WO2019024517A1

WO2019024517A1 - Automatic driving method, apparatus and system of train

Info

Publication number: WO2019024517A1
Application number: PCT/CN2018/080316
Authority: WO
Inventors: 吴智利; 卓开阔; 薄云览; 王发平
Original assignee: 比亚迪股份有限公司
Priority date: 2017-07-31
Filing date: 2018-03-23
Publication date: 2019-02-07
Also published as: CN109318940A

Abstract

An automatic driving method of a train, comprising: acquiring fault parameters of a train (101); determining whether the fault parameters meet a fault mode switching condition (102); when the fault parameters do not meet the fault mode switching condition, controlling the train, so that same travels in a normal mode (103); and when the fault parameters meet the fault mode switching condition, initiating a remote control travel mode (104), wherein the remote control travel mode comprises: controlling, according to a remote control travel command issued by a regional centralized controller, the travel of the train, wherein the regional centralized controller is communicatively connected to a train running protection apparatus in each train. Also provided are an automatic driving apparatus and system for a train.

Description

Train automatic driving method, device and system

The present application claims priority to Chinese Patent Application No. 200910642963.5, entitled "Automatic Driving Method, Apparatus and System for Trains", filed on July 31, 2017, the entire contents of which are incorporated herein by reference. in.

Technical field

The invention relates to the field of train engineering, and in particular to a train driving method, device and system.

Background technique

Rail trains are the main means of transport in many cities because of their high on-time punctuality and large passenger capacity. The control system of a rail train usually includes: an automatic train monitoring device, a computer interlocking device, a zone controller, a switch device, and an in-vehicle train control device. There are a plurality of regional controllers, and each regional controller is used to monitor the train position within its jurisdiction. The in-vehicle train control devices provided on each train are in data communication with the area controller within the range of the train to transmit train position information to the area controller. The area controller sorts according to the location information sent by all the trains in the jurisdiction, and then generates mobile authorization information for each train and sends it to the corresponding train, so that the onboard train control device in the train is based on the mobile authorization information. Adjust your own driving speed, etc., to ensure that the distance between the front and rear cars is within a safe distance. The automatic train monitoring device is respectively connected with the computer interlocking device and the regional controller, and is used for comprehensive processing according to the train position information sent by the regional controller and the station track occupation information sent by the computer interlocking device, and then issuing a command to the computer interlocking device. To control the action of the switch device.

In the above existing control system, since there are multiple trains in the jurisdiction area of each area controller, the area controller is responsible for real-time communication and operation operations, resulting in the operation capability of the area controller becoming the control system. The bottleneck. The number of trains that each zone controller can control is limited, and the number of zone controllers can be increased to ensure fast and accurate monitoring of train positions. However, the problem is that the train will pass through multiple jurisdictions during the driving process, and the train handover operation will be carried out between the regional controllers in the adjacent jurisdictions, resulting in a complicated control system function.

Summary of the invention

The present invention aims to solve at least one of the technical problems in the related art to some extent.

To this end, the first object of the present invention is to provide a train automatic driving method for realizing the function of the simplified train control system for solving the problem of complicated functions brought about by the use of a plurality of area controllers in the prior art.

A second object of the present invention is to provide a train automatic driving device.

A third object of the present invention is to provide a train automatic driving system.

A fourth object of the present invention is to propose an application.

A fifth object of the present invention is to provide a storage medium.

In order to achieve the above object, the first aspect of the present invention provides a train automatic driving method, including:

Obtain the fault parameters of the train;

Determining whether the fault parameter meets a fault mode switching condition;

Controlling the train to travel in a normal mode when the fault parameter does not satisfy the fault mode switching condition;

When the fault parameter satisfies the fault mode switching condition, the remote driving mode is started, and the remote driving mode includes: controlling the driving of the train according to the remote driving command issued by the regional centralized controller, the regional centralized controller and the train in each train Run the guard communication connection.

In order to achieve the above object, an embodiment of the second aspect of the present invention provides a train automatic driving device, including:

a fault parameter acquisition module, configured to acquire a fault parameter of the train;

a fault mode switching condition determining module, configured to determine whether the fault parameter meets a fault mode switching condition;

a normal driving control module, configured to control the train to travel in a normal mode when the fault parameter does not satisfy the fault mode switching condition;

The remote driving mode starting module is configured to start a remote driving mode when the fault parameter satisfies the fault mode switching condition, and the remote driving mode comprises: controlling the driving of the train according to the remote driving command issued by the regional centralized controller.

To achieve the above objective, the third aspect of the present invention provides a train automatic driving system, including: automatic train monitoring equipment, regional centralized controller, train running protection device, train automatic driving device, remote control device, and switch device;

The train operation protection device includes the train automatic driving device according to the second aspect of the present invention;

The regional centralized controller is respectively communicably connected with the train automatic monitoring device and the train running protection device, and the train running protection device is communicably connected with the train automatic driving device;

The remote control device is respectively connected to the switch device and the regional centralized controller, and is configured to control the operation of the switch device according to a control command issued by the regional centralized controller.

In order to achieve the above object, an embodiment of the fourth aspect of the present invention provides an application program that, when executed, performs an automatic driving method of a train as described in the first aspect of the present invention.

In order to achieve the above object, a fifth aspect of the present invention provides a storage medium for storing an application for performing a train automatic driving method as described in the first aspect of the invention at runtime.

The additional aspects and advantages of the invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a flowchart of a method for automatically driving a train according to Embodiment 1 of the present invention;

2 is a flowchart of a method for automatically driving a train according to Embodiment 2 of the present invention;

3 is a flowchart of a method for automatically driving a train according to Embodiment 3 of the present invention;

4 is a schematic structural diagram of a train automatic driving device according to Embodiment 4 of the present invention;

5 is a schematic structural diagram of a normal driving control module in a train automatic driving device according to Embodiment 5 of the present invention;

6 is a schematic structural diagram of a train communication unit in a train automatic driving device according to Embodiment 5 of the present invention;

FIG. 7 is a schematic structural diagram of a train automatic driving system according to Embodiment 6 of the present invention.

Detailed ways

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

Embodiment 1

The embodiment provides a train control method, which can be performed by a train automatic driving device in a train running protection device, and can be implemented by software and/or hardware. The train running protection device is set on the train, and the train running protection devices set on each train are connected with the regional centralized controller. FIG. 1 is a flowchart of a method for automatically driving a train according to Embodiment 1 of the present invention. As shown in FIG. 1 , the automatic driving method of the train provided in this embodiment includes the following steps:

Step 101: The train operation protection device acquires a fault parameter of the train.

The fault parameter may be a parameter corresponding to various faults generated by the train during the driving process, and may include: a fault name, a fault type, a fault code, and the like. Some of the faults generated during the running of the train have no major impact on normal driving, such as: air conditioning faults, lighting faults, etc.; some faults have a greater impact on the normal running of the train, for example: communication faults , door failure, brake equipment failure, etc.

Step 102: The train operation protection device determines whether the fault parameter meets the fault mode switching condition, and if yes, executes step 104; if not, executes step 103.

The train running protection device judges the fault parameter of the above train, and the fault parameter that does not have a great influence on the normal running is regarded as not satisfying the fault mode switching condition; for the above fault parameter having a greater influence on the normal driving, It is considered to satisfy the failure mode switching condition.

Step 103: The train operation protection device controls the train to travel in a normal mode.

When driving in the normal mode, the train can be controlled according to the normal automatic driving mode of the train.

Step 104: The train running protection device starts a remote driving mode, and the remote driving mode comprises: controlling the driving of the train according to the remote driving command issued by the regional centralized controller.

When the fault parameter satisfies the fault mode switching condition, that is, the fault is a fault that has a great influence on the normal running of the train, in order to ensure the safety of the train running, the remote driving mode needs to be started to drive according to the remote control issued by the regional centralized controller. Command to control train travel.

The regional centralized controller is communicatively connected with the train running guards in each train, and only one regional centralized controller is provided in the train automatic driving system. The regional centralized controller acquires the position information of each train through the train running protection devices of each train, and sorts the trains. The regional centralized controller is also connected to the train automatic monitoring device to send the position information of each train to the train automatic monitoring device for comprehensive scheduling. The regional centralized controller can issue a remote driving command to the train according to the dispatching instruction of the automatic monitoring device of the train to control the running of the train in the remote driving mode.

The technical solution provided by the embodiment determines the fault parameter by the train running protection device set in the current train. When it is judged that the fault mode switching condition is not satisfied, the train travels according to the normal mode, that is, according to the normal automatic driving mode of the train. To control the train travel, and when it is judged that the fault mode switching condition is satisfied, the remote travel mode is activated to control the train travel according to the remote travel command issued by the regional centralized controller, and only the unique area can be concentrated during the train travel. The controllers are connected to avoid the problem of handing over the train running instructions between the multiple regional controllers in the prior art, simplifying the design complexity of the system and improving the efficiency.

For the remote driving instruction issued by the regional centralized controller, the automatic train monitoring device may be generated and sent to the regional centralized controller according to the operation of the dispatcher. The dispatcher performs remote control operations through automatic train monitoring equipment, including: forward, backward, traction, braking and other remote operations. The automatic train monitoring device generates a remote command according to the remote operation of the dispatcher and transmits the remote command to the unique regional centralized controller. After receiving the remote control command, the regional centralized controller sends the remote control command to the train running protection device to control the train automatic driving device to control the train running to the nearest station parking for protection under the protection of the train running protection device. When the repair is completed, the train can return to normal operation mode.

Further, in the remote driving mode, the train running protection device also sends the current train position information to the regional centralized controller, so that the regional centralized controller sends the current train position to the automatic train monitoring device for the dispatcher to view. In addition, the regional centralized controller also sorts the trains according to the train position information and the position information of other trains, and transmits the sorting result to other trains in the normal operation mode.

Embodiment 2

This embodiment is based on the above embodiment, and further optimizes the automatic driving method of the train. Especially to optimize the normal mode.

2 is a flow chart of a method for automatically driving a train according to a second embodiment of the present invention. As shown in Figure 2, controlling the train to travel in the normal mode includes the following steps:

Step 201: The train operation protection device sends the current train position information to the regional centralized controller, so that the regional centralized controller sorts the trains according to the current train position information and the position information of other trains, and generates a sorting result.

In this embodiment, the current train is provided with a positioning device for acquiring the position information of the current train in real time. The positioning device can transmit the position information to the train running guard.

Thereafter, the train operation protection device can transmit the acquired current train position information to the regional centralized controller. The sending process may be actively sent periodically for the train running protection device, or may be sent to the regional centralized controller after the train running protection device receives the location information request message sent by the regional centralized controller.

The regional centralized controller receives the train position information transmitted by each train, and obtains the position information of each train. The regional centralized controller then sorts the trains according to the position information of each train and generates a sorting result. The regional centralized controller then sends the ranking result to the train running guard of the current train with which it is communicating. The sorting result includes the running sequence of each train and the identity information of each train. The identity information of the train may be a train identification, a communication address, etc., so that the train running protection device in the current train can perform with other trains according to the identity information. Communication.

Step 202: The train operation protection device communicates with the front train adjacent to the current train according to the sort result obtained from the regional centralized controller to obtain the position information of the former train.

Since the above sorting result includes the running sequence of each train and the identity information of each train, the train running guard device can extract the train identity information adjacent to the current train from the sorting result, especially the identity information of the former train.

Then, the train running protection device communicates with the corresponding front train according to the identity information of the preceding train to obtain the position information of the former train.

Specifically, the position information of the former train can be transmitted to the train running protection device in the current train by the train running protection device in the front train.

Step 203: The train operation protection device generates the movement authorization information according to the position information of the front train and the current train position information.

Specifically, the train operation protection device can calculate the distance between the current train and the front train according to the position information of the front train and the current train position information, and generate the movement authorization information according to the distance. For the generation method of the mobile authorization information, refer to the generation manner of the regional controller in the prior art.

Step 204: The train operation protection device transmits the movement authorization information to the train automatic driving device, so that the automatic train driving device controls the current train to automatically travel according to the movement authorization information.

The train running protection device and the train automatic driving device are all arranged on the train, and the data communication is performed through the data bus connection between the two.

Specifically, the automatic train driving device can generate a speed adjustment curve according to the movement authorization information, and then adjust the traveling speed of the train according to the speed adjustment curve to realize automatic driving and maintain a safe distance from the front train. Alternatively, the train automatic driving device may also control the current train automatic driving in combination with the movement authorization information and the preset braking rule, and the preset braking rule may be a preset braking rule, and the rule may be pre-stored in the train automatic driving. The device can also be received by the regional centralized controller from the automatic train monitoring device and sent to the train automatic driving device through the train running protection device.

The technical solution provided by the embodiment sends the current train position information to the regional centralized controller by using the train running protection device installed in the current train, so that the regional centralized controller sorts the trains and generates the sorting result; The running protection device identifies the identity information of the preceding train adjacent to the sorting result and communicates with the former train to obtain the position information of the former train; the train operation protection device generates the position information of the preceding train and the position information of the former train. The authorization information is moved so that the automatic train driving device controls the current train to automatically travel according to the movement authorization information and maintains a safe distance from the preceding train. In the above technical solution, the current train communicates with the adjacent front train to obtain the position information of the front train, and then the automatic train is controlled according to the position information of the front train, which is equivalent to the process of generating the mobile authorization information in the prior art. The train running protection device in the train is executed, and the regional centralized controller no longer generates the mobile authorization information, which reduces the burden on the regional centralized controller and improves the efficiency of the entire system. Therefore, only one regional centralized controller is needed in the whole train control system. One regional centralized controller communicates with all trains and sorts each train, which further solves the problem of regional control in the prior art due to the cross-region of the train. There must be a problem of complicated system functions caused by train handover between the devices.

In addition, in the prior art, the regional centralized controller only sorts the trains in the manner of centrally acquiring the location information by the regional controller, and the trains directly perform the train identity information included in the sorting result. Communication to obtain the location information of the adjacent trains, no need to go through the regional controller once, the communication rate is faster, and the position information is processed faster.

Embodiment 3

The embodiment provides an automatic driving method in which the train is in the normal mode, and the method can be performed by the train automatic driving device in the regional centralized controller, and can be implemented by software and/or hardware. In the automatic train driving system, only one regional centralized controller is set, and the train running protection devices set on each train are connected with the regional centralized controller. FIG. 3 is a flowchart of a method for automatically driving a train according to Embodiment 3 of the present invention. As shown in FIG. 3, the automatic driving method of the train provided in this embodiment includes the following steps:

Step 301: The regional centralized controller receives current train location information sent by the train operation protection device in the current train.

The train operation protection device transmits the current train position information to the regional centralized controller, and the transmission process may be actively sent periodically for the train operation protection device, or the regional centralized controller may first send the location information request message to the train operation protection device. After that, the train operation protection device transmits the current train position information to the regional centralized controller.

Step 302: The regional centralized controller sorts the trains according to the current train location information and the location information of other trains, and generates a sorting result.

The regional centralized controller receives the train position information transmitted by each train, and obtains the position information of each train. The regional centralized controller then sorts the trains according to the position information of each train and generates a sorting result.

Step 303: The regional centralized controller sends the sorting result to the train running protection device, so that the train running protection device communicates with the front train adjacent to the current train according to the sorting result to obtain the position information of the front train; and the train running protection device The mobile authorization information is generated according to the position information of the front train and the current train position information; and the train operation protection device transmits the movement authorization information to the train automatic driving device, so that the automatic train driving device controls the current train to automatically travel according to the movement authorization information.

For the specific implementation manner of the train running protection device in step 303, refer to the first embodiment, and details are not described herein again.

Embodiment 4

FIG. 4 is a schematic structural diagram of an automatic driving device for a train according to Embodiment 4 of the present invention. As shown in FIG. 4, the present embodiment provides a train automatic driving device, including: a fault parameter acquiring module 41, a fault mode switching condition determining module 42, a normal driving control module 43, and a remote driving mode starting module 44.

The fault parameter obtaining module 41 is configured to acquire a fault parameter of the train. The fault mode switching condition determining module 42 is configured to determine whether the fault parameter satisfies the fault mode switching condition. The normal travel control module 43 is configured to control the train to travel in the normal mode when the fault parameter does not satisfy the fault mode switching condition. The remote driving mode starting module 44 is configured to start the remote driving mode when the fault parameter meets the fault mode switching condition, and the remote driving mode comprises: controlling the running of the train according to the remote driving command issued by the regional centralized controller.

The technical solution provided by the embodiment determines the fault parameter by using the train running protection device set in the current train. When it is determined that the fault mode switching condition is met, the remote driving mode is started to be remotely controlled according to the regional centralized controller. When the driving command controls the train to travel, it is only connected to the unique regional centralized controller during the running of the train, thereby avoiding the problem of transferring the train running instructions between the multiple regional controllers in the prior art, simplifying the system. The complexity of the design also increases efficiency.

Embodiment 5

FIG. 5 is a schematic structural diagram of a normal travel control module in an automatic train driving device according to Embodiment 5 of the present invention. As shown in FIG. 5, the normal travel control module 43 specifically includes a train position information transmitting unit 431, a train communication unit 432, a movement authorization information generating unit 433, and a mobile authorization information transmitting unit 434.

The train position information transmitting unit 431 is configured to send the current train position information to the regional centralized controller, so that the regional centralized controller sorts the trains according to the current train position information and the position information of other trains, and generates a sorting result. The train communication unit 432 is configured to communicate with the front train adjacent to the current train according to the sort result obtained from the regional centralized controller to acquire the position information of the preceding train. The mobile authorization information generating unit 433 is configured to generate the mobile authorization information according to the location information of the previous train and the current train location information. The mobile authorization information transmitting unit 434 is configured to transmit the mobile authorization information to the train automatic driving device, so that the automatic train driving device controls the current automatic driving of the train according to the movement authorization information.

FIG. 6 is a schematic structural diagram of a train communication unit in an automatic train driving device according to Embodiment 5 of the present invention. As shown in FIG. 6, the train communication unit 432 specifically includes an adjacent train identity information extraction subunit 4321 and a train communication subunit 4322.

The adjacent train identity information extraction sub-unit 4321 is configured to extract identity information of the preceding train adjacent to the current train according to the sort result obtained from the regional centralized controller. The train communication subunit 4322 is configured to communicate with the corresponding front train based on the identity information of the preceding train.

Embodiment 6

FIG. 7 is a schematic structural diagram of a train automatic driving system according to Embodiment 6 of the present invention. As shown in FIG. 7, the embodiment provides a train automatic driving system, including: a regional centralized controller 61, a train running protection device 62, a train automatic driving device 63, a remote control device 64, a switch device 65, and a train automatic monitoring device. 66.

The regional concentration controller 61 is implemented by the method in the third embodiment, and the train operation protection device 62 includes the automatic train driving device provided in the third embodiment.

The regional concentration controller 61 is in communication with the train automatic monitoring device 66 train running guard 62, and the train running guard 62 is communicatively coupled to the train automatic driving device 63.

The remote control device 64 is connected to the switch device 65 and the area centralized controller 61, respectively, for controlling the operation of the switch device 65 in accordance with a control command issued by the area centralized controller 61.

In addition, the train automatic driving system further includes a signal 67. Wherein, the signal 67 is adjacent to the remote control device 64, and the remote control device 64 can control the signal 67 to operate according to the control command issued by the regional centralized controller 61. The automatic train monitoring device 66 is connected to the regional centralized controller 61 for receiving position information, switch state information, and the like of each train from the regional centralized controller 61 to schedule each train according to the position information of each train, and generate a control command. It is used to control the signal 67 and the switch device 65 to operate, and can display the switch state and the signal state.

Further, the train automatic driving system further includes: an axle counting device 68, and the axle counting device 68 is disposed on the train track for detecting the occupancy of the train track. When the train running guard 62 in a certain train loses the communication connection with the area centralized controller 61, the area centralized controller 61 can find the corresponding position according to the position information sent by the train running guard 62 in the previous period in the train. The position of the train that has lost the communication connection is determined by the occupancy of the track from the axle counting device 68 in the area.

Still further, the train automatic driving system further includes: a distance detecting device 69 disposed at a head of the train for detecting an obstacle in front of the train. The distance detecting means 69 is connected to the train running guard 62 to transmit the detection result to the train running guard 62. The distance detecting device 69 may specifically be a radar. When detecting a close obstacle in front of the train, the train running guard 62 may take an emergency stop or the like, or may generate a fault parameter according to a signal sent by the distance detecting device 69, so that the fault parameter is generated. The train operation protection device is switched to the remote control mode to run slowly according to the remote command issued by the regional centralized controller to ensure safe driving.

Embodiment 6

For the implementation provided by the above embodiments, the present embodiment provides a workflow for the above-described train automatic driving system.

When the train automatic driving system is in normal working condition, the workflow is as follows:

(1) Each train is parked in the depot, and the train operation guard 62 in each train maintains a communication connection with the train automatic monitoring device 66. When the train operation protection device 62 receives the wake-up command sent by the train automatic monitoring device 66, the train operation protection device 62 automatically completes the power-on self-test of each device. Thereafter, the train operation guard 62 transmits the initial position information and the operation state information of the train to the area centralized controller 61 so that the area concentration controller 61 sorts the trains. Assuming that the train operation guard 62 in the current train transmits the current train position information to the regional centralized controller 61, the regional concentration controller 61 transmits the identity information of the preceding train adjacent to the current train to the train operation in the current train. Protective device 62. The train operation guard 62 in the current train then communicates directly with the front train to obtain the position information of the previous train.

(2) After the above-described train operation preventing device 62 completes the start and self-test, the initial start completion state information is transmitted to the train automatic driving device 63, so that the train automatic driving device 63 controls the train to perform low-speed forward and forward in the vehicle segment. Drive backwards for precise positioning. A positional transponder can be placed near the train track for position detection of the train. During the forward travel of the train, when the radar set by the head of the train detects the signal of the positioner, the train automatic driving device 63 controls the train to stop; when the radar set at the tail of the train monitors the signal of the positioner, the train The automatic driving device 63 controls the train to stop.

(3) The train operation preventing device 62 sets information such as the ballast state, the trackside signal state, the track occupancy state, and the like, and the position of the adjacent train acquired from the adjacent train based on the set operation plan information, the state of the ballast signal received from the area centralized controller 61, The information calculation generates mobile authorization information to automatically drive the train out of the depot by the train automatic driving device 63.

(4) After the train enters the set track for normal operation, the train operation preventing device 62 transmits the position information to the area centralized controller 61 in real time, and according to the sorting result of each train sent by the area centralized controller 61 and the adjacent front train. Communication is performed to obtain position information of the front train, thereby calculating generation of movement authorization information to control automatic train travel. In addition, the train automatic monitoring device 66 also acquires the position information of all the trains from the area centralized controller 61, and the information sent by the switch device 65, the axle counting device 68, and the signal machine 67, and generates a train protection curve, and then passes through the regional centralized controller. 61 is sent to the train running guard 62. The train operation protection device 62 forwards the train protection curve to the train automatic driving device 63, so that the automatic train driving device 63 controls the train to generate corresponding traction, braking, idle level information, etc. according to the train protection curve to control the automatic operation of the train. Complete the functions of parking, opening and closing, and starting at each station.

(5) After the end of the operation, the train operation protection device 62 instructs the train automatic driving device 63 to automatically control the train to enter the vehicle segment to stop according to the operation plan information sent by the automatic train monitoring device 66, and to power off the vehicle equipment, but keep the train The sleep wake-up module set above operates and maintains a communication connection with the train automatic monitoring device 66 and the regional centralized controller 61.

In the event that the train control system is in a fault condition, the workflow is as follows:

(1) When the train cannot communicate with the adjacent train, the train operation guard 62 controls the train emergency brake stop, and communicates with the train automatic monitoring device 66 and the regional centralized controller 61 to enable the dispatcher to pass The remote control mode controls the train to run to the nearest station, and the maintenance personnel can resume normal operation after completing the troubleshooting. If the regional centralized controller 61 cannot receive the location information of the train, the regional centralized controller 61 generates a blocked area according to the location information sent by the train in the previous cycle, and sends the blocked area to all the operations on the operating line. train.

(2) In the process of the dispatcher initiating the remote control mode to control the train operation, the dispatcher obtains the train information through the video monitoring information at the dispatch center, and transmits the remote mode switching instruction to the train running guard 62 through the regional centralized controller 61, so that The train switches to remote control mode for driving.

(3) The dispatcher sends a train command such as forward, backward, traction, braking, etc. to the train running guard 62 through the regional centralized controller 61 to control the train to slowly travel to the nearest station.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means a specific feature described in connection with the embodiment or example. A structure, material or feature is included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification and features of various embodiments or examples may be combined and combined without departing from the scope of the invention.

Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include at least one of the features, either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logic function or process. And the scope of the preferred embodiments of the invention includes additional implementations, in which the functions may be performed in a substantially simultaneous manner or in an opposite order depending on the functions involved, in the order shown or discussed. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware and in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: discrete with logic gates for implementing logic functions on data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

One of ordinary skill in the art can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium. When executed, one or a combination of the steps of the method embodiments is included.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A method for automatically driving a train, comprising:

Obtain the fault parameters of the train;

Determining whether the fault parameter meets a fault mode switching condition;

Controlling the train to travel in a normal mode when the fault parameter does not satisfy the fault mode switching condition;

When the fault parameter satisfies the fault mode switching condition, the remote driving mode is started,

The remote driving mode includes: controlling the driving of the train according to a remote driving instruction issued by the regional centralized controller, and the regional centralized controller is communicably connected with the train running protection device in each train.
The automatic train driving method according to claim 1, wherein the remote driving instruction is generated by the automatic train monitoring device according to an operation of the dispatcher and sent to the regional centralized controller.
The automatic driving method according to claim 2, wherein the remote driving mode further comprises: transmitting current train position information to the regional centralized controller, so that the regional centralized controller sets the current train position Send to the train automatic monitoring equipment for dispatchers to view.
The automatic train driving method according to any one of claims 1 to 3, characterized in that controlling the train to travel in the normal mode comprises:

Sending current train position information to the regional centralized controller, so that the regional centralized controller sorts the trains according to the current train position information and position information of other trains, and generates a sorting result;

And communicating with the front train adjacent to the current train according to the sort result obtained from the regional centralized controller to obtain the location information of the former train;

Generating mobile authorization information according to location information of the former train and current train location information;

The mobile authorization information is transmitted to the train automatic driving device to cause the automatic train driving device to control the current train automatic driving according to the movement authorization information.
The automatic train driving method according to claim 4, wherein the communication with the preceding train adjacent to the current train according to the sort result obtained from the regional centralized controller comprises:

Extracting identity information of the preceding train adjacent to the current train according to the sort result obtained from the regional centralized controller;

Communicating with the corresponding front train according to the identity information of the former train.
The automatic driving method of the train according to claim 4 or 5, wherein the automatic driving device controls the automatic driving of the current train according to the movement authorization information, including:

The train automatic driving device generates a speed adjustment curve according to the movement authorization information;

The train automatic driving device controls the current train automatic driving according to the speed adjustment curve.
A train automatic driving device, comprising:

a fault parameter acquisition module, configured to acquire a fault parameter of the train;

a fault mode switching condition determining module, configured to determine whether the fault parameter meets a fault mode switching condition;

a normal driving control module, configured to control the train to travel in a normal mode when the fault parameter does not satisfy the fault mode switching condition;

The remote driving mode starting module is configured to start a remote driving mode when the fault parameter satisfies the fault mode switching condition, and the remote driving mode comprises: controlling the driving of the train according to the remote driving command issued by the regional centralized controller.
The automatic driving device for a train according to claim 7, wherein the normal driving control module comprises:

a train position information sending unit, configured to send current train position information to the regional centralized controller, so that the regional centralized controller sorts each train according to the current train position information and position information of other trains, and generates a sort result;

a train communication unit configured to communicate with a front train adjacent to the current train according to the sort result obtained from the regional centralized controller to obtain location information of the former train;

a mobile authorization information generating unit, configured to generate mobile authorization information according to location information of the former train and current train location information;

And a mobile authorization information sending unit, configured to send the mobile authorization information to the train automatic driving device, so that the automatic train driving device controls the current train to automatically travel according to the movement authorization information.
The automatic train driving device according to claim 8, wherein the train communication unit comprises:

And an adjacent train identity information extracting subunit, configured to extract identity information of a front train adjacent to the current train according to the sorting result obtained from the regional centralized controller;

The train communication subunit is configured to communicate with the corresponding front train according to the identity information of the preceding train.
An automatic train driving system, comprising: automatic train monitoring equipment, regional centralized controller, train running protection device, automatic train driving device, remote control device and switch device;

The train operation protection device includes the automatic train driving device according to any one of claims 7-9;

The regional centralized controller is respectively communicably connected with the train automatic monitoring device and the train running protection device, and the train running protection device is communicably connected with the train automatic driving device;

The remote control device is respectively connected to the switch device and the regional centralized controller, and is configured to control the operation of the switch device according to a control command issued by the regional centralized controller.
The automatic train driving system according to claim 10, further comprising: a axle counting device, the axle counting device being disposed on the train track, and the axle counting device being coupled to the remote control device.
A train automatic driving system according to claim 10 or 11, further comprising: a distance detecting means provided at a head of the train for detecting an obstacle in front of the train; said distance detecting The device is coupled to the train running guard.
The automatic train driving system according to claim 12, wherein said distance detecting means is a radar.
A storage medium for storing an application for performing the automatic driving method of the train according to any one of claims 1 to 6 at runtime.
An application for performing the automatic driving method of the train according to any one of claims 1 to 6 at runtime.