Train control method, device, electronic device and readable storage medium

Abstract

The present application provides a train control method, device, electronic device, and readable storage medium, which are applied to the field of vehicle control technology. The train control method includes: a remote input / output module applied to a train car, the method including: receiving a jump instruction sent by a vehicle controller, the jump instruction including at least a jump direction and a jump distance; calculating jump drive information based on the jump direction and jump distance; and controlling the train to jump based on the jump drive information. By transferring the control process of train jumping from the vehicle control unit to the remote input / output module in the train car, the present application can reduce the information delay caused by data transmission during the train jumping process, thereby improving the accuracy of the train jumping.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a train control method, device, electronic device and readable storage medium. Background Art

[0002] Train jumping is a technology that moves the parking position of a train to meet the needs of train scheduling and testing.

[0003] Related technologies typically rely on the train's VCU (Vehicle Control Unit) to control the train's drive and braking, allowing it to jump to the desired stop. However, since the VCU needs to remotely obtain detection parameters collected by various sensors on the train to determine the train's jump, the acquired detection parameters have a high latency, which may lead to inaccurate train jumps. Summary of the Invention

[0004] The embodiments of the present application provide a train control method, device, electronic device and readable storage medium to solve the problem in the related art that the VCU needs to remotely obtain detection parameters collected by various sensors in the train to determine the train jumping during the train jumping process, and the obtained detection parameters have a high delay, which may lead to inaccurate train jumping.

[0005] In a first aspect, an embodiment of the present application provides a train control method, applied to a remote input / output module in a train compartment, the method comprising:

[0006] receiving a jump instruction sent by a vehicle controller, wherein the jump instruction includes at least a jump direction and a jump distance;

[0007] Calculating jump driving information according to the jump direction and jump distance;

[0008] The train is controlled to jump according to the jump driving information.

[0009] Optionally, the jump drive information includes at least: a target number of rotations of a vehicle speed sensor;

[0010] The step of controlling the train to jump according to the jump drive information includes:

[0011] Get the current number of revolutions of the vehicle speed sensor;

[0012] When the absolute difference between the current number of rotations and the target number of rotations is greater than a difference threshold, a traction instruction is sent to a traction control unit of the train, where the traction instruction is used to instruct the traction control unit to drive the train to jump.

[0013] When the absolute difference between the current number of rotations and the target number of rotations is less than or equal to a difference threshold, a braking instruction is sent to a braking control unit of the train, where the braking instruction is used to instruct the braking control unit to brake the train.

[0014] Optionally, the sending a traction instruction to the traction control unit of the train includes:

[0015] When the duration for which the absolute difference is greater than the difference threshold is less than or equal to the duration threshold, sending a traction instruction carrying an initial traction level to the traction control unit of the train;

[0016] When the duration during which the absolute difference is greater than the difference threshold is greater than the duration threshold, a traction instruction carrying a target traction level is sent to the traction control unit of the train, the target traction level is greater than the initial traction level, and the value of the target traction level is positively correlated with the duration.

[0017] Optionally, after sending the traction instruction to the traction control unit of the train, the method further includes:

[0018] When the speed of the train is greater than or equal to a critical speed, a braking instruction is sent to a braking control unit of the train.

[0019] Optionally, when the speed of the train is greater than or equal to the critical speed, before sending a braking instruction to the braking control unit of the train, the method further includes:

[0020] Obtaining the moving distance of the train during each rotation of the speed sensor and the current traction level of the traction control unit;

[0021] A critical vehicle speed is obtained according to the moving distance, the current traction level, and the absolute difference.

[0022] Optionally, obtaining the critical vehicle speed according to the moving distance, the current traction level, and the absolute difference includes:

[0023] The critical speed is obtained by the following formula:

[0024]

[0025] Among them, the V fsb represents the critical speed, k represents the distance the train moves during each rotation of the speed sensor, Δn represents the absolute difference between the current number of rotations and the target number of rotations, and a represents the current traction level of the traction control unit.

[0026] Optionally, after controlling the train to jump according to the jump drive information, the method further includes:

[0027] After the train completes the jump, a jump completion notification is sent to the onboard controller.

[0028] In a second aspect, an embodiment of the present application provides a train control device, which is applied to a remote input and output module in a train compartment. The device includes:

[0029] A receiving module, configured to receive a jump instruction sent by a vehicle controller, wherein the jump instruction includes at least a jump direction and a jump distance;

[0030] a processing module, configured to calculate jump driving information according to the jump direction and jump distance;

[0031] A control module is used to control the train to jump according to the jump drive information.

[0032] Optionally, the jump drive information includes at least: a target number of rotations of a vehicle speed sensor;

[0033] The control module is further configured to:

[0034] Get the current number of revolutions of the vehicle speed sensor;

[0035] When the absolute difference between the current number of rotations and the target number of rotations is greater than a difference threshold, a traction instruction is sent to a traction control unit of the train, where the traction instruction is used to instruct the traction control unit to drive the train to jump.

[0036] When the absolute difference between the current number of rotations and the target number of rotations is less than or equal to a difference threshold, a braking instruction is sent to a braking control unit of the train, where the braking instruction is used to instruct the braking control unit to brake the train.

[0037] Optionally, the control module is further configured to:

[0038] When the duration for which the absolute difference is greater than the difference threshold is less than or equal to the duration threshold, sending a traction instruction carrying an initial traction level to the traction control unit of the train;

[0039] When the duration during which the absolute difference is greater than the difference threshold is greater than the duration threshold, a traction instruction carrying a target traction level is sent to the traction control unit of the train, the target traction level is greater than the initial traction level, and the value of the target traction level is positively correlated with the duration.

[0040] Optionally, the control module is further configured to:

[0041] When the speed of the train is greater than or equal to a critical speed, a braking instruction is sent to a braking control unit of the train.

[0042] Optionally, the control module is further configured to:

[0043] Obtaining the moving distance of the train during each rotation of the speed sensor and the current traction level of the traction control unit;

[0044] A critical vehicle speed is obtained according to the moving distance, the current traction level, and the absolute difference.

[0045] Optionally, the control module is further configured to:

[0046] The critical speed is obtained by the following formula:

[0047]

[0048] Among them, the V fsb represents the critical speed, k represents the distance the train moves during each rotation of the speed sensor, Δn represents the absolute difference between the current number of rotations and the target number of rotations, and a represents the current traction level of the traction control unit.

[0049] Optionally, the control module is further configured to:

[0050] After the train completes the jump, a jump completion notification is sent to the onboard controller.

[0051] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0052] Memory for storing computer programs;

[0053] The processor is used to implement the steps of the train control method described in the first aspect when executing the program stored in the memory.

[0054] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the train control method described in the first aspect above.

[0055] Compared with the prior art, this application has the following advantages:

[0056] In an embodiment of the present application, the control process of train jumping is transferred from the vehicle control unit to the remote input and output module in the train car, and the remote input and output module is no longer required to forward the train operation information to the vehicle control unit, thereby reducing the information delay caused by data transmission during the train jumping process, thereby improving the accuracy of the train jumping.

[0057] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0059] Figure 1 A schematic diagram of a train control method provided in an embodiment of the present application;

[0060] Figure 2 A schematic diagram of another train control method provided in an embodiment of the present application;

[0061] Figure 3 A schematic diagram of another train control method provided in an embodiment of the present application;

[0062] Figure 4 A schematic diagram of a train control device provided in an embodiment of the present application;

[0063] Figure 5 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0065] Figure 1 A train control method provided in an embodiment of the present application is applied to a remote input / output module in a train carriage, the method comprising:

[0066] Step 101: Receive a jump instruction sent by a vehicle controller, where the jump instruction at least includes a jump direction and a jump distance.

[0067] In the embodiment of the present application, the vehicle control unit (VCU) is an electronic device used to control the train operation system. The staff can communicate with the vehicle control unit through the on-board controller to achieve control of the train operation system. Usually, the entire train includes multiple carriages, and each carriage is equipped with a remote input / output module (RIOM). As a computing module with data transmission and output processing capabilities, the RIOM can communicate directly with the sensor devices installed in the carriage. Compared with the communication between the vehicle control unit and the sensor devices, the communication efficiency is higher. Of course, the RIOM is also connected to the vehicle control unit to receive and execute various functional instructions issued by the vehicle control unit.

[0068] Specifically, staff can use the onboard controller to set the jump direction and jump distance for the train, and then send a jump command to the vehicle controller. After receiving the jump command, the vehicle controller can first obtain the train's overall braking information through the brake sensor. Then, after confirming that the train has no abnormal braking and can move normally, it will execute the subsequent control process of the train to jump. It can be understood that if the train has abnormal braking, the train movement will be affected by the braking, and it will not be able to jump as expected.

[0069] Step 102: Calculate jump driving information according to the jump direction and jump distance.

[0070] In the embodiments of the present application, the jump direction refers to the direction of the position to which the train is to jump relative to the train's current position, which can be forward or backward along the track. The jump distance refers to the distance the train moves along the track. Jump drive information refers to the indicator parameters that the train needs to follow during the jump operation, such as: train speed, train acceleration, train travel distance, number of wheel rotations, etc. Any indicator parameter that can be used to instruct the car's drive system to complete the jump process can be applied to the embodiments of the present application and is not limited here.

[0071] Step 103: Control the train to jump according to the jump drive information.

[0072] In an embodiment of the present application, the carriage RIOM sends a traction instruction to the traction control unit of the train based on the jump drive information, and monitors the jump parameters of the train in real time through sensors during the train jump to confirm whether the train has jumped to the target position. Exemplarily, the jump drive information may refer to the number of rotations of the axle required for operation. The number of rotations of the train wheels may be collected by a speed sensor set on the axle of the train during the train jump, thereby confirming that the train has completed the jump when the number of rotations of the wheels meets the expected number of rotations. Of course, the jump drive information may also refer to the target position of the train, thereby obtaining the real-time position of the train through a position sensor set on the platform or the train body during the train jump, thereby confirming that the train has completed the jump when the real-time position reaches the target position. Of course, the setting method of the jump drive information and the method of judging whether the train has completed the jump can be set according to actual needs and are not limited here.

[0073] The embodiment of the present application transfers the control process of train jumping from the vehicle control unit to the remote input and output module in the train car, eliminating the need for the remote input and output module to forward the train operation information to the vehicle control unit, thereby reducing the information delay caused by data transmission during the train jumping process and improving the accuracy of the train jumping.

[0074] Figure 2 Another train control method provided in an embodiment of the present application is applied to a remote input / output module in a train carriage, the method comprising:

[0075] Step 201: Receive a jump instruction sent by a vehicle controller, where the jump instruction at least includes a jump direction and a jump distance.

[0076] This step can be described with reference to the detailed description of step 101 and will not be repeated here.

[0077] Step 202: Calculate jump driving information according to the jump direction and jump distance.

[0078] This step can be referred to the detailed description of step 102 and will not be repeated here.

[0079] Step 203: Obtain the current number of rotations of the vehicle speed sensor.

[0080] In an embodiment of the present application, the vehicle speed sensor is a sensor arranged at the axle of the train wheel, which is used to detect the rotation speed of the wheel axle. Since it does not require secondary calculation processing, it has higher accuracy. Moreover, the current number of rotations seen by the vehicle speed sensor can be directly obtained by RIOM, and the transmission delay is small, thereby further ensuring the accuracy of the reference data for train jumps.

[0081] Step 204: When the absolute difference between the current number of rotations and the target number of rotations is greater than a difference threshold, a traction instruction is sent to the traction control unit of the train, wherein the traction instruction is used to instruct the traction control unit to drive the train to jump.

[0082] In an embodiment of the present application, the target number of rotations refers to the number of rotations of the vehicle speed sensor when the train jumps to the target position, calculated based on the jump distance and jump direction. It can be specifically calculated by dividing the jump distance by the distance the train moves when the vehicle speed sensor rotates one circle, and the jump direction is the vector direction used to determine the distance.

[0083] Specifically, during a train jump, if the train has not yet reached its target position, the current number of revolutions is typically less than the target number of revolutions. Therefore, the absolute difference between the current and target numbers of revolutions is used to reflect the distance between the train's current position and the target position. The absolute difference is used here because distance is a vector and may have negative values, so taking the absolute value of the difference facilitates subsequent comparison. If the absolute difference is greater than a difference threshold, such as 4, 5, or 6 revolutions, it indicates that the train is far from the target position to which it is to jump. Therefore, the RIOM can drive the train to jump by sending a traction command to the train's traction control unit.

[0084] Step 205: When the absolute difference between the current number of rotations and the target number of rotations is less than or equal to a difference threshold, a braking instruction is sent to the braking control unit of the train, wherein the braking instruction is used to instruct the braking control unit to brake the train.

[0085] In the embodiment of the present application, if the absolute difference is less than or equal to the difference threshold, it indicates that the train is relatively close to the target position to which it is to jump. At this time, the train has a certain amount of kinetic energy due to the traction it was previously stationary. The RIOM can brake the train by sending a braking command to the train's braking control unit. During the braking process, the train will also jump a certain distance to reach the target position to which it is to jump. Of course, the accuracy of the target position to be jumped can be specifically controlled by adjusting the absolute difference and the degree of braking, which can be specifically measured and optimized through actual experiments.

[0086] Step 206: After the train completes the jump, a jump completion notification is sent to the onboard controller.

[0087] In an embodiment of the present application, when RIOM detects that the speed of the train car after the jump is 0 and the train reaches the target position to which it needs to jump, it confirms that the train jump is completed. At this time, a jump completion notification can be directly sent to the on-board controller, so that the staff can more conveniently know the completion progress of the train jump.

[0088] Optionally, refer to Figure 3 , the step 204 may include:

[0089] Step 2041: When the duration of the absolute difference being greater than the difference threshold is less than or equal to the duration threshold, a traction instruction carrying an initial traction level is sent to the traction control unit of the train.

[0090] In the embodiment of the present application, the duration threshold refers to the expected duration of the train jump process. When the duration is less than or equal to the duration threshold, it indicates that the train jump duration is within the expected range. In this case, a traction command carrying an initial traction level can be sent to control the traction control unit to drive the train jump. The traction level is an indicator parameter used to reflect the traction power output by the traction control unit, and the initial traction level is the traction level of the train within the duration threshold. This initial traction level can be set by the system default or by the operator, such as 10% or 15%. The specific setting can be based on actual needs and is not limited here.

[0091] Step 2042: When the duration during which the absolute difference is greater than the difference threshold is greater than the duration threshold, a traction instruction carrying a target traction level is sent to the traction control unit of the train, wherein the target traction level is greater than the initial traction level, and the value of the target traction level is positively correlated with the duration.

[0092] In an embodiment of the present application, if the duration exceeds the duration threshold, it indicates that the train jump time has exceeded the expected range and the train jumps too slowly. Therefore, the train speed needs to be increased to enable the train to jump to the target location as quickly as possible. Specifically, a target traction level greater than the initial traction level can be output to the traction control unit, causing the traction control unit to output higher power and thereby increase the train speed. For example, the target traction level can be set based on the duration exceeding the duration threshold. For example, for each 100ms increase in the value, the target traction level is 2% higher than the initial traction level. Alternatively, the target traction level can be set to 2% higher than the initial traction level when the value exceeds 100ms but less than 200ms, 5% higher than the initial traction level when the value exceeds 200ms, and so on. The specific positive correlation between the target traction level and the duration can be set based on actual needs and is not limited here.

[0093] The embodiment of the present application is suitable for controlling the traction and braking of the train when the absolute difference between the current number of revolutions of the train speed sensor and the target number of revolutions is greater than the difference threshold and the duration threshold value continues, which can more accurately ensure that the train can jump to the expected position and improve the sovereign introspection of the train jump.

[0094] Optionally, before step 207, the method further includes:

[0095] Step 301: Obtain the moving distance of the train during each rotation of the speed sensor and the current traction level of the traction control unit.

[0096] In the embodiment of the present application, the distance traveled by the train during each rotation of the vehicle speed sensor can be measured by conducting experiments on an actual vehicle. The current traction level of the traction control unit can be obtained from the last traction instruction sent by the RIOM to the traction control unit.

[0097] Step 302 : Obtain a critical vehicle speed according to the moving distance, the current traction level, and the absolute difference.

[0098] In this embodiment of the present application, the characteristics of a train's jump can be reflected by the travel distance, the current traction level, and the absolute difference. Therefore, the critical speed of the train can be calculated and processed by these three parameters. The critical speed refers to the maximum speed that the train can reach at the current traction level.

[0099] Optionally, step 302 may include:

[0100] The critical speed is obtained by the following formula:

[0101]

[0102] Among them, the V fsb represents the critical speed, k represents the distance the train moves during each rotation of the speed sensor, Δn represents the absolute difference between the current number of rotations and the target number of rotations, and a represents the current traction level of the traction control unit.

[0103] Step 303: When the speed of the train is greater than or equal to the critical speed, a braking instruction is sent to the braking control unit of the train.

[0104] In an embodiment of the present application, if the train's program is greater than or equal to the critical speed, it indicates that the train has exceeded the expected jump speed, and the train will not be able to be effectively braked to ensure that the train jumps to the target position. Therefore, at this time, RIOM will send a braking command to the braking control module until the train speed drops to zero, thereby ensuring the safety of the train jump.

[0105] The train control method provided in the embodiment of the present application obtains the driving status information of the vehicle when the driver is operating the vehicle, identifies different types of driving behaviors based on the driving status information, determines characteristic data of at least one type of driving behavior, and inputs the determined characteristic data into the identity recognition model to identify the current driver. The method can identify the driver's identity by relying solely on the driving status information of the vehicle when the driver is driving the vehicle without adding additional sensors, bringing cumbersome operational burdens to the driver, and collecting and recording the driver's biometric privacy information. This saves hardware costs, ensures the driver's driving experience, and protects the driver's privacy. It also enables smart cars to provide differentiated driving mode services for different drivers, thereby improving the active safety of the car and providing a good user experience.

[0106] Figure 4 Schematic diagram of a train control device provided in an embodiment of the present application, which is applied to a remote input and output module in a train compartment, comprising:

[0107] The receiving module 401 is configured to receive a jump instruction sent by a vehicle controller, wherein the jump instruction includes at least a jump direction and a jump distance;

[0108] A processing module 402 is configured to calculate jump driving information according to the jump direction and jump distance;

[0109] The control module 403 is used to control the train to jump according to the jump driving information.

[0110] Optionally, the jump drive information includes at least: a target number of rotations of a vehicle speed sensor;

[0111] The control module 403 is further configured to:

[0112] Get the current number of revolutions of the vehicle speed sensor;

[0113] When the absolute difference between the current number of rotations and the target number of rotations is greater than a difference threshold, a traction instruction is sent to a traction control unit of the train, where the traction instruction is used to instruct the traction control unit to drive the train to jump.

[0114] When the absolute difference between the current number of rotations and the target number of rotations is less than or equal to a difference threshold, a braking instruction is sent to a braking control unit of the train, where the braking instruction is used to instruct the braking control unit to brake the train.

[0115] Optionally, the control module 403 is further configured to:

[0116] When the duration for which the absolute difference is greater than the difference threshold is less than or equal to the duration threshold, sending a traction instruction carrying an initial traction level to the traction control unit of the train;

[0117] When the duration during which the absolute difference is greater than the difference threshold is greater than the duration threshold, a traction instruction carrying a target traction level is sent to the traction control unit of the train, the target traction level is greater than the initial traction level, and the value of the target traction level is positively correlated with the duration.

[0118] Optionally, the control module 403 is further configured to:

[0119] When the speed of the train is greater than or equal to a critical speed, a braking instruction is sent to a braking control unit of the train.

[0120] Optionally, the control module 403 is further configured to:

[0121] Obtaining the moving distance of the train during each rotation of the speed sensor and the current traction level of the traction control unit;

[0122] A critical vehicle speed is obtained according to the moving distance, the current traction level, and the absolute difference.

[0123] Optionally, the control module 403 is further configured to:

[0124] The critical speed is obtained by the following formula:

[0125]

[0126] Among them, the V fsb represents the critical speed, k represents the distance the train moves during each rotation of the speed sensor, Δn represents the absolute difference between the current number of rotations and the target number of rotations, and a represents the current traction level of the traction control unit.

[0127] Optionally, the control module 403 is further configured to:

[0128] After the train completes the jump, a jump completion notification is sent to the onboard controller.

[0129] The train control device provided in the embodiment of the present application obtains the driving status information of the vehicle when the driver is operating the vehicle, identifies different types of driving behaviors based on the driving status information, determines characteristic data of at least one type of driving behavior, inputs the determined characteristic data into the identity recognition model, and identifies the current driver. The train control device can identify the driver's identity by relying solely on the driving status information of the vehicle when the driver is driving the vehicle without adding additional sensors, bringing cumbersome operational burdens to the driver, and collecting and recording the driver's biometric privacy information. This saves hardware costs, ensures the driver's driving experience, and protects the driver's privacy. It also enables smart cars to provide differentiated driving mode services for different drivers, thereby improving the active safety of the car and providing a good user experience.

[0130] The present application also provides an electronic device, such as Figure 5 As shown, it includes a processor 501 , a communication interface 502 , a memory 503 and a communication bus 504 , wherein the processor 501 , the communication interface 502 and the memory 503 communicate with each other via the communication bus 504 .

[0131] The memory 503 is used to store computer programs.

[0132] When the processor 501 is used to execute the program stored in the memory 503, the following steps are implemented: receiving a jump instruction sent by the vehicle controller, the jump instruction including at least: a jump direction and a jump distance; calculating jump drive information based on the jump direction and jump distance; and controlling the train to jump based on the jump drive information.

[0133] The processor 501 may also implement other steps in the above train control method, which will not be described in detail here.

[0134] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0135] The communication interface is used for communication between the above electronic device and other devices.

[0136] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0137] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0138] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the train control method described in the above embodiment.

[0139] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the train control method described in the above embodiment.

[0140] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0141] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0142] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. The embodiments of the apparatus, electronic device, computer-readable storage medium, and computer program product containing instructions thereof are generally similar to the method embodiments, so their description is relatively simple. For related portions, reference can be made to the description of the method embodiments.

[0143] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the scope of protection of the present application.

Claims

1. A train control method, characterized in that: A remote input / output module is used in a train compartment, and the method includes: receiving a jump instruction sent by a vehicle controller, wherein the jump instruction includes at least a jump direction and a jump distance; Calculating jump drive information according to the jump direction and jump distance; the jump drive information at least includes: a target number of rotations of a vehicle speed sensor; controlling the train to jump according to the jump drive information; The step of controlling the train to jump according to the jump drive information includes: Get the current number of revolutions of the vehicle speed sensor; sending a traction instruction to a traction control unit of the train according to an absolute difference between the current number of rotations and the target number of rotations; the traction instruction is used to drive the train to jump; The sending of a traction instruction to the traction control unit of the train includes: When the duration for which the absolute difference is greater than the difference threshold is less than or equal to the duration threshold, sending a traction instruction carrying an initial traction level to the traction control unit of the train; When the duration during which the absolute difference is greater than the difference threshold is greater than the duration threshold, a traction instruction carrying a target traction level is sent to the traction control unit of the train, the target traction level is greater than the initial traction level, and the value of the target traction level is positively correlated with the duration.

2. The method according to claim 1, characterized in that The controlling the train to jump according to the jump drive information further includes: When the absolute difference between the current number of rotations and the target number of rotations is greater than a difference threshold, sending a traction instruction to a traction control unit of the train, wherein the traction instruction is used to instruct the traction control unit to drive the train to jump; When the absolute difference between the current number of rotations and the target number of rotations is less than or equal to a difference threshold, a braking instruction is sent to a braking control unit of the train, where the braking instruction is used to instruct the braking control unit to brake the train.

3. The method according to claim 2, characterized in that After sending the traction instruction to the traction control unit of the train, the method further includes: When the speed of the train is greater than or equal to a critical speed, a braking instruction is sent to a braking control unit of the train.

4. The method according to claim 3, characterized in that When the speed of the train is greater than or equal to the critical speed, before sending a braking instruction to the braking control unit of the train, the method further includes: Obtaining the moving distance of the train during each rotation of the speed sensor and the current traction level of the traction control unit; A critical vehicle speed is obtained according to the moving distance, the current traction level, and the absolute difference.

5. The method according to claim 2, characterized in that After controlling the train to jump according to the jump drive information, the method further includes: After the train completes the jump, a jump completion notification is sent to the onboard controller.

6. A train control device, characterized in that: A remote input / output module used in a train compartment, comprising: A receiving module, configured to receive a jump instruction sent by a vehicle controller, wherein the jump instruction includes at least a jump direction and a jump distance; a processing module, configured to calculate jump drive information according to the jump direction and jump distance; the jump drive information at least including: a target number of rotations of a vehicle speed sensor; a control module, configured to control the train to jump according to the jump drive information; The control module includes: Get the current number of revolutions of the vehicle speed sensor; sending a traction instruction to a traction control unit of the train according to an absolute difference between the current number of rotations and the target number of rotations; the traction instruction is used to drive the train to jump; The control module further includes: When the duration for which the absolute difference is greater than the difference threshold is less than or equal to the duration threshold, sending a traction instruction carrying an initial traction level to the traction control unit of the train; When the duration during which the absolute difference is greater than the difference threshold is greater than the duration threshold, a traction instruction carrying a target traction level is sent to the traction control unit of the train, the target traction level is greater than the initial traction level, and the value of the target traction level is positively correlated with the duration.

7. An electronic device, characterized in that: include: A processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory for storing computer programs; The processor is configured to implement the steps of the train control method according to any one of claims 1 to 5 when executing the program stored in the memory.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the train control method according to any one of claims 1 to 5 are implemented.

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