CN117734782A - Tracking method and device for train position, electronic equipment and storage medium - Google Patents

Tracking method and device for train position, electronic equipment and storage medium Download PDF

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Publication number
CN117734782A
CN117734782A CN202410094480.6A CN202410094480A CN117734782A CN 117734782 A CN117734782 A CN 117734782A CN 202410094480 A CN202410094480 A CN 202410094480A CN 117734782 A CN117734782 A CN 117734782A
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train
target
running
target train
furthest
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吴正中
张辉
马泉华
邓能文
王晓东
姜子旺
张燕武
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Beijing Urban Construction Intelligent Control Technology Co ltd
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Beijing Urban Construction Intelligent Control Technology Co ltd
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Priority to CN202410094480.6A priority Critical patent/CN117734782A/en
Publication of CN117734782A publication Critical patent/CN117734782A/en
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Abstract

The invention discloses a tracking method and device for train positions, electronic equipment and a storage medium. Wherein the method comprises the following steps: acquiring equipment state information of a physical section through the trackside equipment; determining communication abnormality between the LC and automatic train protection ATP equipment of the target train at the first time, and recording the last position reported by the ATP equipment before the first time; calculating the furthest running position of the target train based on the last position; calculating the running track of the target train by adopting the furthest running position; and tracking the position of the target train according to the running track. The invention solves the technical problem that the position of the train cannot be tracked when the communication between the LC and the ATP equipment of the train is abnormal in the related technology, knows the running position of the train, can topology the front-back relationship of the train, can track the subsequent train, and improves the operation efficiency and interval.

Description

Tracking method and device for train position, electronic equipment and storage medium
Technical Field
The invention relates to the field of rail transit, in particular to a method and a device for tracking a train position, electronic equipment and a storage medium.
Background
In the related art, urban rail transit is a main transportation means for the vast citizens to travel, the basic task of the urban rail transit is to safely, punctual and efficiently transport passengers, and the safe and punctual operation of the urban rail transit is also gradually one of topics concerned by operation managers and the vast citizens.
In the operation process, once the train positioning error is large, the position is inaccurate and lost; or the BTM failure cannot receive the transponder position information, so that two transponders are continuously lost to lose positions, train ATP (train automatic protection, automatic Train Protection) outputs emergency braking, and the train is forced to stop and guide to the safety side.
In the operation process of fully automatic operation of the FAO (fully automatic operation system, fully Automatic Operation), once the position of a train is lost, the system enters a degraded operation RSRM (low-speed recovery) train control mode, and a ground system ZC (zone controller) system carries out train tracking in a manner of continuously occupying non-communication trains. The disadvantage of the technology is that the train tracking can only track one train in a continuous occupation mode of the non-communication train, and when a plurality of trains are in the same axle counting section or on adjacent sections and are simultaneously non-communication trains or RSRM trains, effective tracking and distinguishing cannot be performed, so that the entering RSRM train control failure or train tracking failure is caused.
In view of the above problems in the related art, an effective solution has not been found.
Disclosure of Invention
The invention provides a method and a device for tracking a train position, electronic equipment and a storage medium. According to an aspect of the embodiments of the present application, there is provided a tracking method of a train position, applied to a line controller LC, the method including: determining communication abnormality between an LC and Automatic Train Protection (ATP) equipment of a target train at a first time, and recording the last position reported by the ATP equipment before the first time; calculating the furthest running position of the target train based on the last position; calculating the running track of the target train by adopting the furthest running position; and tracking the position of the target train according to the running track.
Further, calculating the furthest run position of the target train based on the last position includes: calculating the accumulated duration t of the communication abnormality of the target train before determining the second time of the communication interruption between the LC and the target train by taking the first time as the starting time, and obtaining the final speed v of the target train at the final position; calculating the maximum speed of the target train by adopting the accumulated time length t and the final speed v; calculating the furthest running distance of the target train according to the maximum speed; after reaching the second time, calculating a braking distance of the target train according to the maximum speed; and calculating the furthest running position of the target train by adopting the furthest running distance, the braking distance and the final position.
Further, calculating the furthest distance traveled by the target train from the maximum speed comprises: judging whether the maximum speed is greater than the highest speed limit of the target train; if the maximum speed is greater than the highest speed limit of the target train, calculating the furthest running distance S of the target train according to the following formula: s=vt 1 +1/2at 1 2 +Vt 2 The method comprises the steps of carrying out a first treatment on the surface of the The maximum speed is smaller than or equal to the highest speed limit of the target train, and the furthest running distance S of the target train is calculated according to the following formula: s=vt+1/2 at 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is 1 For the time of the target train reaching the maximum speed limit, t 2 ＝t-t 1 V is the highest speed limit.
Further, calculating the accumulated duration t of the communication abnormality of the target train includes: recording the number n of the periods that the LC is abnormal in communication with the ATP equipment currently; calculating the accumulated duration t of the communication abnormality of the target train by adopting the following formula: t=n×tc; where Tc is the run cycle time of the LC and n is the number of cycles.
Further, calculating the moving track of the target train using the farthest moving position includes: judging whether the furthest running position is valid or not; if the furthest running position is effective, determining that the target train enters a low-speed recovery RSRM mode, and acquiring the running speed V1 of the target train in real time according to a period; the cycle distance S of the current cycle is calculated using the following formula: s= ((v1+v2) ×t)/2; wherein V1 is the speed of the current period, V2 is the speed of the previous period, and t is the period duration; updating the real-time position of the target train in the current period based on the furthest running position and the period distance; and calculating and updating the real-time position of the target train according to each cycle to form the running track of the target train.
Further, determining whether the furthest run position is valid comprises: positioning a target axle counting section where the farthest running position is located; acquiring a first occupancy state of trackside equipment of the target axle counting section; if the occupied state of the trackside equipment of the target axle counting section is the occupied state, determining that the target train enters the target axle counting section; if the occupied state of the trackside equipment of the target axle counting section is an unoccupied state, acquiring a second occupied state of a previous adjacent axle counting section of the target axle counting section; and if the second occupied state is an unoccupied state, determining that the furthest running position is valid.
Further, after determining whether the furthest run position is valid, the method further comprises: if the farthest operation position is invalid, positioning a target axle counting section where the farthest operation position is located; and updating the furthest running position by adopting the starting position of the target axle counting section, and determining that the target train is a non-communication train.
According to another aspect of the embodiments of the present application, there is also provided a tracking device for a train position, applied to a line controller LC, the device including: the recording module is used for determining communication abnormality between the LC and the automatic train protection ATP equipment of the target train at the first time and recording the last position reported by the ATP equipment before the first time; a first calculation module for calculating a furthest running position of the target train based on the last position; the second calculation module is used for calculating the running track of the target train by adopting the farthest running position; and the tracking module is used for tracking the position of the target train according to the running track.
Further, the first computing module includes: the processing unit is used for calculating the accumulated duration t of the communication abnormality of the target train before determining the second time of the communication interruption between the LC and the target train by taking the first time as the starting time, and acquiring the final speed v of the target train at the final position; the first calculation unit is used for calculating the maximum speed of the target train by adopting the accumulated time length t and the final speed v; a second calculation unit for calculating the furthest running distance of the target train according to the maximum speed; a third calculation unit for calculating a braking distance of the target train according to the maximum speed after reaching the second time; and a fourth calculation unit for calculating the furthest running position of the target train by using the furthest running distance, the braking distance and the final position.
Further, the second calculation unit includes: the judging subunit is used for judging whether the maximum speed is greater than the highest speed limit of the target train; and the calculating subunit is used for calculating the furthest running distance S of the target train according to the following formula if the maximum speed is greater than the maximum speed of the target train: s=vt 1 +1/2at 1 2 +Vt 2 The method comprises the steps of carrying out a first treatment on the surface of the The maximum speed is smaller than or equal to the highest speed limit of the target train, and the furthest running distance S of the target train is calculated according to the following formula: s=vt+1/2 at 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is 1 For the time of the target train reaching the maximum speed limit, t 2 ＝t-t 1 V is the highest speed limit.
Further, the processing unit includes: a recording subunit, configured to record a number n of periods when the LC is currently in communication abnormality with the ATP device; the calculating subunit is used for calculating the accumulated duration t of the communication abnormality of the target train by adopting the following formula: t=n×tc; where Tc is the run cycle time of the LC and n is the number of cycles.
Further, the second computing module includes: a judging unit for judging whether the furthest running position is valid; the first determining unit is used for determining that the target train enters a low-speed recovery RSRM mode if the farthest running position is valid, and acquiring the running speed V1 of the target train in real time according to a period; a calculating unit for calculating a cycle distance S of the current cycle using the following formula: s= ((v1+v2) ×t)/2; wherein V1 is the speed of the current period, V2 is the speed of the previous period, and t is the period duration; an updating unit for updating the real-time position of the target train in the current period based on the furthest running position and the period distance; and the generating unit is used for calculating and updating the real-time position of the target train according to each cycle to form the running track of the target train.
Further, the judging unit includes: a positioning subunit, configured to position a target axle counting section where the farthest running position is located; an acquisition subunit, configured to acquire a first occupancy state of a trackside device of the target axle counting section; the processing subunit is used for determining that the target train enters the target axle counting section if the occupied state of the trackside equipment of the target axle counting section is an occupied state; if the occupied state of the trackside equipment of the target axle counting section is an unoccupied state, acquiring a second occupied state of a previous adjacent axle counting section of the target axle counting section; and the determining subunit is used for determining that the furthest running position is valid if the second occupied state is an unoccupied state.
Further, the second computing module further includes: the positioning unit is used for positioning the target axle counting section where the farthest running position is located if the farthest running position is invalid after the judging unit judges whether the farthest running position is valid; and the second determining unit is used for updating the furthest running position by adopting the starting position of the target axle counting section and determining that the target train is a non-communication train.
According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program that performs the steps described above when running.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus; wherein: a memory for storing a computer program; and a processor for executing the steps of the method by running a program stored on the memory.
Embodiments of the present application also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the steps of the above method.
According to the invention, communication abnormality between the LC and the automatic train protection ATP equipment of the target train is determined at the first time, and the last position reported by the ATP equipment before the first time is recorded; calculating the furthest running position of the target train based on the last position; calculating the running track of the target train by adopting the furthest running position; the method has the advantages that the position of the target train is tracked according to the running track, the running track of the train is calculated by adopting the furthest running position of the train when communication is abnormal and the effective state of the train, the real-time effective tracking of the train position when communication is abnormal and interrupted is realized, the technical problem that the train position cannot be tracked when the LC and the train ATP equipment are abnormal in the related technology is solved, the running position of the train is known, the front-back relation of the train can be topologically obtained, the tracking of the subsequent train can be realized, and the running efficiency and the interval are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of an LC device according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of tracking train position according to an embodiment of the invention;
FIG. 3 is a schematic illustration of axle segment occupancy in a furthest run position of a train in an embodiment of the invention;
FIG. 4 is a schematic illustration of the idle axle segments in the furthest running position of the train in an embodiment of the invention;
FIG. 5 is a flow chart of the RSRM mode train tracking of the line controller in an embodiment of the present invention;
fig. 6 is a block diagram of a train position tracking device according to an embodiment of the present invention.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
The method embodiment provided in the first embodiment of the present application may be executed in a track controller, an LC device, or a similar computing device. Taking an example of operation on an LC device, fig. 1 is a block diagram of a hardware structure of an LC device according to an embodiment of the present invention. As shown in fig. 1, the LC device may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing means such as a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the LC device described above. For example, the LC device may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 may be used to store LC device programs, such as software programs of application software and modules, such as LC device programs corresponding to a method for tracking a train position in an embodiment of the present invention, and the processor 102 executes the LC device programs stored in the memory 104 to perform various functional applications and data processing, that is, to implement the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory remotely located with respect to processor 102, which may be connected to the LC device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communications provider of LC devices. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.
In this embodiment, a method for tracking a train position is provided, and fig. 2 is a flowchart of a method for tracking a train position according to an embodiment of the present invention, as shown in fig. 2, where the flowchart includes the following steps:
step S202, determining communication abnormality between the LC and the automatic train protection ATP equipment of the target train at the first time, and recording the last position reported by the ATP equipment before the first time;
the scheme of the embodiment can be applied to the scenes of rail transit such as subway stations, trains, high-speed rails, motor cars and the like. The system can be a CBTC (Communication Based Train Control communication-based train control) system or a non-CBTC system, and the CBTC system is a continuous train automatic control system constructed by a train active positioning technology independent of a trackside train occupation detection device, a continuous train-to-ground two-way data communication technology and an on-board and ground processor capable of executing a safety function.
In the network architecture of the present embodiment, LC (Line Controller), ATP device, trackside device, and the like are included. The LC is responsible for calculating Mobile Authorization (MA) for the communication train in the control range according to the position information reported by the communication train and track occupation/idle information provided by the access and trackside equipment arranged in an interlocking way, so as to ensure the safe operation of the communication train in the control area; the ATP (automatic train protection ) equipment is a vehicle-mounted subsystem for directly ensuring the safety of a train, realizes the complete protection of the safety of the train, is installed at the head and the tail of each train, realizes autonomous positioning through a speed sensor, a speed measuring radar and an odometer, corrects the position and the speed information of the train by using a transponder, obtains the Movement Authorization (MA) of the train through wireless communication (or a variable data transponder), calculates and generates a control speed curve of the train, protects the position and the speed of the train, and ensures the driving safety.
In this embodiment, when the train is in the FAM mode and a lost position occurs on the line, the vehicle-mounted device ATP immediately takes emergency braking, and the vehicle-mounted device ATP and the ground device LC system are disconnected from communication, and meanwhile, the ATS is applied to enter the RSRM mode for controlling the vehicle operation, the dispatcher confirms the entering of the RSRM mode through the ATS system and the vehicle-mounted device ATP, and after receiving a confirmation command, the vehicle-mounted device ATP applies for the RSRM mode authorization to the ground line controller system. In the interval, the train runs fully automatically, and when the positioning error of the train is large, the position is inaccurate and lost; or the BTM failure cannot be received by the transponder location information, resulting in the loss of location by the continuous loss of two transponders, the train ATP outputs an emergency brake forcing the train to stop, and then the on-board device ATP disconnects from the ground device LC system.
Step S204, calculating the furthest running position of the target train based on the last position;
step S206, calculating the running track of the target train by adopting the furthest running position;
and step S208, tracking the position of the target train according to the running track.
According to the position information of the current train calculated in each period, a running track is formed, and the logic section and the axle counting section occupied by the current running of the train can be further judged, so that the position state information of the current train is more effectively identified, and the train tracking is further effectively carried out. Meanwhile, the tracking modes of the current RSRM mode train and the non-communication train can be distinguished, and the position and the topological relation of the train in front of the RSRM mode train control can be further identified.
Through the steps, communication abnormality between the LC and the automatic train protection ATP equipment of the target train is determined at the first time, and the last position reported by the ATP equipment before the first time is recorded; calculating the furthest running position of the target train based on the last position; calculating the running track of the target train by adopting the furthest running position; the method has the advantages that the position of the target train is tracked according to the running track, the running track of the train is calculated by adopting the furthest running position of the train when communication is abnormal and the effective state of the train, the real-time effective tracking of the train position when communication is abnormal and interrupted is realized, the technical problem that the train position cannot be tracked when the LC and the train ATP equipment are abnormal in the related technology is solved, the running position of the train is known, the front-back relation of the train can be topologically obtained, the tracking of the subsequent train can be realized, and the running efficiency and the interval are improved.
In the present embodiment, calculating the furthest running position of the target train based on the last position includes:
s11, calculating the accumulated duration t of communication abnormality of the target train before determining the second time of communication interruption between the LC and the target train by taking the first time as the starting time, and acquiring the final speed v of the target train at the final position;
Optionally, the time interval between the first time and the second time is 6s, i.e. within 6s after the communication abnormality, and if the communication has not been resumed, it is determined that the communication is interrupted.
In one example, calculating the accumulated time period t of the communication anomaly of the target train includes: recording the number n of the current communication abnormality of the LC and the ATP equipment; the accumulated duration t of the communication abnormality of the target train is calculated by adopting the following formula: t=n×tc; where Tc is the run cycle time of the LC and n is the number of cycles.
And calculating the communication abnormality time of the current LC system and the ATP system, and calculating the data of the communication abnormality according to the formula according to the number of the communication abnormality periods of the current LC system and the ATP system. For example, no ATP reporting position information is received for 3 periods, tc=400 ms, i.e., 0.4s, i.e., the communication anomaly time is 1.2s.
S12, calculating the maximum speed of the target train by adopting the accumulated time length t and the final speed v;
in one example, the maximum speed is V 1 The value of =v+at, a is the maximum acceleration, and is a preset fixed value, such as a=145 cm/s, depending on the maximum acceleration of the train and the gradient of the line 2 ；
S13, calculating the furthest running distance of the target train according to the maximum speed;
in one example, calculating the furthest distance traveled by the target train from the maximum speed includes: judging whether the maximum speed is greater than the highest speed limit of the target train; if the maximum speed is greater than the highest speed limit of the target train, the furthest running distance S of the target train is calculated according to the following formula: s=vt 1 +1/2at 1 2 +Vt 2 The method comprises the steps of carrying out a first treatment on the surface of the The maximum speed is smaller than or equal to the highest speed limit of the target train, and the furthest running distance S of the target train is calculated according to the following formula: s=vt+1/2 at 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is 1 For the time of reaching the maximum speed limit of the target train, t 2 ＝t-t 1 V is the highest speed limit.
According to the current speed V, the maximum speed V1 to which the train can accelerate maximally is calculated by a formula according to the maximum acceleration a and the current moment, and the calculated speed V1 is compared with the highest speed limit on the line (V: tentatively 80km/h, converted into 2222 cm/s), because the train can not exceed the highest speed limit on the line even though accelerating. Based on the comparison of V1 and V speed, if V1 is less than or equal to V, i.e., according to the formula (s=vt+1/2 at 2 ) Calculating the distance which can be operated furthest at present, if V1 is larger than V, calculating t 1 ，t 2 Time, t, is calculated by equation 2 1 Thus give t 2 ＝t-t 1 The method comprises the steps of carrying out a first treatment on the surface of the I.e. according to the formula (s=vt 1 +1/2at 1 2 +Vt 2 ) Calculating the distance which can run furthest at present;
s14, after reaching the second time, calculating the braking distance of the target train according to the maximum speed;
alternatively, the braking distance x=v2/(2 a) 1 ) X: train emergency braking distance, V: maximum speed of the train when emergency braking occurs; a, a 1 : emergency braking acceleration of train, set value, e.g. 100cm/s 2 。
And S15, calculating the furthest running position of the target train by adopting the furthest running distance, the braking distance and the final position.
When the communication between the train ATP system and the LC system is judged to be interrupted, emergency braking is immediately carried out to force the train to stop, and the train is always moving in the stopping process, so that the LC system needs to calculate the distance of emergency braking running of the train when the communication between the train ATP system and the train ATP is judged to be abnormal and the communication is accumulated to be interrupted.
And calculating the maximum speed V1 of the train after the communication is interrupted (for example, the communication interruption judging time is 6 s) by using a formula, and if V is exceeded, namely, the current speed is V, and if V is smaller than or equal to V, the current speed is V1. And calculating the braking distance X of the train emergency braking by using a formula, and finally obtaining the farthest effective running distance L1=L+S+X of the train, wherein L is the recorded final position.
In one implementation of the present embodiment, calculating the moving track of the target train using the farthest moving position includes: judging whether the furthest running position is valid or not; if the furthest running position is valid, determining that the target train enters a low-speed recovery RSRM mode, and acquiring the running speed V1 of the target train in real time according to the period; the cycle distance S of the current cycle is calculated using the following formula: s= ((v1+v2) ×t)/2; wherein V1 is the speed of the current period, V2 is the speed of the previous period, and t is the period duration (set value, such as 400 ms); updating the real-time position of the target train in the current period based on the furthest running position and the period distance; and calculating and updating the real-time position of the target train according to each cycle to form the running track of the target train.
In the present embodiment, determining whether the farthest operation position is valid includes: positioning a target axle counting section where the furthest running position is located; acquiring a first occupancy state of trackside equipment of a target axle counting section; if the occupied state of the trackside equipment of the target axle counting section is the occupied state, determining that the target train enters the target axle counting section; if the occupied state of the trackside equipment of the target axle counting section is an unoccupied state, acquiring a second occupied state of a previous adjacent axle counting section of the target axle counting section; and if the second occupied state is the unoccupied state, determining that the furthest running position is effective.
Further judgment is needed to communicate the calculated furthest running position L1 of the target train, at this time, the calculation is according to the furthest distance when the train runs, but the actual situation is not so far, so that judgment is needed to be carried out by adding the occupied state beside the track, for example, when the track side state of the axle counting section at the point L1 is occupied, the train is considered to enter the axle counting section, FIG. 3 is a schematic diagram of the occupied axle counting section at the furthest running position of the train in the embodiment of the invention, L1=L+S+X, L is the last recorded position, S is the furthest running distance, and X is the braking distance; if the track side state of the axle counting section at the L1 point is idle, the train is considered to not enter the axle counting section, namely, the place where the train can run furthest is the beginning end of the axle counting section, namely, the beginning end of the axle counting section is updated to be the L1 position, and fig. 4 is a schematic diagram of the idle axle counting section at the furthest running position of the train in the embodiment of the invention.
In the process of waiting to enter the RSRM, if the axle counting section in front of the axle counting section at the L1 position is in an occupied state, the train is considered to be unable to enter the RSRM mode for controlling the train, the calculated L1 position is unavailable at the moment, the train is in a running state, the current recorded L and the calculated L1 position are required to be cleared, and meanwhile, the train tracking is carried out according to the non-communication train. If the axle counting section in front of the axle counting section where the L1 position is located is in an idle state, the train is in an emergency braking state and the position is not moving, namely, the train continues to wait for entering the RSRM mode for controlling the train, namely, the calculated L1 position is valid.
In another implementation scenario of the present embodiment, after determining whether the furthest running position is valid, further includes: if the farthest running position is invalid, positioning a target axle counting section where the farthest running position is located; and updating the furthest running position by adopting the starting position of the target axle counting section, and determining that the target train is a non-communication train.
After the target train enters the RSRM mode through the ATP equipment application, the LC system calculates the current position L of the L1 position of the current train, and after the train starts to start, no position and the current train running speed v are reported to the LC. The distance S of the current train running can be calculated according to the speed every cycle, the latest current position L1 of the train is calculated and updated, and the running track of the train is formed.
If the current LC system communicates with ATP normally, calculating and updating the current train position L1 using the formula (s= ((v1+v2) ×t)/2) per cycle; when the data and direction of the train are not received, it is judged that communication abnormality occurs with the ATP system, that is, the data and direction of the train are not received, using the formula (s=vt+1/2 at 2 ) The current position L1 of the distance that the current train can furthest run is calculated. The calculated current position L1 is required to further judge whether the train enters or not through the occupied state beside the track. If the track side state of the axle counting section of the L1 point is occupied, namely the train is considered to enter the axle counting section, the position of the L1 is the running position of the current train, and the L position is recorded; if the trackside status of the axle counting section at the L1 point is idle, the train is not considered to enter the axle counting section, iThe place where the train can run furthest is the starting end of the axle counting section, and the L position is recorded; when the state of the axle counting section is changed from the idle state to the occupied state, the train is considered to start to enter the axle counting section, the L position of the train is recorded to be 3.14m (the distance from the first wheel pair of the train to the train head) at the beginning end of the axle counting section, and then the train is started according to the formula (S=vt+1/2 at 2 ) Or the formula (s= ((v1+v2) ×t)/2) calculates the position of the train that is furthest operated, and records the L position.
FIG. 5 is a flow chart of a circuit controller RSRM mode train tracking process of an embodiment of the present invention, including: train ATP system lost position, break communication with LC system; the LC system judges communication abnormality and calculates the furthest running position of the train; the LC system judges the communication interruption and calculates the emergency braking distance of the train; the LC system judges whether the train enters a non-communication vehicle or waits to enter an RSRM mode for controlling the vehicle; the LC system calculates the position information of the train according to the speed sent by the train; and the LC system tracks the train according to the calculated position.
By adopting the scheme of the embodiment, when the communication abnormality occurs between the LC system and the ATP system, the method for calculating the furthest running position of the train by the LC provides an effective train position for the subsequent entering of the RSRM mode train control, is used for distinguishing the tracking modes of the RSRM mode train control and the non-communication train, and improves the usability of the system. When the train enters the RSRM mode for controlling the train, the method for accurately calculating the position of the train which is furthest operated by the current train according to the calculated position and speed of the train and the state beside the rail can track the train in the RSRM mode more accurately through the accurate position.
The scheme of the embodiment is different from a train tracking mode of RSRM mode train control and non-communication train, and train tracking is more refined and accurate. By accurately tracking the RSRM mode train, the running position of the train is known, the front-back relation of the train can be topologically obtained, the tracking of the subsequent train can be realized, and the operation efficiency and the interval are improved. According to the position calculated specifically, the safety problem that the front vehicle needs to enter the RSRM mode for controlling the vehicle when the position is lost at the same axle counting section or adjacent axle counting sections is solved.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Example 2
The embodiment also provides a tracking device for a train position, which is used for implementing the above embodiment and the preferred implementation, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 6 is a block diagram of a train position tracking apparatus according to an embodiment of the present invention, as shown in fig. 6, applied to a line controller LC, the apparatus including:
a recording module 60, configured to determine, at a first time, that communication between the LC and an ATP device for automatically protecting a train of a target train is abnormal, and record a last position of the ATP device reported before the first time;
a first calculation module 62 for calculating a furthest running position of the target train based on the last position;
a second calculation module 64 for calculating a moving track of the target train using the farthest moving position;
and the tracking module 66 is used for tracking the position of the target train according to the running track.
Optionally, the first computing module includes: the processing unit is used for calculating the accumulated duration t of the communication abnormality of the target train before determining the second time of the communication interruption between the LC and the target train by taking the first time as the starting time, and acquiring the final speed v of the target train at the final position; the first calculation unit is used for calculating the maximum speed of the target train by adopting the accumulated time length t and the final speed v; a second calculation unit for calculating the furthest running distance of the target train according to the maximum speed; a third calculation unit for calculating a braking distance of the target train according to the maximum speed after reaching the second time; and a fourth calculation unit for calculating the furthest running position of the target train by using the furthest running distance, the braking distance and the final position.
Optionally, the second computing unit includes: the judging subunit is used for judging whether the maximum speed is greater than the highest speed limit of the target train; and the calculating subunit is used for calculating the furthest running distance S of the target train according to the following formula if the maximum speed is greater than the maximum speed of the target train: s=vt 1 +1/2at 1 2 +Vt 2 The method comprises the steps of carrying out a first treatment on the surface of the The maximum speed is smaller than or equal to the highest speed limit of the target train, and the furthest running distance S of the target train is calculated according to the following formula: s=vt+1/2 at 2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is 1 For the time of the target train reaching the maximum speed limit, t 2 ＝t-t 1 V is the highest speed limit.
Optionally, the processing unit includes: a recording subunit, configured to record a number n of periods when the LC is currently in communication abnormality with the ATP device; the calculating subunit is used for calculating the accumulated duration t of the communication abnormality of the target train by adopting the following formula: t=n×tc; where Tc is the run cycle time of the LC and n is the number of cycles.
Optionally, the second computing module includes: a judging unit for judging whether the furthest running position is valid; the first determining unit is used for determining that the target train enters a low-speed recovery RSRM mode if the farthest running position is valid, and acquiring the running speed V1 of the target train in real time according to a period; a calculating unit for calculating a cycle distance S of the current cycle using the following formula: s= ((v1+v2) ×t)/2; wherein V1 is the speed of the current period, V2 is the speed of the previous period, and t is the period duration; an updating unit for updating the real-time position of the target train in the current period based on the furthest running position and the period distance; and the generating unit is used for calculating and updating the real-time position of the target train according to each cycle to form the running track of the target train.
Further, the judging unit includes: a positioning subunit, configured to position a target axle counting section where the farthest running position is located; an acquisition subunit, configured to acquire a first occupancy state of a trackside device of the target axle counting section; the processing subunit is used for determining that the target train enters the target axle counting section if the occupied state of the trackside equipment of the target axle counting section is an occupied state; if the occupied state of the trackside equipment of the target axle counting section is an unoccupied state, acquiring a second occupied state of a previous adjacent axle counting section of the target axle counting section; and the determining subunit is used for determining that the furthest running position is valid if the second occupied state is an unoccupied state.
Optionally, the second computing module further includes: the positioning unit is used for positioning the target axle counting section where the farthest running position is located if the farthest running position is invalid after the judging unit judges whether the farthest running position is valid; and the second determining unit is used for updating the furthest running position by adopting the starting position of the target axle counting section and determining that the target train is a non-communication train.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
Example 3
An embodiment of the invention also provides a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:
s1, determining communication abnormality between an LC and automatic train protection ATP equipment of a target train at a first time, and recording a last position reported by the ATP equipment before the first time;
s2, calculating the furthest running position of the target train based on the final position;
s3, calculating the running track of the target train by adopting the furthest running position;
s4, tracking the position of the target train according to the running track.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the electronic device may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
s1, determining communication abnormality between an LC and automatic train protection ATP equipment of a target train at a first time, and recording a last position reported by the ATP equipment before the first time;
s2, calculating the furthest running position of the target train based on the final position;
s3, calculating the running track of the target train by adopting the furthest running position;
s4, tracking the position of the target train according to the running track.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims (10)

1. A method of tracking a train location, the method comprising applying a line controller LC:
determining communication abnormality between an LC and Automatic Train Protection (ATP) equipment of a target train at a first time, and recording the last position reported by the ATP equipment before the first time;
calculating the furthest running position of the target train based on the last position;
calculating the running track of the target train by adopting the furthest running position;
and tracking the position of the target train according to the running track.
2. The method of claim 1, wherein calculating a furthest run position of the target train based on the last position comprises:
calculating the accumulated duration t of the communication abnormality of the target train before determining the second time of the communication interruption between the LC and the target train by taking the first time as the starting time, and obtaining the final speed v of the target train at the final position;
Calculating the maximum speed of the target train by adopting the accumulated time length t and the final speed v;
calculating the furthest running distance of the target train according to the maximum speed;
after reaching the second time, calculating a braking distance of the target train according to the maximum speed;
and calculating the furthest running position of the target train by adopting the furthest running distance, the braking distance and the final position.
3. The method of claim 2, wherein calculating the furthest travel distance of the target train from the maximum speed comprises:
judging whether the maximum speed is greater than the highest speed limit of the target train;
if the maximum speed is greater than the highest speed limit of the target train, calculating the furthest running distance S of the target train according to the following formula: s=vt 1 +1/2at 1 2 +Vt 2 The method comprises the steps of carrying out a first treatment on the surface of the The maximum speed is smaller than or equal to the highest speed limit of the target train, and the furthest running distance S of the target train is calculated according to the following formula: s=vt+1/2 at 2 ；
Wherein t is 1 For the time of the target train reaching the maximum speed limit, t 2 ＝t-t 1 V is the highest speed limit.
4. The method of claim 2, wherein calculating the cumulative length t of the communication anomaly of the target train comprises:
Recording the number n of the periods that the LC is abnormal in communication with the ATP equipment currently;
calculating the accumulated duration t of the communication abnormality of the target train by adopting the following formula: t=n×tc;
where Tc is the run cycle time of the LC and n is the number of cycles.
5. The method of claim 1, wherein calculating the trajectory of the target train using the furthest run position comprises:
judging whether the furthest running position is valid or not;
if the furthest running position is effective, determining that the target train enters a low-speed recovery RSRM mode, and acquiring the running speed V1 of the target train in real time according to a period;
the cycle distance S of the current cycle is calculated using the following formula: s= ((v1+v2) ×t)/2; wherein V1 is the speed of the current period, V2 is the speed of the previous period, and t is the period duration;
updating the real-time position of the target train in the current period based on the furthest running position and the period distance;
and calculating and updating the real-time position of the target train according to each cycle to form the running track of the target train.
6. The method of claim 5, wherein determining whether the furthest run position is valid comprises:
Positioning a target axle counting section where the farthest running position is located;
acquiring a first occupancy state of trackside equipment of the target axle counting section;
if the occupied state of the trackside equipment of the target axle counting section is the occupied state, determining that the target train enters the target axle counting section; if the occupied state of the trackside equipment of the target axle counting section is an unoccupied state, acquiring a second occupied state of a previous adjacent axle counting section of the target axle counting section;
and if the second occupied state is an unoccupied state, determining that the furthest running position is valid.
7. The method of claim 5, wherein after determining whether the furthest run position is valid, the method further comprises:
if the farthest operation position is invalid, positioning a target axle counting section where the farthest operation position is located;
and updating the furthest running position by adopting the starting position of the target axle counting section, and determining that the target train is a non-communication train.
8. A tracking device for train position, applied to a line controller LC, said device comprising:
the recording module is used for determining communication abnormality between the LC and the automatic train protection ATP equipment of the target train at the first time and recording the last position reported by the ATP equipment before the first time;
A first calculation module for calculating a furthest running position of the target train based on the last position;
the second calculation module is used for calculating the running track of the target train by adopting the farthest running position;
and the tracking module is used for tracking the position of the target train according to the running track.
9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; wherein:
a memory for storing a computer program;
a processor for performing the steps of the method of any one of claims 1 to 7 by running a program stored on a memory.
10. A storage medium comprising a stored program, wherein the program when run performs the steps of the method of any of the preceding claims 1 to 7.
CN202410094480.6A 2024-01-23 2024-01-23 Tracking method and device for train position, electronic equipment and storage medium Pending CN117734782A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410094480.6A CN117734782A (en) 2024-01-23 2024-01-23 Tracking method and device for train position, electronic equipment and storage medium

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