Automatic driving control system and method

Abstract

The present invention relates to an automatic driving control system and method, and a computer-readable storage medium. The automatic driving control system is configured in a locomotive of a train, and includes a processor and a wireless communication module. The processor is communicatively connected to an external storage module, a detection device, a traction execution device and a brake execution device, and is wirelessly connected to other vehicles and platforms of the train. The processor is configured to: formulate an automatic driving plan based on the line data of the train's travel route obtained from the external storage module, the locomotive data stored in the train, the radar identification data obtained from the detection device, and the wireless communication interaction data obtained from the other vehicles and the platform; and send control instructions to the traction execution device and the brake execution device according to the automatic driving plan to control the traction and braking of the locomotive. The wireless communication module is used to wirelessly connect the other vehicles and the platform.

Description

Technical Field

[0001] The present invention relates to an automatic driving control technology for a locomotive, and in particular to an automatic driving control system and an automatic driving control method. Background Art

[0002] Railway transportation is a land transportation method, usually using locomotives to pull train vehicles on two parallel rails. Locomotives, commonly known as locomotives, are self-propelled vehicles that pull or push railway vehicles and do not carry any business loads. As an important railway transportation tool, locomotive control technology has extremely high value.

[0003] With the vigorous development of locomotive control technology in my country, the automatic driving system of HXD1 freight locomotive has completed nearly 50,000 kilometers of practical testing, and entered the substantive application stage for the first time during the 2019 Spring Festival, creating a new record in the history of China's railway development. At the same time, the research on the automatic driving technology of HXD2 locomotive developed by CRRC has been fully launched from multiple aspects such as system prototype development, software development, ground simulation testing, loading and debugging, online operation testing, and operation data analysis, and has achieved remarkable results.

[0004] However, the existing locomotive automatic driving system can only communicate with the traction control system and the brake control system through the train network, and its instructions need to be transferred through the intermediate network link before reaching the traction motor and brake shoe, so there is a defect of low real-time performance. In addition, when multiple locomotives are re-coupled, the locomotive data of the re-coupled locomotive also needs to be transferred through the intermediate network link of the train before it can be transmitted to the automatic driving system of the leading car, so there is a defect of low control efficiency.

[0005] In order to overcome the above-mentioned defects of the prior art, the art urgently needs a locomotive automatic driving control technology for optimizing the architecture of the existing locomotive automatic driving system, improving the integration of the system architecture to enhance the control efficiency and real-time performance of the locomotive automatic driving system. Summary of the invention

[0006] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or decisive elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0007] In order to overcome the above-mentioned defects of the prior art, the present invention provides an automatic driving control system, an automatic driving control method, and a computer-readable storage medium, which are used to optimize the architecture of the existing locomotive automatic driving system, improve the integration of the system architecture, and improve the control efficiency and real-time performance of the locomotive automatic driving system.

[0008] The above-mentioned automatic driving control system provided by the present invention is configured in the locomotive of the train, and includes a processor and a wireless communication module. The processor is communicatively connected to the external storage module, the detection device, the traction execution device and the brake execution device, and is wirelessly connected to other vehicles and platforms of the train. The processor is configured to: formulate an automatic driving plan based on the line data of the train's travel route obtained from the external storage module, the locomotive data stored in the train, the radar identification data obtained from the detection device, and the wireless communication interaction data obtained from the other vehicles and the platform; and send control instructions to the traction execution device and the brake execution device according to the automatic driving plan to control the traction and braking of the locomotive. The wireless communication module is used to wirelessly connect the other vehicles and the platform.

[0009] Preferably, in some embodiments of the present invention, the processor may be configured with a plurality of software units, including a train operation monitoring and recording unit, an automatic driving unit, a traction control unit and a braking control unit. The train operation monitoring and recording unit is suitable for obtaining the line data from the external storage module and storing the locomotive data and the line data. The automatic driving unit is suitable for obtaining the locomotive data and the line data from the train operation monitoring and recording unit, obtaining the radar identification data from the detection device, and obtaining the wireless communication interaction data from the other vehicles and the platform through the wireless communication module to determine the running state of the train; and is suitable for formulating the automatic driving scheme according to the running state of the train. The traction control unit is suitable for sending a traction control instruction to the traction execution device according to the automatic driving scheme to control the traction execution device to traction the locomotive. The braking control unit is suitable for sending a braking control instruction to the braking execution device according to the automatic driving scheme to control the braking execution device to brake the locomotive.

[0010] Preferably, in some embodiments of the present invention, the processor may be hardwired to the traction actuator and the brake actuator. The traction control unit is adapted to directly send the traction control instruction to the traction actuator via the hardwire, and the brake control unit is adapted to directly send the brake control instruction to the brake actuator via the hardwire.

[0011] Optionally, in some embodiments of the present invention, the radar identification data may include detection data of road obstacles, other vehicles and / or couplers in front of the locomotive. The automatic driving unit is adapted to formulate the automatic driving plan according to the radar identification data to control the traction actuator and the brake actuator to perform obstacle avoidance and emergency braking operations.

[0012] Optionally, in some embodiments of the present invention, the external storage module may include a cloud server. The processor may be connected to the cloud server via the wireless communication module. The train operation monitoring and recording unit is adapted to obtain the line data from the cloud server via the wireless communication module, and store the locomotive data and the line data.

[0013] Optionally, in some embodiments of the present invention, the train may include multiple reconnected locomotives. Each of the reconnected locomotives may be configured with the automatic driving control system. The other vehicles may include other locomotives and other trailers. The processor may also be configured to: obtain a specified instruction to determine whether the automatic driving control system is an automatic driving central control system; in response to the automatic driving control system being the automatic driving central control system, formulate the automatic driving plan to control the traction actuator and the braking actuator of the locomotive, and send driving control instructions to the automatic driving control system of the other locomotive through the wireless communication module; and in response to the automatic driving control system being not the automatic driving central control system, receive the driving control instructions from the automatic driving central control system of the other locomotive through the wireless communication module, and control the traction actuator and the braking actuator of the locomotive according to the received driving control instructions.

[0014] Optionally, in some embodiments of the present invention, the processor may also be communicatively connected to a human-machine interface. The processor may also be configured to: in response to a manual takeover instruction input by a driver through the human-machine interface, switch the automatic driving control system to a manual driving mode, so as to control the train according to the manual driving instruction input by the driver.

[0015] According to another aspect of the present invention, this article also provides an automatic driving control method, which can improve the control efficiency and real-time performance of a locomotive automatic driving system based on an optimized locomotive automatic driving system architecture.

[0016] The above-mentioned automatic driving control method provided by the present invention includes: obtaining route data of the train's travel route from an external storage module; obtaining radar identification data from a detection device; using a wireless communication module to obtain wireless communication interaction data from other vehicles and platforms of the train; formulating an automatic driving plan based on the route data, locomotive data stored in the train, the radar identification data, and the wireless communication interaction data; and sending control instructions to the traction execution device and the braking execution device according to the automatic driving plan to control the traction and braking of the locomotive.

[0017] Preferably, in some embodiments of the present invention, the automatic driving control method can be implemented by multiple software units. The multiple software units may include a train operation monitoring and recording unit, an automatic driving unit, a traction control unit and a braking control unit. The train operation monitoring and recording unit is suitable for obtaining the line data from the external storage module and storing the locomotive data and the line data. The automatic driving unit is suitable for obtaining the locomotive data and the line data from the train operation monitoring and recording unit, obtaining the radar identification data from the detection device, and obtaining the wireless communication interaction data from the other vehicles and the platform through the wireless communication module to determine the running state of the train; and is suitable for formulating the automatic driving plan according to the running state of the train. The traction control unit is suitable for sending a traction control instruction to the traction execution device according to the automatic driving plan to control the traction execution device to traction the locomotive. The braking control unit is suitable for sending a braking control instruction to the braking execution device according to the automatic driving plan to control the braking execution device to brake the locomotive.

[0018] Preferably, in some embodiments of the present invention, the step of sending control instructions to the traction execution device and the braking execution device may include: using the traction control unit to directly send the traction control instruction to the traction execution device through the hard wire; and using the braking control unit to directly send the braking control instruction to the braking execution device through the hard wire.

[0019] Optionally, in some embodiments of the present invention, the radar identification data may include detection data of road obstacles, other vehicles and / or couplers in front of the locomotive. The step of formulating the automatic driving plan may include: using the automatic driving unit to formulate the automatic driving plan according to the radar identification data to control the traction actuator and the brake actuator to perform obstacle avoidance and emergency braking operations.

[0020] Optionally, in some embodiments of the present invention, the external storage module may include a cloud server. The step of obtaining the line data may include: using the train operation monitoring and recording unit to obtain the line data from the cloud server through the wireless communication module, and storing the locomotive data and the line data.

[0021] Optionally, in some embodiments of the present invention, the train may include a plurality of reconnected locomotives. The other vehicles may include other locomotives and other trailers. The automatic driving control method may also include: obtaining a specified instruction to determine whether the automatic driving control system is an automatic driving central control system; in response to the automatic driving control system being the automatic driving central control system, formulating the automatic driving plan to control the traction actuator and the braking actuator of the locomotive, and sending driving control instructions to the automatic driving control system of the other locomotive through the wireless communication module; and in response to the automatic driving control system being not the automatic driving central control system, receiving the driving control instructions from the automatic driving central control system of the other locomotive through the wireless communication module, and controlling the traction actuator and the braking actuator of the locomotive according to the received driving control instructions.

[0022] Optionally, in some embodiments of the present invention, the automatic driving control method may further include: in response to a manual takeover command input by the driver through a human-computer interaction interface, switching the automatic driving control system to a manual driving mode to control the train according to the manual driving command input by the driver.

[0023] According to another aspect of the present invention, this article also provides a computer-readable storage medium that can improve the control efficiency and real-time performance of a locomotive automatic driving system based on an optimized locomotive automatic driving system architecture.

[0024] The computer-readable storage medium provided by the present invention stores computer instructions thereon. When the computer instructions are executed by a processor, the automatic driving control method provided by any one of the above embodiments can be implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0026] Figure 1 A schematic diagram of the architecture of an autonomous driving control system provided according to some embodiments of the present invention is shown.

[0027] Figure 2A schematic flow chart of an automatic driving control method provided according to some embodiments of the present invention is shown.

[0028] Reference numerals:

[0029] 10. Autonomous driving control system;

[0030] 11 Processor;

[0031] 12. Wireless communication module;

[0032] 21 external storage module;

[0033] 22 Detection device;

[0034] 23 Other vehicles and platforms

[0035] 24 Traction actuator;

[0036] 25 Brake actuator. DETAILED DESCRIPTION

[0037] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In addition, the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal" and "vertical" used in the following description should be understood as the directions shown in the paragraph and the related drawings. Such relative terms are only used for the convenience of description and do not mean that the device described therein must be manufactured or operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0040] It is understood that although the terms "first", "second", "third", etc. may be used herein to describe various components, regions, layers and / or parts, these components, regions, layers and / or parts should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and / or parts. Therefore, the first component, region, layer and / or part discussed below may be referred to as a second component, region, layer and / or part without departing from some embodiments of the present invention.

[0041] As mentioned above, the existing locomotive automatic driving system can only communicate with the traction control system and the brake control system through the train network, and its instructions need to be transferred through the intermediate network link before reaching the traction motor and brake shoe, so there is a defect of low real-time performance. In addition, when the locomotive is re-coupled in multiple sections, the locomotive data of the re-coupled locomotive also needs to be transferred through the intermediate network link of the train before it can be transmitted to the automatic driving system of the leading car, so there is a defect of low control efficiency.

[0042] In order to overcome the above-mentioned defects of the prior art, the present invention provides an automatic driving control system, an automatic driving control method, and a computer-readable storage medium, which are used to optimize the architecture of the existing locomotive automatic driving system, improve the integration of the system architecture, and improve the control efficiency and real-time performance of the locomotive automatic driving system.

[0043] In some embodiments of the present invention, an automatic driving control system can be configured in one or more locomotive sets of a train to implement an automatic driving control method to control the traction actuator and the braking actuator to pull and brake the locomotive set, thereby realizing the automatic driving function of the locomotive.

[0044] Please refer to Figure 1 , Figure 1 A schematic diagram of the architecture of an autonomous driving control system provided according to some embodiments of the present invention is shown.

[0045] like Figure 1As shown, the above-mentioned automatic driving control system 10 provided by the present invention may include a processor 11 and a wireless communication module 12. The processor 11 integrates multiple software functions such as automatic driving control, train operation monitoring, traction control, braking control and network data interaction, and is used to efficiently implement the above-mentioned automatic driving control method. The processor 11 can be connected to an external storage module 21, a train detection device 22, a train traction execution device 24, and a train braking execution device 25 through a direct communication line, and connect to other vehicle formations of the train and one or more platforms 23 on the train travel route through the wireless communication module 12, so as to obtain the data and information required for implementing the above-mentioned automatic driving control method. The wireless communication module 12 can realize wireless data interaction between locomotives and locomotives, locomotives and trailers, and locomotives and platforms based on Wi-Fi or cellular networks.

[0046] The working principle of the above-mentioned automatic driving control system 10 will be described below in conjunction with some embodiments of the automatic driving control method. Those skilled in the art will understand that these embodiments of the automatic driving control method are only some non-limiting cases provided by the present invention, which are intended to clearly demonstrate the main concept of the present invention and provide some specific solutions that are convenient for the public to implement, rather than to limit the scope of protection of the present invention.

[0047] Please refer to Figure 2 , Figure 2 A schematic flow chart of an automatic driving control method provided according to some embodiments of the present invention is shown.

[0048] like Figure 2 As shown, the above-mentioned automatic driving control method provided by the present invention may include the steps of: obtaining the line data of the train's travel route from an external storage module.

[0049] As described above, the processor 11 may integrate the software functions of the train operation monitoring and recording (LKJ) unit and the automatic driving unit, and communicate with the external storage module 21. The train operation monitoring and recording (LKJ) unit is mainly used to monitor and obtain the operation data of each locomotive, and store the obtained locomotive data and the external input line data for the automatic driving unit to quickly call and formulate an automatic driving plan. The locomotive data includes but is not limited to the wheel diameter, speed and other information indicating the running status of the locomotive. The external storage module 21 includes but is not limited to a variety of data storage devices not provided in the locomotive, such as a U disk, a memory card, and a cloud storage. The line data includes but is not limited to conventional static data such as ramp information, curve information, mileage, speed limit information, etc. at each position of the line to be traveled, as well as temporary dynamic data such as signal light status information and temporary speed limit information of the road section.

[0050] In some embodiments, before starting the automatic driving of the locomotive, the train driver can use a USB flash drive or a memory card 21 to input the static line data of the line to be traveled into the automatic driving control system, and the train operation monitoring record (LKJ) unit stores the input static line data into the internal memory on the locomotive, so that the automatic driving unit can quickly call and formulate an automatic driving plan. During the automatic driving of the locomotive, the operator of the locomotive can input the dynamic line data updated by the cloud storage 21 into the automatic driving control system in real time through the wireless communication module 12, and the train operation monitoring record (LKJ) unit stores the input dynamic line data into the internal memory on the locomotive, so that the automatic driving unit can quickly call and update the automatic driving plan.

[0051] In some embodiments, for L3 and L4 level automatic driving control systems, the locomotive no longer needs a driver to assist in manual driving. At this time, both static route data and dynamic route data can be input into the automatic driving control system by the cloud storage 21 through the wireless communication module 12, so that the automatic driving unit can quickly call, formulate and update the automatic driving plan.

[0052] like Figure 2 As shown, the above-mentioned automatic driving control method provided by the present invention may also include the step of: obtaining radar identification data from the detection device.

[0053] The above-mentioned detection device includes but is not limited to a graphic detection device or a radar detection device arranged at the front end of the train. The detection device can identify information such as road obstacles, other vehicles and / or hooks in front of the locomotive based on the principle of image recognition or radar detection, and form corresponding detection data. As described above, the processor 11 can obtain radar recognition data from the detection device in real time through a direct communication line for the automatic driving unit to quickly call and formulate an automatic driving plan. In some embodiments, the automatic driving unit can control the traction actuator 24 and the braking actuator 25 to perform traction and braking actions according to the formulated automatic driving plan, so as to take safety measures such as obstacle avoidance and emergency braking. In some embodiments, the processor 11 can also use the formed detection data to realize control tasks such as grouping identification and trailers.

[0054] Compared with the prior art, in which the detection device must first upload the radar identification data to the train's network system, and then the automatic driving control system must download and obtain the data from the train's network system, the above-mentioned direct-connected automatic driving control system architecture provided by the present invention eliminates the need for the train network system, can greatly simplify the vehicle's control architecture, and improve the real-time and efficiency of data acquisition.

[0055] like Figure 2As shown, the above-mentioned automatic driving control method provided by the present invention may also include the step of: using the wireless communication module to obtain wireless communication interaction data from other vehicles and platforms in the train.

[0056] As described above, a train may include multiple vehicle sets. According to the classification method of whether or not they can provide traction, these vehicle sets can be divided into locomotive sets and trailer sets, wherein the locomotive is used to provide traction and braking force for the train, and the trailer can be provided with carriages for loading passengers and cargo. In some embodiments, a train may include multiple reconnected locomotive sets. The multiple reconnected locomotive sets can be centrally and continuously configured at the front end of the train to facilitate data exchange of the reconnected locomotives; or they can be evenly distributed at each end of the train at intervals to facilitate the control of stable operation of the train.

[0057] In some embodiments, each locomotive set can be configured with the above-mentioned automatic driving control system. These automatic driving control systems can perform wireless data exchange through their respective wireless communication modules 12 to transmit the operation data of the locomotive and adjacent carriages to the automatic driving central control system used to formulate the automatic driving plan. The automatic driving central control system can use the wireless communication module 12 of the locomotive to receive the wireless communication interaction data provided by other locomotives, other trailers, and various stations on the train route, so that its automatic driving unit can formulate and update the automatic driving plan.

[0058] Compared with the prior art that requires the train network to realize the locomotive marshaling and reconnection, the wireless communication module 12 used in the present invention does not need to be connected to the train network. Even when the above-mentioned interval-distributed reconnected locomotive architecture is adopted, direct connection of each automatic driving control system can be achieved, which is conducive to improving the real-time and efficient data transmission between other locomotives, other trailers, and various platforms on the train route and the automatic driving central control system.

[0059] like Figure 2 As shown, the above-mentioned automatic driving control method provided by the present invention may also include the steps of: formulating an automatic driving plan based on line data, locomotive data stored in the train, radar identification data, and wireless communication interaction data.

[0060] As described above, the processor 11 is connected to the external storage module 21 and the detection device 22 through a direct communication line, and integrates the software functions of the train operation monitoring record (LKJ) unit and the automatic driving unit. When formulating an automatic driving plan, the automatic driving unit can use the intra-board communication to retrieve the line data and locomotive data stored in the train operation monitoring record (LKJ) unit, obtain the radar identification data provided by the detection device 22 through the direct communication line, and obtain the wireless communication interaction data provided by other vehicles and platforms through the wireless communication module 12, which can effectively improve the real-time and efficiency of data acquisition.

[0061] Compared with the prior art, in which the train operation monitoring recorder (LKJ) must first upload the stored line data and locomotive data to the train network system, and then the automatic driving control system downloads and obtains the data from the train network system, the processor 11 provided by the present invention, which integrates the software functions of the train operation monitoring recorder (LKJ) unit and the automatic driving unit, can quickly and efficiently retrieve the line data and locomotive data stored locally through the intra-board communication within the processor 11, so as to formulate and update the automatic driving plan in real time. Therefore, by adopting the solution of software integration of the train operation monitoring recorder (LKJ) unit and the automatic driving unit function, the present invention can not only eliminate the demand of the automatic driving control system for the train network system, greatly simplify the control architecture of the vehicle and improve the system integration, thereby reducing the controller cost of each locomotive, but also improve the efficiency and real-time performance of formulating the automatic driving plan.

[0062] like Figure 2 As shown, the above-mentioned automatic driving control method provided by the present invention may also include the step of sending control instructions to the traction execution device and the braking execution device according to the automatic driving plan to control the traction and braking of the locomotive.

[0063] As described above, the processor 11 may further integrate the software functions of the traction control unit and the brake control unit, and respectively connect the traction actuator 24 and the brake actuator 25 of the train through a direct communication line. In some embodiments, the processor 11 may be connected to the traction actuator 24 and the brake actuator 25 of the locomotive through a direct hard line, thereby controlling the traction and braking of the locomotive.

[0064] Specifically, the traction control unit can quickly and efficiently retrieve the automatic driving plan formulated by the automatic driving unit through the internal communication of the processor 11, and send a hard-wired instruction instructing traction control to the traction execution device 24 according to the automatic driving plan. In response to the hard-wired instruction sent by the processor 11, the traction execution device 24 can drive the traction motor to operate to provide corresponding traction force to pull the locomotive.

[0065] Correspondingly, the brake control unit can also quickly and efficiently retrieve the automatic driving plan formulated by the automatic driving unit through the internal board communication of the processor 11, and send a hard-wired instruction instructing the brake control to the brake actuator 25 according to the automatic driving plan. In response to the hard-wired instruction sent by the processor 11, the brake actuator 25 can drive the brake shoe, pressure regulating valve, air compressor and other brake actuators to operate to provide corresponding braking force to brake the locomotive.

[0066] Compared with the prior art, in which the automatic driving control system must first upload the automatic driving scheme to the train network system, and then the traction control system and the brake control system download and obtain data from the train network system, the processor 11 provided by the present invention, which integrates the software functions of the automatic driving unit, the traction control unit and the brake control unit, can quickly and efficiently retrieve the automatic driving scheme through the internal board communication of the processor 11, and transmit the control instructions to the traction actuator 24 and the brake actuator 25 through the direct hard line. Therefore, by adopting the solution of software integration of the automatic driving unit, the traction control unit and the brake control unit, the present invention can not only eliminate the demand of the automatic driving control system for the train network system, greatly simplify the control architecture of the vehicle and improve the system integration, thereby reducing the controller cost of each locomotive, but also significantly improve the efficiency and real-time performance of the automatic driving control.

[0067] In some embodiments of the present invention, for L1 and L2 level automatic driving control systems, the locomotive end may be further configured with a driver's cab. The train driver may input a manual takeover instruction through the human-computer interaction interface provided in the driver's cab, and switch the control mode of the locomotive to the manual mode for manual driving. Specifically, the human-computer interaction interface may also be connected to the processor 11 through a direct communication line. In response to the manual takeover instruction input by the driver through the human-computer interaction interface, the processor 11 may switch the automatic driving control system to the manual driving mode to cut off the control of the traction control unit and the braking control unit by the automatic driving unit, and collect the manual driving instructions further input by the driver to control the traction and braking of the train.

[0068] In some embodiments of the present invention, for the train comprising multiple reconnected locomotives, the processor 11 of each locomotive can further obtain a specified instruction from the human-machine interaction interface or the wireless communication module 12 to determine whether the automatic driving control system of the locomotive is a designated automatic driving central control system. If the automatic driving control system is a designated automatic driving central control system, the processor 11 can execute the automatic driving control method to obtain line data, locomotive data, radar identification data, and wireless communication interaction data to formulate automatic driving plans for each reconnected locomotive. Afterwards, the processor 11 can send control instructions to the traction actuator 24 and the brake actuator 25 of the locomotive through a direct hard line to control the traction and braking of the locomotive. At the same time, the processor 11 can also send driving control instructions to the automatic driving control systems of other locomotives through the wireless communication module 12 to control the traction and braking of each other locomotive through the automatic driving control systems of other locomotives, thereby realizing the coordinated control of each locomotive in the entire train.

[0069] On the contrary, if the automatic driving control system is not the designated automatic driving central control system, the processor 11 can receive the driving control instructions issued by the designated automatic driving central control system through the wireless communication module 12, and formulate corresponding traction control instructions and braking control instructions according to the received driving control instructions. After that, the processor 11 can send control instructions to the traction actuator 24 and the braking actuator 25 of the locomotive through a direct hard line to control the traction actuator 24 and the braking actuator 25 of the locomotive to cooperate with other locomotives to realize the coordinated control of the locomotives of the entire train.

[0070] Based on the above description, the above automatic driving control system provided by the present invention integrates the software functions of the train operation monitoring recorder (LKJ) unit, the automatic driving unit, the traction control unit and the brake control unit, which can eliminate the need for the existing intermediate network system of the automatic driving control system, and directly control the traction motor and the brake shoe through the direct communication line to achieve the traction and braking of the locomotive. Therefore, the present invention reduces the hardware architecture of the network system, the train operation monitoring recorder (LKJ), the traction control system and the brake control system in the prior art, has higher integration and control efficiency, and can reduce the controller cost of each locomotive.

[0071] Although the above methods are illustrated and described as a series of actions for simplicity of explanation, it should be understood and appreciated that these methods are not limited by the order of the actions, because according to one or more embodiments, some actions may occur in a different order and / or concurrently with other actions from those illustrated and described herein or not illustrated and described herein but understandable to those skilled in the art.

[0072] According to another aspect of the present invention, a computer-readable storage medium is also provided herein.

[0073] The computer-readable storage medium provided by the present invention stores computer instructions thereon. When the computer instructions are executed by the processor 11, the automatic driving control method provided by any of the above embodiments can be implemented, and the control efficiency and real-time performance of the locomotive automatic driving system can be improved based on the optimized locomotive automatic driving system architecture.

[0074] Those skilled in the art will appreciate that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips cited throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or optical particles, or any combination thereof.

[0075] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0076] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0077] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic driving control system, characterized in that: The automatic driving control system is configured in a locomotive of a train, wherein the train includes a plurality of coupled locomotives, each of the coupled locomotives is configured with the automatic driving control system, and the automatic driving control system includes: a processor, communicatively connected to an external storage module, a detection device, a traction actuator and a brake actuator, and wirelessly connected to other vehicles and platforms of the train, wherein the other vehicles include other locomotives and other trailers of the train, the processor being configured to: obtain a specified instruction to determine whether the automatic driving control system is an automatic driving central control system; in response to the automatic driving control system being the automatic driving central control system, formulate an automatic driving plan according to the line data of the running line of the train obtained from the external storage module, the locomotive data stored in the train, the radar identification data obtained from the detection device, and the wireless communication interaction data obtained from the other vehicles and the platform, and send a control instruction to the traction actuator and the brake actuator according to the automatic driving plan to control the traction actuator and the brake actuator of the locomotive to traction and brake the locomotive, and send a driving control instruction to the automatic driving control system of the other locomotive through the wireless communication module; and in response to the automatic driving control system not being the automatic driving central control system, receive the driving control instruction from the automatic driving central control system of the other locomotive through the wireless communication module, and control the traction actuator and the brake actuator of the locomotive according to the received driving control instruction; and The wireless communication module is used for wirelessly connecting the other vehicles and the platform.

2. The automatic driving control system according to claim 1, characterized in that: The processor is configured with multiple software units, including a train operation monitoring and recording unit, an automatic driving unit, a traction control unit and a braking control unit, wherein: The train operation monitoring and recording unit is adapted to obtain the line data from the external storage module and store the locomotive data and the line data. The automatic driving unit is adapted to obtain the locomotive data and the line data from the train operation monitoring and recording unit, obtain the radar identification data from the detection device, and obtain the wireless communication interaction data from the other vehicles and the platform through the wireless communication module to determine the running status of the train; and is adapted to formulate the automatic driving plan according to the running status of the train, The traction control unit is adapted to send a traction control instruction to the traction execution device according to the automatic driving scheme, so as to control the traction execution device to traction the locomotive, The brake control unit is adapted to send a brake control instruction to the brake actuator according to the automatic driving scheme, so as to control the brake actuator to brake the locomotive.

3. The automatic driving control system according to claim 2, characterized in that: The processor is hardwired to the traction actuator and the brake actuator, the traction control unit is suitable for directly sending the traction control instruction to the traction actuator via the hardwire, and the brake control unit is suitable for directly sending the brake control instruction to the brake actuator via the hardwire.

4. The automatic driving control system according to claim 2, characterized in that: The radar identification data includes detection data of road obstacles, other vehicles and / or couplers in front of the locomotive, and the automatic driving unit is suitable for formulating the automatic driving plan based on the radar identification data to control the traction actuator and the braking actuator to perform obstacle avoidance and emergency braking operations.

5. The automatic driving control system according to claim 2, characterized in that: The external storage module includes a cloud server, the processor is connected to the cloud server via the wireless communication module, and the train operation monitoring and recording unit is suitable for obtaining the line data from the cloud server via the wireless communication module and storing the locomotive data and the line data.

6. The automatic driving control system according to claim 1, characterized in that: The processor is also communicatively connected to the human-computer interaction interface, and the processor is further configured to: In response to a manual takeover instruction input by the driver through the human-computer interaction interface, the automatic driving control system is switched to a manual driving mode to control the train according to the manual driving instruction input by the driver.

7. An automatic driving control method, characterized in that: include: Obtaining a specified instruction to determine whether the automatic driving control system is an automatic driving central control system of a train, wherein the train includes a plurality of coupled locomotives, each of the coupled locomotives being equipped with the automatic driving control system; In response to the fact that the automatic driving control system is the automatic driving central control system, the line data of the train's travel line is obtained from the external storage module, the radar identification data is obtained from the detection device, and the wireless communication interaction data is obtained from other vehicles and platforms of the train using the wireless communication module, so as to formulate an automatic driving plan according to the line data, the locomotive data stored in the train, the radar identification data, and the wireless communication interaction data, and control instructions are sent to the traction actuator and the brake actuator according to the automatic driving plan to control the traction actuator and the brake actuator of the locomotive to tow and brake the locomotive, and driving control instructions are sent to the automatic driving control systems of other locomotives through the wireless communication module, wherein the other vehicles include other locomotives and other trailers of the train; and In response to the fact that this automatic driving control system is not the automatic driving central control system, the driving control instructions are received from the automatic driving central control system of other locomotives through the wireless communication module, and the traction actuator and the braking actuator of this locomotive are controlled according to the received driving control instructions.

8. The automatic driving control method according to claim 7, characterized in that: The automatic driving control method is implemented by a plurality of software units, including a train operation monitoring and recording unit, an automatic driving unit, a traction control unit and a braking control unit, wherein: The train operation monitoring and recording unit is adapted to obtain the line data from the external storage module and store the locomotive data and the line data. The automatic driving unit is adapted to obtain the locomotive data and the line data from the train operation monitoring and recording unit, obtain the radar identification data from the detection device, and obtain the wireless communication interaction data from the other vehicles and the platform through the wireless communication module to determine the running status of the train; and is adapted to formulate the automatic driving plan according to the running status of the train, The traction control unit is adapted to send a traction control instruction to the traction execution device according to the automatic driving scheme, so as to control the traction execution device to traction the locomotive, The brake control unit is adapted to send a brake control instruction to the brake actuator according to the automatic driving scheme, so as to control the brake actuator to brake the locomotive.

9. The automatic driving control method according to claim 8, characterized in that: The step of sending a control instruction to the traction actuator and the brake actuator comprises: Using the traction control unit to directly send the traction control instruction to the traction execution device through a hard line; and The brake control unit is used to directly send the brake control instruction to the brake execution device through the hard line.

10. The automatic driving control method according to claim 8, characterized in that: The radar identification data includes detection data of road obstacles, other vehicles and / or couplers in front of the locomotive, and the steps of formulating the automatic driving plan include: The automatic driving unit is used to formulate the automatic driving plan according to the radar recognition data to control the traction execution device and the braking execution device to perform obstacle avoidance and emergency braking operations.

11. The automatic driving control method according to claim 8, characterized in that: The external storage module includes a cloud server, and the step of obtaining the line data includes: The train operation monitoring and recording unit is used to obtain the line data from the cloud server through the wireless communication module, and the locomotive data and the line data are stored.

12. The automatic driving control method according to claim 7, characterized in that: Also includes: In response to a manual takeover instruction input by the driver through the human-computer interaction interface, the automatic driving control system is switched to a manual driving mode to control the train according to the manual driving instruction input by the driver.

13. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the automatic driving control method according to any one of claims 7 to 12 is implemented.

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