the deviation value of the real-time running parameter and the standard running parameter of the target train exceeds a first threshold range;
the first generation unit is used for generating operation prompt information corresponding to the magnitude of the first threshold range according to the magnitude of the magnitude exceeding the first threshold range if the magnitude exceeds the first threshold range;
the second generation unit is used for generating operation prompt information corresponding to the level of the second threshold range according to the magnitude exceeding the second threshold range when the deviation value exceeds the second threshold range and the deviation value after the preset time exceeds the first threshold range if the deviation value does not exceed the second threshold range, and the second threshold range is included in the first threshold range;
the device comprises a real-time running parameter, a real-time running parameter and a target train, wherein the real-time running parameter comprises a standard speed and a standard acceleration, the standard speed is the optimal speed of the current position of the target train, the real-time running parameter comprises the current actual speed, and the device further comprises:
the second judging unit is used for judging whether the current actual speed is greater than the first speed or not;
the adjusting unit is used for adjusting the standard speed according to the current actual speed when the difference between the current actual speed and the standard speed is larger than a first speed threshold when the second judging unit judges yes; and/or when the difference between the current actual acceleration and the standard acceleration is greater than a first acceleration threshold value, adjusting the standard acceleration according to the current actual acceleration.
8. A processor for running a program, wherein the program when run performs the manual driving assistance method according to any one of claims 1-6.
9. A storage medium for storing a computer program, wherein the computer program when run controls a device in which the storage medium is located to perform the manual driving assistance method according to any one of claims 1-6.
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