EP4644209A1

EP4644209A1 - Track section state detection system and method, and storage medium and electronic device

Info

Publication number: EP4644209A1
Application number: EP23909760.3A
Authority: EP
Inventors: Kaikuo ZHUO; Zhili WU
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2022-12-30
Filing date: 2023-11-17
Publication date: 2025-11-05
Also published as: CN118270066A; WO2024139828A1; EP4644209A4; US20250304127A1

Abstract

A track section state detection system (10), comprising a processor (11), a beacon device (12), which is arranged on a train, and a plurality of querier groups, which are arranged on a target track. The processor is in communication connection with the beacon device (12) by means of a querier (13). The querier (13) is used for broadcasting a ranging signal, and when detecting a beacon signal that is returned by the beacon device (12) on the basis of the ranging signal, sending the detected beacon signal to the processor (11). When receiving a first beacon signal that is sent by a first querier (13) in a target querier group corresponding to a target track section, the processor (11) is used for determining first distance information between the train and the first querier (13) according to the first beacon signal, and determining a track section state of the target track section according to the first distance information. Further provided are a track section state detection method, and a storage medium and an electronic device.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims priority to Chinese Patent Application No. 202211734980.9 filed on December 30, 2022 and entitled "TRACK SECTION STATE DETECTION SYSTEM AND METHOD, AND STORAGE MEDIUM AND ELECTRONIC DEVICE ", which is incorporated herein by reference in its entirety.

FIELD

The present disclosure relates to the field of track transit technologies, and in particular, to a track section state detection system and method, a storage medium, and an electronic device.

BACKGROUND

In current track transit signal systems, the detection of the occupation status of track section is an important safety function. At present, track circuit and axle counting devices are mostly used to determine train occupancy on the track in the detection methods of track section occupation. In the application of these two types of detection methods in practical projects, the track circuit systems are susceptible to environmental interference, resulting in high failure rate and poor shunting, which has a great impact on system operation and high subsequent operation and maintenance costs; when the axle counting system encounters an axle counting fault, reset or pre reset has a great impact on the system operation, and these maintenance operations may lead to the failure to detect the train occupancy on the track and give the wrong "clear" status, thus causing safety risks.

SUMMARY

An object of the present disclosure is to provide a track section state detection system and method, a storage medium, and an electronic device.
In order to achieve the above object, according to the first aspect of the embodiment of the present disclosure, the present disclosure provides a track section state detection system, which includes: a processor, a beacon device arranged on the train, and a plurality of querier groups arranged on a target track. The target track includes a plurality of preset track sections and different preset track sections correspond to different querier groups. Each of the querier groups includes queriers arranged at both ends of the preset track section. The processor is communicatively connected to the beacon device through the querier;
The querier is configured to broadcast a ranging signal and to send the detected beacon signal to the processor when detecting a beacon signal returned by the beacon device on the basis of the ranging signal;
The processor is configured to determine a first distance information between the train and a first querier according to the first beacon signal when receiving the first beacon signal sent by the first querier in the target querier group corresponding to the target track section, and to determine a track section state of the target track section according to the first distance information. The track section state includes an occupied state or an unoccupied state. The target track section is any of the plurality of the preset track sections.
In some embodiments, the processor is further configured to determine a first running state of the train relative to the target track section according to the first distance information, and to determine the track section state according to the first running state.
In some embodiments, the processor is further configured to determine the first running state of the train relative to the target track section according to the first distance information when the first distance information is less than or equal to the preset distance threshold.
In some embodiments, the processor is further configured to determine historical distance information, which is the distance information between the train and the first querier determined previously, and to determine the first running state according to the first distance information and the historical distance information.
In some embodiments, the first running state includes an approaching running state, a leaving running state, and a stopped state; the approaching running state indicates that the train approaches the target track section, the leaving running state indicates that the train leaves the target track section, and the stopped state indicates that the train is stationary in the target track section;

the processor is configured to
determine that the train is in an approaching running state when the historical distance information is greater than the first distance information;
determine that the train is in a leaving running state when the historical distance information is less than the first distance information;
determine that the train is in a stopped state when the historical distance information is equal to the first distance information.

In some embodiments, the target querier group further includes a second querier, which is a querier other than the first querier in the target querier group;
the processor is further configured to determine a second distance information between the train and the second querier according to a second beacon signal sent by the second querier, to determine a second running state of the train relative to the second querier according to the second distance information, and to determine the track section state according to the first running state when the first running state and the second running state are the same.
In some embodiments, the processor is further configured to determine that the first querier and/or the second querier are faulty when the first running state and the second running state are different.
In some embodiments, the processor is further configured to determine a first historical running state of the train, which is the running state of the train relative to the target track section determined previously according to the first distance information; and to determine the track section state according to the first historical running state and the first running state.
In some embodiments, the system includes a plurality of first queriers, and the first distance information includes the distance information between the train and each querier of the plurality first queriers;
the processor is further configured to determine a second historical running state of the train, which is the running state of the train relative to each of the first queriers determined previously, to determine a plurality of first running states according to the first distance information between the train and the plurality of first queriers, and to determine the track section state according to the plurality of first running states and the second historical running states.
In some embodiments, the first beacon signal includes the identification information of the train; the processor is further configured to determine the train occupying the target track section according to the identification information when the track section state of the target track section is in occupied state.
In some embodiments, the processor is further configured to determine the timestamp information corresponding to the first beacon signal and to determine the first distance information according to the timestamp information.
In some embodiments, the processor is further configured to acquire the track information corresponding to the specified track section, when the track information indicates the specified track section turnout and the turnout is in an activated state, taking the specified track section as the target track section.
In some embodiments, the querier is further configured to receive a self-test beacon signal returned by a self-test beacon device based on the ranging signal, and sending the self-test beacon signal to the processor;
the processor is configured to receive the self-test beacon signal sent by the querier, and when the self-test distance information determined by the self-test beacon signal meets the preset self-test distance information, to determine that the self-test is passed.
According to the second aspect of the embodiment of the present disclosure, the present disclosure provides a track section state detection method, the method includes:

a first beacon signal sent by a first querier in a target querier group corresponding to a target track section is received;
a first distance information between the train and the first querier is determined according to the first beacon signal; and
a track section state of the target track section is determined according to the first distance information, the track section state includes an occupied state or an unoccupied state, and the target track section is any track section within the plurality of preset track sections.

In some embodiments, a track section state of the target track section is determined according to the first distance information, which includes:

the first running state of the train relative to the target track section is determined according to the first distance information; and
the track section state according to the first running state is determined.

In some embodiments, the first running state of the train relative to the target track section is determined according to the first distance information, which includes:
when the first distance information is less than or equal to the preset distance threshold, the first running state of the train relative to the target track section is determined according to the first distance information.
In some embodiments, the first running state of the train relative to the target track section is determined according to the first distance information, which includes:

the historical distance information is determined, the historical distance information is the distance information between the train and the first querier determined previously; and
the first running state is determined according to the first distance information and the historical distance information.

In some embodiments, the first running state comprises an approaching running state, a leaving running state and a stopped state; the approaching running state indicating that the train approaches the target track section, the leaving running state indicating that the train leaves the target track section, and the stopped state indicating that the train is stationary in the target track section;
the running state of the train is determined according to the first distance information and the historical distance information, which includes:

when the historical distance information is greater than the first distance information, determining that the train is in an approaching running state;
when the historical distance information is less than the first distance information, determining that the train is in a leaving running state; and
when the historical distance information is equal to the first distance information, determining that the train is in a stopped state.

In some embodiments, the target querier group further includes a second querier, which is a querier other than the first querier in the target querier group; the first running state is determined according to the first distance information and the historical distance information, which includes:

a second distance information between the train and the second querier is determined according to a second beacon signal sent by the second querier;
a second running state of the train relative to the second querier is determined according to the second distance information; and
when the first running state and the second running state are the same, the track section state is determined according to the first running state.

In some embodiments, the method further includes:
when the first running state and the second running state are different, the first querier and/or the second querier are determined faulty.
In some embodiments, the track section state is determined according to the first running state, which includes:

a first historical running state of the train is determined, the first historical running state n is the running state of the train relative to the target track section determined previously according to the first distance information; and
the track section state is determined according to the first historical running state and the first running state.

In some embodiments, a plurality of first queriers are provided, and the first distance information includes the distance information between the train and each querier of the plurality of first queriers; the track section state is determined according to the first running state, which includes:

a second historical running state of the train is determined, the second historical running state is the running state of the train relative to each of the first queriers determined previously;
a plurality of first running states is determined according to the first distance information between the train and the plurality of first queriers; and
the track section state is determined according to the plurality of first running states and the second historical running states.

In some embodiments, the first beacon signal includes the identification information of the train; the method further includes:
when the track section state of the target track section is occupied, the train occupying the target track section is determined according to the identification information.
In some embodiments, the first distance information between the train and the first querier is determined according to the first beacon signal, which includes:

the time stamp information corresponding to the first beacon signal is determined; and
the first distance information is determined according to the time stamp information.

In some embodiments, the method further includes:

the track information corresponding to the specified track section is acquired; and
when the track information indicates the specified track section turnout and the turnout is in an activated state, taking the specified track section as the target track section.

In some embodiments, the method further includes:

a self-test beacon signal sent by the querier is received; and
when the self-test distance information determined by the self-test beacon signal meets the preset self-test distance information, determining that the self-test is passed.

According to the third aspect of the embodiment of the present disclosure, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, the program, when executed by a processor, implements the steps of the method of any one of the second aspect of the embodiment of the present disclosure.
According to the fourth aspect of the embodiment of the present disclosure, the present disclosure provides an electronic device, which includes a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method according to any one of the second aspect of the embodiment of the present disclosure.
The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects:
the target beacon signal sent by the target querier corresponding to the target track section is received; the target distance information between the train and the target querier is determined according to the target beacon signal; and the track section state of the target track section is determined according to the target distance information, the track section state includes the occupied state or the unoccupied state, and the target track section is any track section within the plurality of preset track sections.
By adopting the above scheme, the distance between the train and the target querier corresponding to the target track section can be determined according to the beacon signal sent by the querier, and the occupied state of the target track section can be further determined. In this way, the wireless communication between the querier and the beacon device can avoid the communication link exception caused by the environmental interference of the track, which will cause communication failure, avoid the problem that the occupied state of the target track section cannot be determined due to the inability to determine the distance between the train and the target querier, and can effectively improve the reliability and safety of the occupied state detection of the section.
Other features and advantages of the present disclosure will be described in detail in the following specific embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are intended to provide a further understanding of the present disclosure and form part of the description, and are configured to explain the present disclosure together with the following specific embodiments, but do not constitute a limitation of the present disclosure. In the attached drawings:

FIG. 1 is a block diagram of a track section state detection system according to an exemplary embodiment.
FIG. 2 is a schematic diagram of a track section according to an exemplary embodiment.
FIG. 3 is a flowchart of a track section state detection method according to an exemplary embodiment.
FIG. 4 is a schematic diagram of a track section according to an exemplary embodiment.
FIG. 5 is a flowchart of another track section state detection method according to an exemplary embodiment.
FIG. 6 is a block diagram of an electronic device according to an exemplary embodiment.

DETAILED DESCRIPTION

The specific embodiments of the present disclosure are described in detail in conjunction with the figures. It will be understood that the specific embodiments described here are for the purpose of illustration and explanation of the present disclosure, and not for limiting the present disclosure.
It should be noted that all operations of acquiring signals, information, or data in the present disclosure are carried out under the premise of compliance with the data protection laws and regulations of the respective countries and with the permission of the respective device owners.
It will be understood that the steps recorded in the method in the present disclosure can be performed in different sequences and/or in parallel. Additionally, the method may include additional steps not shown in the execution examples and/or omit steps shown in the execution examples. The disclosure is not limited in this respect. The terms "including" and its variations used in this document are open-ended, meaning "including but not limited to." The term "based on" means "at least partially based on." The term "an example" means "at least one example"; the term "another example" means "at least one additional example"; the term "some examples" means "at least some examples." Definitions of other terms will be provided in the following description.
It should be noted that the terms "first," "second," etc. mentioned in present disclosure are configured to distinguish between different devices, modules, or units, and are not configured to limit the sequence or relationship of functions performed by these devices, modules, or units. It should be noted that the terms "one," "multiple" used in present disclosure are illustrative rather than limiting, and a person skilled in the art should understand that unless explicitly stated otherwise in context, it should be understood as "one or more."
Track section state detection is an important safety function of railway traffic control systems, directly affecting the scheduling safety of trains on the track. The current track section state detection methods mainly use track circuits and axle counting devices to determine the occupied state of track sections. The principle of track circuit is to utilize the short circuit effect of wheel axle on rail, which is composed of rail line, rail insulation, power supply, current limiting device and receiving equipment, the sending end and receiving end are arranged on the rail to realize occupation detection within the scope of track circuit by detecting whether there is a short circuit between two rails in the section. The axle counting devices use electromagnetic principles to detect train wheels, based on the induction of metal objects (magnetic field effect or Hall effect), determine the sequence and number of times that a pair of adjacent wheel sensors detect the wheel set passing, determine the entry and departure of train axles, and realize train occupancy detection by combining the number of axles counted at the entrance and exit of the section.
However, during the application of these two types of detection methods in actual projects, the track circuit system is greatly affected by the environment. For example, rail rust occurs easily in track sections with low traffic flow or bad weather environments, which leads to unreliable connections in the track circuit, resulting in poor backflow, causing the track circuit to fail to work normally, and even causing a wide range of device failures, which has a great impact on the system operation and high subsequent operation and maintenance costs. When the axle counting system encounters axle counting failure, the reset or pre-reset has a great impact on the system operation, and these maintenance operations may lead to the failure to detect the occupancy of the train and an erroneous "clear" state, thus causing safety risks.
In order to solve the above problems, the present disclosure provides a track section state detection system and method, and storage medium and electronic device. In this way, the use of axle counting devices and interlocking devices can be avoided and the detection costs can be reduced by setting queriers to send the beacon signals. The occupied state of the section can be determined according to the distance between the train and the target querier determined by the beacon signals, which can avoid the high failure rate of the track due to environmental interference when using the track circuit system, and can effectively improve the reliability and safety of the section occupation state detection.
Before giving a detailed description of the technical solution of the present disclosure, the application scenarios of the technical solutions in the present disclosure are explained.
The track section state detection method provided by the embodiment of the disclosure can be applied to trains using rubber tire systems or trains using steel axles, and the execution subject can be the train area control system of the train or other systems with execution ability, which is not further limited in the disclosure.
The following is a detailed description of the technical solution of the present disclosure.
FIG. 1 is a block diagram of a track section state detection system according to an exemplary embodiment. As shown in FIG. 1, the system 10 includes a processor 11, a beacon device 12 arranged on the train, and a plurality of querier groups arranged on the target track. The target track includes a plurality of preset track sections, and different preset track sections correspond to different querier groups. Each of the querier groups includes the queriers 13 set at both ends of the preset track section. The processor 11 is communicatively connected to the beacon device 1p2 through the querier 13.
In some embodiments, a plurality of querier groups can be arranged on the track of the train running line at preset intervals. Each of the querier groups includes the queriers 13 arranged at both ends of the preset track section. The plurality of queriers 13 can be indicated as P0 → P1 → P2 → P3... in order. The section between any two adjacent queriers 13 can be regarded as the preset section; wherein the querier 13 can be arranged in the middle of the two tracks of the line, or on the side of one of the tracks; and the corresponding beacon device 12 can be arranged at the front position and the rear position of the train respectively, and the beacon device 12 and the querier 13 can be connected through wireless communication, for example, UWB ultra-wideband wireless communication technology can be configured to connect.
The querier 13 is configured to broadcast the ranging signal, and when it detects the beacon signal returned by the beacon device 12 based on the ranging signal, it sends the detected beacon signal to the processor 11. For example, the querier 13 and the beacon device 12 may both be UWB communication devices.
In some embodiments, the querier 13 can periodically broadcast the ranging signal. When the beacon device 12 receives the ranging signal, it sends the responding first beacon signal to the querier 13 in response to the ranging signal. When the querier 13 detects the first beacon signal returned by the beacon device 12 based on the ranging signal, it can send the beacon signal to the connected processor 11. The beacon signal detected by the querier 13 can include the timestamp of the ranging signal sent by the querier 13 and the timestamp of the ranging signal received by the beacon device 12. The processor 11 and the querier 13 can be connected by wireless communication, or it can be connected through wired communication.
For example, the querier A can periodically broadcast a ranging signal, which can be a pulse signal. Specifically, the transmitter of the querier A transmits a pulse signal requesting ranging at its time stamp of Ta1. When the receiver of the beacon device B receives the signal at its time stamp of Tb1, the beacon device B can transmit a beacon signal for response at its time stamp of Tb2 based on the pulse signal. When the querier A receives the beacon signal at its time stamp of Ta2, the querier A can sends a beacon signal carrying the timestamp information of time Ta1, time Tb1, time Tb2 and time Ta2 to the processor 11.
In some embodiments, considering that vehicle ground wireless communication is involved, the querier 13 and the beacon device 12 can be distinguished by using a special numbering principle to ensure that both the sender and receiver of the message know the role of the other.
In some embodiments, when the querier 13 broadcasts the ranging signal periodically, the ranging signal may include the identification information of the querier 13, and when the beacon device 12 sends a response beacon signal to the querier 13 in response to the ranging signal, the beacon signal may include the identification information of the train corresponding to the beacon device 12. For example, the identification information may be encoded using the following coding rules:
[type] [line number] [area/train] [device group number] [device number].
For example, the identification information code of the querier 13 can be: [querier] [s3][preset track section T1] [a] [1], which is configured to indicate that the querier 13 is located in the preset track section T1 with line S3 and is the No. 1 querier of group a; the identification information code of the beacon device 12 can be: [beacon device] [s3] [train T1] [a] [1], which is configured to indicate the beacon device 12 as the No. 1 beacon device of group a on a train labeled T1 traveling on the line S3.
In this way, when the track section state of the target track section is occupied, the train occupying the target track section is determined according to the identification information.
The processor 11 is configured to determine a first distance information between the train and the first querier according to the first beacon signal when receiving the first beacon signal sent by a first querier in the target querier group corresponding to the target track section, and to determine a track section state of the target track section according to the first distance information. The track section state includes an occupied state or an unoccupied state. The target track section is any of the plurality of preset track sections.
In some embodiments, when the processor 11 receives the first beacon signal sent by the first querier, it can first determine the first distance information between the train and the first querier according to the timestamp information carried by the first beacon signal; then, according to the first distance information, determine whether the train is in the target track section where the first querier is located. When it is determined that the train is in the target track section where the first querier is located, it can determine that the track section state of the target track section is occupied.
In some embodiments, the first distance information may be determined in the following manner:
When the processor 11 receives the first beacon signal sent by the first querier, it can calculate the transmission time of the pulse signal between the querier A and the beacon device B according to the time stamp information such as time Ta1, time Tb1, time Tb2 and time Ta2 carried on the first beacon signal. According to the transmission speed of the pulse signal, which can be expressed as the speed of light, the first distance information S between the train and the first querier can be determined by the following formula: $First distance S = speed of light C \times [(Ta 2 - Ta 1) - (Tb 2 - Tb 1)] .$
Using the above system, by setting the querier 13 to send the first beacon signal, the distance between the train and the first querier can be determined according to the beacon signal sent by the querier, and the occupied state of the section can be further determined. The beacon signal can be re-acquired for judgment in case of querier failure, so as to avoid the greater impact on the system operation due to reset or pre-reset, and the way of wireless communication between the querier and the beacon device can be adopted, so as to avoid the problem of high failure rate of the track due to environmental interference, and effectively improve the reliability and safety of the occupation state detection of the section.
In some embodiments, the processor 11 can be configured to determine a first running state of the train relative to the target track section according to the first distance information, and to determine the track section state according to the first running state.
In some embodiments, when the train is running, the distance between the querier 13 and the beacon device 12 arranged on the train is constantly changing, so the processor 11 can first acquire a historical distance information, which is the distance information between the train and the first querier determined previously, and then determine the running state of the train relative to the first querier according to the change between the currently determined first distance information and the last determined historical distance information. For example, it can calculate the difference between the first distance information and the historical distance information, and then determine the running state of the train relative to the first querier according to the difference; after determining the current first running state of the train relative to the first querier, the track section state of the target track section can be determined by determining whether the running state of the train relative to the first query has changed.
Specifically, after determining the historical distance information, the processor 11 can determine the first running state of the train according to the first distance information and the historical distance information in the following ways:
In some embodiments, the first running state includes an approaching running state, a leaving running state, and a stopped state; the approaching running state indicates that the train approaches the target track section; the leaving running state indicates that the train leaves the target track section, and the stopped state indicates that the train is stationary in the target track section. The processor 11 can determine that when the historical distance information is greater than the first distance information, the train is determined in an approaching running state; when the historical distance information is less than the first distance information, the train is determined in a leaving running state; and when the historical distance information is equal to the first distance information, the train is determined in a stopped state.
For example, when the processor 11 acquires that the first distance information is S1 and the historical distance information is S2, it can determine the running state of the train according to the value of the first distance information S1 and the historical distance information S2; when s2-s1 >0, it can be determined that the historical distance information is greater than the first distance information, and then it can be determined that the train is running from far to near, that is, the train is in an approaching running state relative to the first querier; in the case of s2-s1 < 0, it can be determined that the historical distance information is less than the first distance information, and then it can be determined that the train is running from near and far, that is, the train is in a leaving running state relative to the first querier; and when s2-s1=0, it can be determined that the historical distance information is equal to the first distance information, and then it can be determined that the train is stationary, that is, the train is in a stopped state relative to the first querier.
By adopting the above scheme, the processor 11 determines the first running state of the train relative to the first querier by acquiring the historical distance information and the current first distance information, and then determines whether the section where the first querier is located is occupied according to whether the first running state has changed, so as to accurately determine the section occupied by the train during the running process and improve the accuracy of occupation detection; in addition, when the occupied state of each of the preset sections on the running line is determined, the train can be warned in advance according to the running state of the train, so as to ensure the safety of the train.
In some embodiments, the target querier group further includes a second querier, which is the querier other than the first querier in the target querier group.
The processor is further configured to determine a second distance information between the train and the second querier according to a second beacon signal sent by the second querier, to determine a second running state of the train relative to the second querier according to the second distance information, and to determine the track section state according to the first running state.
In some embodiments, after the first running state of the train relative to the target track section is determined by the first querier, the second running state of the train relative to the target track section can be determined by the second querier. When the first running state and the second running state are the same, it is determined that the judgments made by the first querier and the second querier are the same. In this case, the track section state can be determined according to the first running state.
In some embodiments, the processor 11 may also be configured to determine that the first querier and/or the second querier are faulty when the first running state and the second running state are different.
In some embodiments, the processor 11 can be configured to determine a first historical running state of the train, and to determine the track section state according to the first historical running state and the first running state.
Specifically, the first historical running state is the running state of the train relative to the target track section determined previously according to the first distance information.
For example, after determining the current first running state of the train, the processor 11 can determine with the last determined first historical running state. When it is determined that the first running state and the first historical running state have changed, the status of the track section can be acquired; wherein, the beacon device 12 of the train can be arranged at the front position and the rear position of the train respectively. The beacon device 12 includes a first beacon device and a second beacon device. The first beacon device indicates the beacon device 12 arranged at the front of the train, and the second beacon device indicates the beacon device 12 arranged at the rear position of the train.
In this step, the processor 11 can acquire the running state corresponding to the front of the train corresponding to the first beacon device and the running state corresponding to the rear of the train corresponding to the second beacon device respectively through the above steps, and acquire the historical running state corresponding to the front of the train corresponding to the first beacon device and the historical running state corresponding to the rear of the train corresponding to the second beacon device respectively, and then determine the track section state when it is determined that the running state corresponding to the front of the train and the historical running state corresponding to the front of the train have changed, and determine the track section state when it is determined that the running state corresponding to the rear of the train and the historical running state corresponding to the rear of the train have changed.
For example, as shown in FIG. 2, the target track includes preset track section T2 and preset track section T4. Queriers Q1 and Q2 are arranged at both ends of preset track section T2, Queriers Q2 and Q4 are arranged at both ends of preset track section T4, beacon devices t1 and t2 are arranged at the front and rear position of the train respectively. When the processor determines that the running state corresponding to the front of the train corresponding to beacon device t1 is in a leaving running state, and the corresponding first historical running state is in an approaching running state, it can be determined that the front of the train is running from the preset track section T2 to the preset track section T4, that is, it can be determined that the preset track section T4 is in the occupied state; and when the processor determines that running state corresponding to the rear of the train corresponding to beacon device t2 is in a leaving running state, and the corresponding first historical driving state is in an approaching running state, it can be determined that the rear of the train is running from the preset track section T2 to the preset track section T4, that is, it can be determined that the preset track section T2 is in the unoccupied state; and considering that when the length of the train is greater than the length of the preset track section, all sections between preset track section T2 and preset track section T4 can be set to occupied state (excluding preset track section T2).
In some embodiments, a plurality of first queriers is included, and the first distance information includes the distance information between the train and each querier of the plurality of first queriers.
The processor 11 is further configured to determine a second historical running state of the train, which is the running state of the train relative to each of the first queriers determined previously, to determine a plurality of first running states according to the first distance information between the train and the plurality of first queries, and to determine the track section state according to the plurality of first running states and the second historical running states.
In some embodiments, although the train has entered the range of wireless ranging, the processor 11 can acquire the distance between the train and the first querier. However, due to the long distance between the train and the first querier, inaccurate ranging may occur. Therefore, when the first distance information is less than or equal to the preset distance threshold, the processor is controlled to perform the step of determining the running state of the train relative to the first querier according to the first distance information, which can effectively improve the accuracy of ranging, effectively reduce the processing workload of the processor, and improve the processing efficiency of the processor.
In some embodiments, the processor 11 is further configured to determine the first running state of the train relative to the target track section according to the first distance information when the first distance information is less than or equal to the preset distance threshold.
In some embodiments, the first beacon signal includes identification information of the train; the processor 11 is further configured to determine the train occupying the target track section according to the identification information when the track section state of the target track section is in occupied state.
In some embodiments, the processor 11 is further configured to acquire the track information corresponding to the specified track section, when the track information indicates the specified track section turnout and the turnout is in an activated state, taking the specified track section as the target track section.
In some embodiments, the querier 13 is further used receiving a self-test beacon signal returned by a self-test beacon device based on the ranging signal, and sending the self-test beacon signal to the processor.
The processor 11 is configured to receive the self-test beacon signal sent by the querier, and when the self-test distance information determined by the self-test beacon signal meets the preset self-test distance information, to determine that the self-test is passed.
FIG. 3 is a flowchart of a track section state detection method according to an exemplary embodiment. The method can be applied to a terminal device, and the processor is communicatively connected to the beacon device through the querier; the beacon device is arranged on the train, and the plurality of querier groups are arranged on the target track. The target track includes the plurality of preset track sections, and different preset track sections correspond to different querier groups. Each of the querier groups includes the queriers arranged at both ends of the preset track section, as shown in FIG. 3, the method includes the following steps:
In step S301, the first beacon signal sent by the first querier in the target querier group corresponding to the target track section is received.
Specifically, the target track section can be any one of the plurality of preset track sections, and the plurality of querier groups can be arranged on the track of the train running line according to the preset interval. Each of the querier groups includes the queriers arranged at both ends of the preset track section, and the plurality of queriers is indicated as P0→P1→P2→P3... in order. The section between any two adjacent queriers can be regarded as the preset section. The first querier is one of the queriers arranged at both ends of the target track section, and the querier can be arranged at the middle of the two tracks of the line, or at the side of one of the tracks. The beacon device and the querier can be connected through wireless communication, for example, UWB ultra-wideband wireless communication technology can be configured to connect.
In some embodiments, the querier can periodically broadcast the ranging signal. When the beacon device receives the ranging signal, it sends the responding first beacon signal to the querier in response to the ranging signal. When the querier detects the first beacon signal returned by the beacon device based on the ranging signal, it can send the beacon signal to the connected processor. The beacon signal detected by the querier can include the timestamp of the ranging signal sent by the querier and the timestamp of the ranging signal received by the beacon device. The processor and the querier can be connected by wireless communication, or it can be connected through wired communication.
For example, the querier A can periodically broadcast a ranging signal, which can be a pulse signal. Specifically, the transmitter of the querier A transmits a pulse signal requesting ranging at its time stamp of Ta1. When the receiver of the beacon device B receives the signal at its time stamp of Tb1, the beacon device can transmit a beacon signal for response at its time stamp of Tb2 based on the pulse signal. When the querier A receives the beacon signal at its time stamp of Ta2, the querier A can sends a beacon signal carrying the timestamp information of time Ta1, time Tb1, time Tb2 and time Ta2 to the processor.
In some embodiments, considering that vehicle ground wireless communication is involved, the querier and the beacon device can be distinguished by using a special numbering principle to ensure that both the sender and receiver of the message know the role of the other.
In some embodiments, when the querier broadcasts the ranging signal periodically, the ranging signal may include the identifier information of the querier, and when the beacon device sends a response beacon signal to the querier 13 in response to the ranging signal, the first beacon signal may include the identifier information of the train corresponding to the beacon device, for example, the identification information may be encoded using the following coding rules:
[type] [line number] [area/train] [device group number] [device number].
For example, the identification information code of the querier can be: [querier][s3][preset track section T1][a][1], which is configured to indicate that the querier is located in the T1 preset track section with line S3, and it is a group 1 querier; The identification information code of the beacon device can be: [beacon equipment][s3][t1 train][a][1], which is configured to indicate that the beacon device is a group of No. 1 beacon device on the T1 train running on the S3 line.
In this way, when the track section state of the target track section is occupied, the train occupying the target track section is determined according to the identification information.
In step S302, the first distance information between the train and the first querier is determined according to the first beacon signal.
In some embodiments, when the processor receives the first beacon signal sent by the querier, it can first determine the first distance information between the train and the first querier according to the time stamp information carried by the first beacon signal.
In some embodiments, the first distance information may be determined in the following manner:
When the processor receives the first beacon signal sent by the first querier, it can calculate the transmission time of the pulse signal between the querier A and the beacon device B according to the time stamp information such as time Ta1, time Tb1, time Tb2 and time Ta2 carried on the first beacon signal. According to the transmission speed of the pulse signal, which can be expressed as the speed of light, the first distance information S between the train and the first querier can be determined by the following formula:
$First distance S = speed of light C \times [(Ta 2 - Ta 1) - (Tb 2 - Tb 1)] .$
In step S303, the track section state of the target track section is determined according to the first distance information.
Specifically, the track section state includes an occupied state or an unoccupied state. The target track section is any of the plurality of the preset track sections.
For example, according to the first distance information, determine whether the train is in the target track section where the first querier is located. When it is determined that the train is in the target track section where the first querier is located, it can determine that the track section state of the target track section is occupied.
By adopting the above scheme, by setting the querier to send the beacon signal, the use of axle counting devices and interlocking devices can be avoided, the detection costs can be reduced, and the occupied state of the section can be determined according to the distance between the train and the first inquirer determined by the beacon signal, which can avoid high track failure rate due to environmental interference when using track circuit systems, and can effectively improve the reliability and safety of section occupation state detection.
In some embodiments, in the process of executing step S303, the first running state of the train relative to the target track section can be determined first according to the first distance information, and then the track section state can be determined according to the first running state.
In some embodiments, when the train is running, the distance between the querier and the beacon device arranged on the train is constantly changing, so the historical distance information can be acquired first, which is the distance information between the train and the first querier determined previously, and then the running state of the train relative to the first querier is determined according to the changes between the currently determined first distance information and the last determined historical distance information, for example, the difference between the first distance information and the historical distance information can be calculated, and then the first running state of the train relative to the first querier is determined according to the difference; after the current running state of the train relative to the first query being determined, the track section state of the target track section can be determined by determining whether the first running state of the train relative to the first query has changed.
Specifically, after the historical distance information is determined, the running state of the train can be determined according to the first distance information and the historical distance information in the following ways:
In some embodiments, the first driving state includes an approaching running state, a leaving running state, and a stopped state; the approaching running state indicates that the train approaches the target track section; the leaving running state indicates that the train leaves the target track section, and the stopped state indicates that the train is stationary in the target track section. The processor can determine that when the historical distance information is greater than the first distance information, the train is determined in an approaching running state; when the historical distance information is less than the first distance information, the train is determined in a leaving running state; when the historical distance information is equal to the first distance information, the train is determined in a stopped state.
For example, when the processor acquires that the first distance information is S1 and the historical distance information is S2, the running state of the train can be determined according to the value of the first distance information is S1 and the historical distance information is S2; when s2-s1 > 0, it can be determined that the historical distance information is greater than the first distance information, and then it can be determined that the train is moving from far to near, that is, the train is in an approaching running state relative to the first querier; In the case of s2-s1 <0, it can be determined that the historical distance information is less than the first distance information, and then it can be determined that the train is running from near and far, that is, the train is in a leaving running state relative to the first querier; and when s2-s1=0, it can be determined that the historical distance information is equal to the first distance information, and then it can be determined that the train is stationary, that is, the train is in a stopped state relative to the first querier.
By adopting the above scheme, the processor determines the running state of the train relative to the first querier by acquiring the historical distance information and the current first distance information, and then determines whether the section where the first querier is located is occupied according to whether the running state has changed, so as to accurately determine the section occupied by the train during the running process and improve the accuracy of occupation detection; in addition, when the occupied state of each of the preset sections on the running line is determined, the train can be warned in advance according to the running state of the train, so as to ensure the safety of the train.
In some embodiments, the target querier group further includes a second querier, which is the querier other than the first querier in the target querier group; first, the second distance information between the train and the second querier can be determined according to the second beacon signal sent by the second querier; then, the second running state of the train relative to the second querier can be determined according to the second distance information; and when the first driving state is the same as the second driving state, the track section state is determined according to the first driving state.
In some embodiments, after the first running state of the train relative to the target track section is determined by the first querier, the second running state of the train relative to the target track section can be determined by the second querier. When the first running state and the second running state are the same, it is determined that the judgments made by the first querier and the second querier are the same. In this case, the track section state can be determined according to the first running state.
In some embodiments, the first querier and/or the second querier are determined faulty when the first running state and the second running state are different.
In some embodiments, determining the track section state according to the first running state can be determined in the following manner. For example, the first historical running state can be determined first; and then the track section state is determined according to the first historical running state and the first running state.
Specifically, the first historical running state is the running state of the train relative to the target track section determined previously according to the first distance information.
For example, after the current first running state of the train being determined, it can be determined by comparing with the last determined first historical running state. When it is determined that the first running state and the first historical running state have changed, the track section state can be acquired; wherein, the beacon device of the train can be arranged at the front position and the rear position of the train respectively. The beacon device includes a first beacon device and a second beacon device. The first beacon device indicates the beacon device arranged at the front position of the train, and the second beacon device indicates the beacon device arranged at the rear position of the train.
In this step, the running state corresponding to the front of the train corresponding to the first beacon device and the running state corresponding to the rear of the train corresponding to the second beacon device can be acquired respectively through the above steps, and the historical running state corresponding to the front of the train corresponding to the first beacon device and the historical running state corresponding to the rear of the train corresponding to the second beacon device can be acquired respectively, and then the track section state can be determined when it is determined that the running state corresponding to the front of the train and the historical running state corresponding to the front of the train have changed, and the track section state can be determined when it is determined that the running state corresponding to the rear of the train and the historical running state corresponding to the rear of the train have changed.
For example, as shown in FIG. 2, the target track includes preset track section T2 and preset track section T4. Queriers Q1 and Q2 are arranged at both ends of preset track section T2, Queriers Q2 and Q4 are arranged at both ends of preset track section T4, beacon devices t1 and t2 are arranged at the front and rear position of the train respectively. When the processor determines that the running state corresponding to the front of the train corresponding to beacon device t1 is in a leaving running state, and the corresponding first historical running state is in an approaching running state, it can be determined that the front of the train is running from the preset track section T2 to the preset track section T4, that is, it can be determined that the preset track section T4 is in the occupied state; and when the processor determines that running state corresponding to the rear of the train corresponding to beacon device t2 is in a leaving running state, and the corresponding first historical driving state is in an approaching running state, it can be determined that the rear of the train is running from the preset track section T2 to the preset track section T4, that is, it can be determined that the preset track section T2 is in the unoccupied state; and considering that when the length of the train is greater than the length of the preset track section, all sections between preset track section T2 and preset track section T4 can be set to occupied state (excluding preset track section T2).
In some embodiments, the track information corresponding to the specified track section can further be acquired; when the track information indicates the specified track section turnout and the turnout is in an activated state, taking the specified track section as the target track section.
In this step, considering the turnout may occur on the line where the train is running, as shown in FIG. 4, when the turnout occurs on the line where the train is running, the train may enter the preset track section T4 from the preset track section T2, or enters the preset track section T42 from the T2 preset track section. The distance information acquired by the querier on the preset track section T4 is the same as that on the preset track section T42. In this case, the specific route of the train cannot be determined, so it is necessary to acquire the turnout state in advance through the querier at the turnout intersection, and the turnout state is configured to indicate the activated state of the turnout. The activated state is set manually in advance. Therefore, after acquiring the turnout state, the track section state can be determined by the above method of determining the track section state according to the first historical running state and the first running state on the turnout in the activated state.
By adopting the above scheme, it can be determined whether the section where the first querier is located is occupied according to whether the running state has changed, so as to accurately determine the section occupied by the train during the running process and improve the accuracy of occupation detection.
In some embodiments, the target querier group further includes a second querier, which is the querier other than the first querier in the target querier group; According to the first distance information and the historical distance information, the first running state can be determined in the following manner.
In some embodiments, the second distance information between the train and the second querier can be determined first according to the second beacon signal sent by the second querier; then, the second running state of the train relative to the second querier can be determined according to the second distance information; and when the first driving state is the same as the second driving state, the track section state is determined according to the first driving state.
In some embodiments, the first querier and/or the second querier are determined faulty when the first running state and the second running state are different.
In some embodiments, a plurality of first queriers is included, and the first distance information includes the distance information between the train and each querier of the plurality of first queriers; the track section state determined according to the first running state can be determined in the following manner.
In some embodiments, firstly, the second historical running state of the train can be determined, and the second historical running state is the last determined running state of the train relative to each of the first queriers; then, a plurality of first running states are determined according to the first distance information between the train and a plurality of first queriers; and finally, the track section state is determined according to the plurality of first driving states and the second historical driving states.
Specifically, the first querier may include all or part of the queriers in the querier group.
In some embodiments, the self-test beacon signal sent by the querier can further be received; then, when the self-test distance information determined by the self-test beacon signal meets the preset self-test distance information, it is determined that the self-test is passed.
FIG. 5 is a flowchart of another track section state detection method according to an exemplary embodiment. The method can be applied to the track section state detection system as shown in FIG. 1. The system includes a processor, a beacon device arranged on the train, and a plurality of queriers arranged on the target track. The target track includes a plurality of preset track sections, and the queriers are arranged at both ends of each of the preset sections. The processor is communicatively connected to the beacon device through the querier.
As shown in FIG. 5, the method includes the following steps:
In step s501, a first querier broadcasts a ranging signal.
In step s502, the beacon device sends a response first beacon signal to the first querier according to the received ranging signal.
In step S503, the first querier receives the first beacon signal and sends the first beacon signal to the processor.
In step S504, the processor determines first distance information between the train and the first querier according to the first beacon signal.
In step s505, when the first distance information is less than or equal to the preset distance threshold, the processor determines a first historical distance information.
Specifically, the first historical distance information is the distance information determined previously between the train and the first querier.
In step S506, the processor determines a first running state of the train according to the first distance information and the first historical distance information.
In step s507, the processor determines a first historical running state of the train.
Specifically, the first historical running state is the first running state of the train determined previously.
In step s508, the processor determines the track section state according to the first historical driving state and the first driving state.
FIG. 6 is a block diagram of an electronic device 600 according to an exemplary embodiment. As shown in FIG. 6, the electronic device 600 may include a processor 601 and a memory 602. The electronic device 600 may further include one or more of a multimedia component 603, an input/output (i/o) interface 604, and a communication component 605.
The processor 601 is configured to control the overall operation of the electronic device 600 to complete all or part of the steps in the above track section state detection method. The memory 602 is configured to store various types of data to support the operation of the electronic device 600. These data may include, for example, instructions for any application or method operating on the electronic device 600, as well as application related data, such as contact data, messages sent and received, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 603 may include a screen and an audio component. The screen may be a touch screen, for example, and the audio component is configured to output and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 602 or transmitted through the communication component 605. The audio component further includes at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, which can be keyboard, mouse, button, etc. These buttons can be virtual buttons or entity buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G NB-IOT, eMTC, or other 5G, etc., or one or several combinations of them, which are not limited here. Therefore, the corresponding communication component 605 may include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic device 600 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors, or other electronic components to implement the above track section state detection method.
In another exemplary embodiment, also provided is a computer-readable storage medium including program instructions that, when executed by a processor, implement the steps of the track section state detection method described above. For example, the computer-readable storage medium may be the above described memory 602 including program instructions, which may be executed by the processor 601 of the electronic device 600 to complete the above described track section state detection method.
In another exemplary embodiment, also provided is a computer program product including a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above described track section state detection method when executed by the programmable device.
The preferred embodiments of the present disclosure have been described in detail above in combination with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, a variety of simple modifications can be made to the technical scheme of the present disclosure, and these simple modifications belong to the protection scope of the present disclosure.
In addition, it should be noted that the specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, various possible combinations will not be described separately in the present disclosure.
In addition, various different embodiments of the present disclosure can also be combined arbitrarily. As long as they do not violate the idea of the present disclosure, they should also be regarded as the content disclosed in the present disclosure.

Claims

A track section state detection system, comprising a processor, a beacon device arranged on a train, and a plurality of querier groups arranged on a target track, the target track comprising a plurality of preset track sections and different preset track sections corresponding to different querier groups, each of the querier groups comprising queriers arranged at both ends of the preset track section, and the processor being communicatively connected to the beacon device through the querier;
the querier configured to broadcast a ranging signal and send a detected beacon signal to the processor when detecting a beacon signal returned by the beacon device on the basis of the ranging signal;

the processor being configured to determine first distance information between the train and a first querier according to a first beacon signal when receiving a first beacon signal sent by the first querier in the target querier group corresponding to the target track section, and to determine a track section state of the target track section according to the first distance information, the track section state comprising an occupied state or an unoccupied state, and the target track section being any track section of the plurality of preset track sections.
The detection system according to claim 1, wherein the processor is further configured to determine a first running state of the train relative to the target track section according to the first distance information, and to determine the track section state according to the first running state.
The detection system according to claim 2, wherein the processor is further configured to determine the first running state of the train relative to the target track section according to the first distance information when the first distance information is less than or equal to the preset distance threshold.
The detection system according to claim 3, wherein the processor is further configured to determine a historical distance information, the historical distance information being the distance information between the train and the first querier determined previously, and to determine the first running state according to the first distance information and the historical distance information.
The detection system according to claim 4, wherein the first driving state comprise an approaching running state, a leaving running state and a stopped state; the approaching running state indicating that the train approaches the target track section, the leaving running state indicating that the train leaves the target track section, and the stopped state indicating that the train is stationary in the target track section;
the processor being configured to

determine that the train is in an approaching running state when the historical distance information is greater than the first distance information;

determine that the train is in a leaving running state when the historical distance information is less than the first distance information; and

determine that the train is in a stopped state when the historical distance information is equal to the first distance information.
The detection system according to claim 4, wherein the target querier group further comprise a second querier, the second querier being the querier other than the first querier in the target querier group;
the processor being further configured to determine a second distance information between the train and the second querier according to a second beacon signal sent by the second querier, to determine a second running state of the train relative to the second querier according to the second distance information, and to determine the track section state according to the first running state when the first running state and the second running state are the same.
The detection system according to claim 6, wherein the processor is further configured to determine that the first querier and/or the second querier are faulty when the first running state and the second running state are different.
The detection system according to claim 2, wherein the processor is further configured to determine a first historical running state of the train, the first historical running state being the running state of the train relative to the target track section determined previously according to the first distance information, and to determine the track section state according to the first historical running state and the first running state.
The detection system according to claim 2, wherein the system comprises a plurality of first queriers, and the first distance information comprises the distance information between the train and each querier of the plurality of first queriers;
the processor being further configured to determine a second historical running state of the train, the second historical running state being the running state of the train relative to each of the first queriers determined previously, to determine a plurality of first running states according to the first distance information between the train and the plurality of first queriers, and to determine the track section state according to the plurality of first running states and the second historical running states.
The detection system according to claim 1, wherein the first beacon signal comprises identification information of the train; the processor being further configured to determine the train occupying the target track section according to the identification information when the track section state of the target track section is occupied.
The detection system according to claim 9, wherein the processor is further configured to determine the timestamp information corresponding to the first beacon signal and to determine the first distance information according to the timestamp information.
The detection system according to claim 1, wherein the processor is further configured to acquire the track information corresponding to the specified track section, when the track information indicates a specified track section turnout and the turnout is in an activated state, taking the specified track section as the target track section.
The detection system according to any one of claims 1 to 12, wherein
the querier is further configured to receive a self-test beacon signal returned by a self-test beacon device based on the ranging signal, and send the self-test beacon signal to the processor;

the processor being configured to receive the self-test beacon signal sent by the querier, and when the self-test distance information determined based on the self-test beacon signal meets the preset self-test distance information, to determine that the self-test is passed.
A track section state detection method, comprising:
receiving a first beacon signal sent by a first querier in a target querier group corresponding to a target track section;

determining a first distance information between the train and the first querier according to the first beacon signal; and

determining a track section state of the target track section according to the first distance information, the track section state comprising an occupied state or an unoccupied state, and the target track section being any track section within the plurality of preset track sections.
The method according to claim 14, wherein determining the track section state of the target track section according to the first distance information comprises:
determining the first running state of the train relative to the target track section according to the first distance information; and

determining the track section state according to the first running state.
The method according to claim 15, wherein determining the first running state of the train relative to the target track section according to the first distance information comprises:
when the first distance information is less than or equal to the preset distance threshold, determining the first running state of the train relative to the target track section according to the first distance information.
The method according to claim 16, wherein determining the first running state of the train relative to the target track section according to the first distance information comprises:
determining the historical distance information, the historical distance information being the distance information between the train and the first querier determined previously; and

determining the first running state according to the first distance information and the historical distance information.
The method according to claim 17, wherein the first driving state comprise an approaching running state, a leaving running state and a stopped state; the approaching running state indicating that the train approaches the target track section, the leaving running state indicating that the train leaves the target track section, and the stopped state indicating that the train is stationary in the target track section;
determining the running state of the train according to the first distance information and the historical distance information further comprising:
when the historical distance information is greater than the first distance information, determining that the train is in an approaching running state;

when the historical distance information is less than the first distance information, determining that the train is in a leaving running state; and

when the historical distance information is equal to the first distance information, determining that the train is in a stopped state.
The method according to claim 18, wherein the target querier group further comprises a second querier, the second querier being the querier other than the first querier in the target querier group; determining the first running state according to the first distance information and the historical distance information comprising:
determining a second distance information between the train and the second querier according to a second beacon signal sent by the second querier;

determining a second running state of the train relative to the second querier according to the second distance information; and

determining the track section state according to the first running state when the first running state and the second running state are the same.
The method according to claim 19, wherein the method further comprises:
when the first running state and the second running state are different, determining that the first querier and/or the second querier are faulty.
The method according to claim 15, wherein determining the track section state according to the first running state further comprises:
determining a first historical running state of the train, the first historical running state being the running state of the train relative to the target track section determined previously according to the first distance information; and

determining the track section state according to the first historical running state and the first running state.
The method according to claim 15, wherein a plurality of first queriers are provided, and the first distance information comprising the distance information between the train and each querier of the plurality of first queriers; determining the track section state according to the first running state further comprising:
determining a second historical running state of the train, the second historical running state being the running state of the train relative to each of the first queriers determined previously;

determining a plurality of first running states according to the first distance information between the train and the plurality of first queriers; and

determining the track section state according to the plurality of first running states and the second historical running states.
The method according to claim 14, wherein the first beacon signal comprises the identification information of the train; the method further comprising:
when the track section state of the target track section is occupied, determining the train occupying the target track section according to the identification information.
The method according to claim 22, wherein determining the first distance information between the train and the first querier according to the first beacon signal comprises:
determining the time stamp information corresponding to the first beacon signal; and

determining the first distance information according to the time stamp information.
The method according to claim 14, wherein the method further comprises:
acquiring the track information corresponding to the specified track section;

when the track information indicates a specified track section turnout and the turnout is in an activated state, taking the specified track section as the target track section.
The method according to any one of claims 14 to 25, wherein the method further comprises:
receiving a self-test beacon signal sent by the querier; and

when the self-test distance information determined based on the self-test beacon signal meets the preset self-test distance information, determining that the self-test is passed.
A non-transitory computer-readable storage medium, having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the method of any one of claims 14 to 25.
An electronic device, comprising:
a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 14 to 25.