WO2021036907A1

WO2021036907A1 - Train control system and train control method

Info

Publication number: WO2021036907A1
Application number: PCT/CN2020/110313
Authority: WO
Inventors: 宋艾璋
Original assignee: 比亚迪股份有限公司
Priority date: 2019-08-30
Filing date: 2020-08-20
Publication date: 2021-03-04
Also published as: CN112441087A

Abstract

A train control system, comprising: at least one smart roadside device (1) that is provided along a route through which a train passes, each smart roadside device (1) corresponding to an area of an operation route, and the smart roadside device (1) being used to acquire road condition information in the corresponding area and sending the road condition information to a train located in the corresponding area; and an onboard control device (2) that is located on a train and that is used to acquire train operation information of a current train as well as road condition information sent by the intelligent roadside device (1), and to control the train according to the road condition information and the train operation information. Also disclosed is a train control method.

Description

Train control system and train control method

Cross-references to related applications

The present disclosure claims the priority of a Chinese patent application filed on August 30, 2019, with the application number 201910817826.X, titled "train control system, train control method", the entire content of which is incorporated into the present disclosure by reference.

Technical field

The present disclosure relates to the field of communication technology, and in particular to a train control system and a train control method.

Background technique

In related technologies, CBTC (Communication Based Train Control System) requires that trains and trackside equipment must communicate in real time and two-way, and CBTC can only obtain travel routes in advance through trackside equipment (such as preset transponders) On the road condition information, the obtained road condition information is not comprehensive enough, which may lead to insufficient safety and efficiency of train operation.

Public content

The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first purpose of the present disclosure is to propose a train control system that can obtain dynamic road condition information and static road condition information of the running line through an intelligent roadside device, so that the train can be controlled based on more comprehensive road condition information. , Make the operation of the train safer, more reliable, efficient and reasonable.

The second purpose of the present disclosure is to propose a train control method.

In order to achieve the above objective, an embodiment of the present disclosure proposes a train control system, including: at least one smart roadside device, the at least one smart roadside device is arranged along the running route of the train, and each of the The smart roadside device corresponds to an area of the running route, and the smart roadside device is used to obtain road condition information in the corresponding area, and send the road condition information to the trains located in the corresponding area; The on-board control device on the train is used to obtain the current train operation information and the road condition information sent by the intelligent roadside device, and receive train operation information sent by other trains within the first set range, and according to the The road condition information and the train operation information control the train.

According to the train control system of the embodiment of the present disclosure, the road condition information in the corresponding area is obtained through the intelligent roadside device, and the road condition information is sent to the train in the corresponding area, and the on-board control device located on the train obtains the train of the current train Operating information and road condition information sent by the intelligent roadside device, and control the train according to the road condition information and train operation information. The system can obtain the dynamic road condition information and static road condition information of the running line through the intelligent roadside device, so that the train can be controlled according to more comprehensive road condition information, so that the train operation is safer, more reliable, efficient and reasonable.

In order to achieve the above objective, the second aspect of the present disclosure proposes a train control method, including the following steps: an intelligent roadside device obtains road condition information in a corresponding area, and sends the road condition information to the corresponding area. Wherein the at least one smart roadside device is arranged along the running route of the train, and each smart roadside device corresponds to an area of the running route; The on-board control device obtains the current train operation information of the train and the road condition information sent by the intelligent roadside device, and controls the train according to the road condition information and the train operation information.

According to the train control method of the embodiment of the present disclosure, the intelligent roadside device obtains the road condition information in the corresponding area, and sends the road condition information to the train located in the corresponding area, and the on-board control device located on the train obtains the current train The train operation information and the road condition information sent by the intelligent roadside device, and control the train according to the road condition information and train operation information. Therefore, the method can obtain dynamic road condition information and static road condition information of the running line through the intelligent roadside device, so that the train can be controlled based on more comprehensive road condition information, so that the train operation is safer, more reliable, efficient and reasonable.

The additional aspects and advantages of the present disclosure will be partially given in the following description, and some will become obvious from the following description, or be understood through the practice of the present disclosure.

Description of the drawings

The above and/or additional aspects and advantages of the present disclosure will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a schematic block diagram of a train control system according to an embodiment of the present disclosure;

Fig. 2 is a block diagram of a train control system according to another embodiment of the present disclosure;

Fig. 3 is a schematic diagram of the arrangement of a smart roadside device according to an embodiment of the present disclosure;

Fig. 4 is a flowchart of a train control method according to an embodiment of the present disclosure.

detailed description

The embodiments of the present disclosure are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present disclosure, and should not be construed as limiting the present disclosure.

The train control system, train control method, computer-readable storage medium, and electronic equipment proposed by the embodiments of the present disclosure are described below with reference to the accompanying drawings.

Fig. 1 is a block diagram of a train control system according to an embodiment of the present disclosure. As shown in Figure 1, the system includes: an intelligent roadside device 1 and a vehicle-mounted control device 2.

Among them, there is at least one smart roadside device 1. The smart roadside device 1 is set along the train's running route, and each smart roadside device 1 corresponds to an area of the running route. The smart roadside device 1 is used to obtain the corresponding area And send the road condition information to the trains located in the corresponding area. The on-board control device 2 is located on the train, and is used to obtain the current train operation information of the train and the road condition information sent by the intelligent roadside device, and control the train according to the road condition information and the train operation information.

Specifically, an intelligent roadside device 1 is set at a certain distance on the running line of the train. The intelligent roadside device 1 can detect road condition information within a certain range of the track and both sides of the track. The road condition information includes static road condition information (including: static road condition information). Maps, buildings, trees, trackside traffic signs, etc.) and dynamic road condition information (including: front and rear vehicle positions, speeds, pedestrian and signal light status, weather information of driving routes, track information, etc.), and use deep learning technology to detect The received road condition information is fused and sent to each on-board control device 2 in the line area.

The on-board control device 2 will continue to receive the road condition information sent by the intelligent roadside device 1, and can obtain the current train operation information, including: train speed, real-time position, acceleration, running direction and other information. According to the road condition information and current train operation information, the on-board control device 2 can also receive information sent by other clouds (for example, the train dispatching and command center), and combine the above information to generate the current train operation strategy, and according to the operation The strategy controls the train to complete the transportation task according to the plan while ensuring the safe distance of the train.

Since the road condition information sent by the intelligent roadside device 1 received by the vehicle-mounted control device 2 is more comprehensive, the established operation strategy is also safer, more reliable, efficient and reasonable. For example, if the on-board control device 2 determines that there is a pedestrian ahead based on the road condition information, it can control the train to whistle in advance to improve the safety of the train. For another example, if the on-board control device 2 judges abnormal road conditions ahead, such as track fracture or track icing, based on the road condition information, it can control the train to change lanes or stop at a nearby platform in advance to avoid accidents and improve train driving safety. For another example, if the on-board control device 2 determines that the weather ahead is abnormal, such as heavy rain, heavy snow, or strong wind, based on the road condition information, it can control the train to decelerate before entering the abnormal weather zone to improve the safety of the train. For another example, if the on-board control device 2 judges that there is an unknown obstacle ahead based on the road condition information, it can send out a prompt message in advance to remind the line maintenance personnel to remove the obstacle as soon as possible, without having to wait or change the route, so that the train can complete the transportation task as planned , Improve the efficiency of train operation.

It can be seen from the above that the train control system of the present disclosure can obtain the dynamic road condition information and static road condition information of the running line through the intelligent roadside device, so that the train can be controlled according to more comprehensive road condition information, so that the train operation is safer, more reliable, and more efficient. reasonable.

According to an embodiment of the present disclosure, the smart roadside device 1 is also used to receive road condition information sent by other smart roadside devices. In other words, the smart roadside device 1 can communicate with other smart roadside devices, so that the smart roadside device 1 can obtain more road condition information. The smart roadside device 1 is equivalent to an "eye", and The road condition information in the non-line-of-sight range (that is, other areas of the running route) is sent to the train, and the safety of train operation is also improved.

According to an embodiment of the present disclosure, the on-board control device 2 is also used to send train operation information of the current train to other trains in the first set range, and to receive train operation information sent by other trains in the first set range. The first setting range is the range in which the train can communicate with each other.

In other words, trains within the first set range can communicate through the on-board control device 2, and the on-board control device 2 can receive train operation information sent by other trains within the first set range, and share the train operation information of its own vehicle Give other trains within the first set range. Since trains can communicate directly with each other, the end-to-end data transmission delay can be reduced, and the overall perception fusion decision-making between trains takes less time and is more efficient, which can significantly shorten the interval between trains.

In the embodiments of the present disclosure, it can be used between the smart roadside device 1 and other smart roadside devices, between the vehicle control device 2 and other vehicle control devices, and between the smart roadside device 1 and the vehicle control device 2. LTE-V (LTE-Vehicle, a protocol specifically for workshop communication) network for communication. The LTE-V network can carry services such as PIS (Passenger Information System), PA (Public-Address System), and CCTV (Closed Circuit Television Inspection, pipeline closed-circuit television system). The network architecture is simple. Therefore, the total cost of rail transit will be reduced, and the construction and subsequent operation and maintenance will be simpler and more convenient.

According to an embodiment of the present disclosure, as shown in FIG. 2, the above-mentioned smart roadside device 1 may include: an information collector 101, an edge calculator 102 and a communicator 103. Among them, the information collector 101 is used for collecting road condition information; the edge calculator 102 is used for fusion processing of road condition information; the communicator 103 is used for sending the fused road condition information to trains and other intelligent roads located in the corresponding area. Side device 1, and can receive road condition information sent by the communicator 103 of other roadside devices. The information collector 101 may include one or more of a camera, a microwave radar, and a laser wave radar.

Specifically, as shown in Figure 3, signal collectors 101 can be installed at regular intervals on both sides of the track, or information collectors 101 (including cameras, cameras, Microwave radar, laser wave radar, etc.), when the information collector 101 is a camera, the camera is equipped with a telephoto lens and a medium-focus lens to detect medium and long distance road conditions, and the image stitching method is used to realize the visual perception of 180° in the driving direction; when the information collector 101 In the case of various types of radars, the antennas of the radar are arranged in the upward and downward directions of the orbit to detect the distance, speed and orientation of various targets within the orbit; the camera has high resolution and strong ability to perceive colors and shapes, but The detection range and the influence of light are present, and the millimeter wave radar can reinforce the weakness of the camera.

The edge calculator 102 and the information collector 101 are directly connected through a hard wire, which can directly use the current existing 4G LTE base station. The edge calculator 102 sends the road condition information after the fusion processing to the communicator 103, and the communicator 103 sends the road condition information to the vehicle control device 2 and other intelligent roadside devices 1 through the LTE-V network. As a result, the intelligent roadside device can extend the detection range of road condition information from tens of meters and the line-of-sight range to hundreds of meters or more and the non-line-of-sight range.

According to an embodiment of the present disclosure, as shown in FIG. 2, the above-mentioned vehicle control device 2 may include: a data collection module 201, an information fusion module 202, and a control module 203.

Among them, the data collection module 201 is used to obtain train operation information of the current train and road condition information sent by the intelligent roadside device 1, and receive train operation information sent by other trains within the first set range, where the train operation information includes: location , At least one of speed, acceleration, and running direction; the information fusion module 202 is used to perform fusion processing on operating information and road condition information; the control module 203 is used to control the train according to the fused operating information and road condition information.

The data collection module 201 may include one or more of a camera, a microwave radar, a laser wave radar, and a positioning device.

Specifically, the vehicle-mounted control device 2 is respectively arranged at the front and rear of the train, and the data collection module 201, the information fusion module 202, and the control module 203 are connected by wired, such as CAN (Controller Area Network, Controller Area Network) or wireless. The on-board antenna is arranged on the top of the car at the front and the rear of the car, and the train-train and the train-smart roadside device exchange information through the LTE-V network.

The data collection module 201 includes a camera, millimeter wave radar, lidar and other equipment, which can detect the conditions within a few hundred meters of the train's road and surroundings, such as whether there are pedestrians, animals, obstacles, traffic accidents, and other objects close to the train's limit. The data acquisition module 201 also includes a positioning device, which functions to provide the real-time position of the train. The train learns the position coordinates of itself and other trains through the positioning device, which is necessary for safe operation of the vehicle and accurate dispatch. The positioning device may be one of GPS (Global Positioning System), Beidou and GNSS (Global Navigation Satellite System, Global Navigation Satellite System).

The data collection module 201 can not only collect the data of the train itself, but also receive data packets of other trains equipped with LTE-V equipment and data packets sent by the intelligent roadside device 1, and can communicate with other trains in a timely and accurate manner to ensure train operation. Safety.

The information fusion module 203 can combine its own train operation information, the train operation information of other trains, the road condition information sent by the intelligent roadside device 1, and the traffic information of the surrounding infrastructure to perform fusion processing such as planning decision-making and signaling interaction, and the control module 204 controls the train's functions such as constant speed driving, variable speed driving, curve driving, emergency braking, etc., according to the information after the fusion process. While ensuring the safe distance of driving, the transportation task is completed as planned.

According to an embodiment of the present disclosure, the on-board control device 2 is also used to determine whether a temporary fleet needs to be formed according to the road condition information. If a temporary fleet needs to be formed, the on-board control device sets the current vehicle as the lead vehicle and sends the command to the first device Trains within a certain range send a request for formation, and a temporary fleet is formed according to the result of the request.

Furthermore, in an embodiment of the present disclosure, determining whether the on-board control device 2 needs to form a temporary fleet according to the road condition information may include: the on-board control device 2 determines whether the passenger flow density in the running direction exceeds a preset value according to the road condition information. If the passenger flow density in the running direction exceeds the preset value, it is judged that a temporary fleet needs to be formed. The preset value can be preset according to the actual situation.

Specifically, the on-board control device 2 can determine whether to form a temporary fleet based on the received road condition information. For example, due to the peak of the return journey on holidays, the end of concerts, sports events, hospitals, schools and other crowded places, there is a sudden passenger flow during off-duty and school hours In addition, the on-board control device 2 judges that the passenger flow density on the travel route exceeds a preset value based on the road condition information, and the on-board control device 2 uses the current train as the lead vehicle and sends a grouping request to surrounding trains through the LTE-V network. The team request is sent in the form of broadcast. The content of the team request includes the position, speed, scheduling information, time information, pilot information, ID information, line traffic information, etc. of the leader vehicle. After other trains receive the group request, they will analyze whether to form a temporary convoy based on their own situation. If they are willing to form a temporary convoy, they will give the leader a response, plan a reasonable running route based on their real-time location, and quickly approach and get close to the leader. Form a temporary convoy. The trains in the fleet communicate with each other through the LTE-V network.

Further, the on-board control device of the leading vehicle is also used to generate control information of the vehicle fleet after forming a temporary vehicle fleet, and control the vehicle vehicle fleet according to the control information, wherein the control information of the vehicle vehicle fleet includes speed, acceleration, and running direction.

Specifically, after the temporary fleet is formed, the leader will manage the operation of the entire fleet as a whole, and generate control information for the fleet, so that the fleet can drive at a constant speed, variable speeds, curves, emergency braking, etc., to complete passenger transportation. Among them, the leading vehicle is equivalent to the front of the vehicle and controls the driving of the entire fleet. For example, if there is a sudden increase in passenger flow and a fleet needs to be deployed to quickly send passengers to various destinations, the leader can learn about the entire line through the intelligent roadside device 1, and quickly deploy other trains to form a temporary fleet based on the actual passenger flow. The train- The trains communicate in real time through the LTE-V network. The intelligent roadside device 1 provides road condition information, and the on-board control device 2 guarantees the safety of the distance between the fleets through the collected data sets (including train operation information and road condition information), thus fast and efficient Complete passenger transportation. The whole process does not require too much ground equipment access. The combination of the lead vehicle and the LTE-V network can make the fleet operation system more safe, reliable, efficient and reasonable.

To sum up, according to the train control system of the embodiment of the present disclosure, the road condition information in the corresponding area is obtained through the intelligent roadside device, and the road condition information is sent to the train located in the corresponding area, and the on-board control of the train is The device obtains the train operation information of the current train and the road condition information sent by the intelligent roadside device, and receives the train operation information sent by other trains within the first set range, and controls the train according to the road condition information and the train operation information. The system can obtain dynamic road condition information and static road condition information of the running line through the intelligent roadside device, so that the train can be controlled according to more comprehensive road condition information, so that the train operation is safer, more reliable, efficient and reasonable, and the network structure is simple. It can reduce the early investment and later maintenance costs of rail transit, and the system can directly communicate between vehicles without excessive ground access, which can effectively reduce the delay of data transmission, thereby making the train operation system safer and more reliable , Efficient and reasonable, direct "communication" between vehicles, which can reduce the end-to-end data transmission delay, and the overall perception and fusion decision-making time between trains is shorter and more efficient, which can significantly shorten the interval between vehicles.

Corresponding to the above-mentioned train control system, the embodiment of the present disclosure also proposes a train control method. Since the method embodiment of the present disclosure corresponds to the above-mentioned system embodiment, for the undisclosed content of the method embodiment, please refer to the above-mentioned system embodiment, which will not be repeated in this disclosure.

Fig. 4 is a flowchart of a train control method according to an embodiment of the present disclosure. As shown in Figure 4, the method includes the following steps:

S1: The intelligent roadside device acquires road condition information in the corresponding area, and sends the road condition information to the train located in the corresponding area. Wherein, at least one smart roadside device is arranged along the running route of the train, and each smart roadside device corresponds to an area of the running route.

S2: The on-board control device located on the train acquires the current train operation information of the train and the road condition information sent by the intelligent roadside device, and controls the train according to the road condition information and the train operation information.

Specifically, an intelligent roadside device is set at a certain distance on the train's running line. The intelligent roadside device can detect road condition information within a certain range of the track and both sides of the track. The road condition information includes static road condition information (including: static map, Buildings, trees, trackside traffic signs, etc.) and dynamic road condition information (including: front and rear vehicle positions, speeds, pedestrian and signal light status, weather information of driving routes, track information, etc.), and use deep learning technology to detect The road condition information is fused and sent to each on-board control device in the line area.

The on-board control device will continue to receive the road condition information sent by the intelligent roadside device, and can obtain the current train operation information, including: train speed, real-time position, acceleration, running direction and other information. The on-board control device obtains road condition information and train operation information of the current train. The on-board control device can also receive information sent by other clouds (for example, the train dispatching and command center), combine the above information to generate the current train operation strategy, and compare it according to the operation strategy. The train is controlled to complete the transportation task according to the plan while ensuring the safe distance of the train.

In the description of the present disclosure, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying The device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.

It should be noted that the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. Further, in the description of the present disclosure, unless otherwise specified, "plurality" means two or more than two.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to incorporate the implementation The specific features, structures, materials, or characteristics described by the examples or examples are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present disclosure have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present disclosure. The scope of the present disclosure is defined by the claims and their equivalents.

Claims

A train control system includes:

At least one smart roadside device, the at least one smart roadside device is arranged along the running route of the train, and each of the smart roadside devices corresponds to an area of the running route, and the smart roadside device is used for Acquiring road condition information in the corresponding area, and sending the road condition information to trains located in the corresponding area;

An on-board control device located on the train, used to obtain train operation information of the current train and road condition information sent by the intelligent roadside device, and control the train according to the road condition information and the train operation information .
The train control system according to claim 1, wherein the smart roadside device is also used to receive road condition information sent by other smart roadside devices on the operating line.
The train control system according to claim 2, wherein the on-board control device is further configured to send train operation information of the current train to other trains within a first set range, and receive the first set range Train operation information sent by other trains within.
The train control system according to any one of claims 1-3, wherein between the smart roadside device and other smart roadside devices, between the on-board control device and other on-board control devices, and the smart road The LTE-V network is used for communication between the side device and the in-vehicle control device.
The train control system according to claim 3, wherein the on-board control device is also used to determine whether a temporary fleet needs to be formed according to the road condition information sent by the intelligent roadside device, and if the temporary fleet needs to be formed, then The on-board control device sets the current vehicle as the lead vehicle, sends a request for formation to trains within the first set range, and forms a temporary fleet according to the result of the request.
The train control system according to claim 5, wherein the on-board control device determines whether a temporary fleet needs to be formed according to the road condition information, comprising:

The on-board control device judges whether the passenger flow density in the running direction exceeds a preset value according to the road condition information.
The train control system according to claim 5, wherein the on-board control device of the lead car is further used to: after forming the temporary fleet, generate control information of the fleet, and control the fleet according to the control information. The fleet is controlled, wherein the control information of the fleet includes: speed, acceleration and running direction.
The train control system according to claim 2, wherein the intelligent roadside device comprises:

Information collector, used to collect road condition information;

An edge calculator, used to perform fusion processing on the road condition information;

The communicator is used to send the fusion-processed road condition information to the trains in the corresponding area.
The train control system according to claim 8, wherein the communicator is further used to send the road condition information after the fusion processing to the other intelligent roadside devices.
The train control system according to claim 8, wherein the information collector includes one or more of a camera, a microwave radar, and a laser wave radar.
The train control system according to claim 3, wherein the on-board control device comprises:

The data collection module is used to obtain train operation information of the current train and road condition information sent by the intelligent roadside device, and receive train operation information sent by other trains within the first set range, wherein the train operation information Including: at least one of position, speed, acceleration and running direction;

An information fusion module, used to perform fusion processing on the operating information and the road condition information;

The control module is configured to control the train according to the operation information and the road condition information after the fusion processing.
The train control system according to claim 11, wherein the data acquisition module includes one or more of a camera, a microwave radar, a laser wave radar, and a positioning device.
A train control method includes the following steps:

The intelligent roadside device acquires road condition information in the corresponding area, and sends the road condition information to the train located in the corresponding area, wherein the at least one intelligent roadside device is arranged along the running route of the train, And each of the smart roadside devices corresponds to an area of the running route;

An on-board control device located on the train obtains current train operation information and road condition information sent by the intelligent roadside device, and controls the train according to the road condition information and the train operation information.