Method and system for downgraded vehicle to operate across control zones

Abstract

The present application relates to the field of rail transit technology, and specifically to a method and system for operating a downgraded vehicle across control zones, the method comprising: a takeover object controller receives a control transfer command sent by a handover object controller; the takeover control zone where the takeover object controller is located is the next control zone of the handover control zone where the handover object controller is located along the direction of travel of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; when the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary between the handover control zone and the takeover control zone, the control right is transferred based on the control right transfer command; the takeover object controller extends the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path. By utilizing the transfer of the authority to extend the downgraded vehicle path, the extension operations of multiple object controllers on the downgraded vehicle path are standardized to avoid conflicts in control rights, thereby improving the efficiency and safety of the downgraded vehicle during operation.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a method and system for operating a downgraded vehicle across control areas. Background Art

[0002] Rail trains refer to the means of transport in rail transportation, including subways, light rails, monorails, trams, rubber-wheeled guided trams, and maglev trains. Rail trains can operate completely autonomously or be manually controlled by the driver.

[0003] When the equipment of the rail train is working normally, it can be used as an upgraded car, and the on-board controller can automatically drive the upgraded car. When the rail train fails to communicate with the object controller, the train intelligent monitoring system and other rail trains due to a communication equipment failure, the rail train can be manually controlled by the driver as a downgraded car.

[0004] When a rail train is used as a downgraded vehicle, it mainly runs based on the downgraded vehicle path. To ensure driving safety and reduce the impact on the upgraded vehicle, the downgraded vehicle path must precede the downgraded vehicle to cover the possible range of the downgraded vehicle. Due to the limitations of communication cable transmission distance and the number of trackside equipment, the object controller is bound to have cross-control area problems when calculating the downgraded vehicle path.

[0005] When the downgraded vehicle path crosses the control area, multiple object controllers will process the downgraded vehicle path, which will cause confusion in the processing of the downgraded vehicle path and fail to effectively extend the downgraded vehicle path, resulting in low efficiency and safety threats during the operation of the downgraded vehicle. Summary of the invention

[0006] In order to solve one of the above technical defects, a method and system for operating a downgraded vehicle across control zones are provided in an embodiment of the present application.

[0007] According to a first aspect of an embodiment of the present application, a method for operating a downgraded vehicle across control zones is provided, comprising:

[0008] The takeover object controller receives a control right transfer command sent by the handover object controller; wherein the takeover control zone where the takeover object controller is located is the next control zone of the handover control zone where the handover object controller is located along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the downgraded vehicle path; when the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary between the handover control zone and the takeover control zone, the control right is completed based on the control right transfer command; the takeover object controller extends the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path.

[0009] According to a second aspect of an embodiment of the present application, a downgraded vehicle cross-control zone operation system is provided, comprising a handover control zone and a corresponding handover object controller, a takeover control zone and a corresponding takeover object controller; wherein:

[0010] The takeover object controller receives a control right transfer command sent by the handover object controller; wherein the takeover control area is the next control area of ​​the handover control area along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; when the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary line between the handover control area and the takeover control area, the control right transfer is completed based on the control right transfer command; the takeover object controller extends the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path.

[0011] According to a third aspect of an embodiment of the present application, a method for operating a downgraded vehicle across control zones is provided, comprising:

[0012] The handover object controller sends a control right handover command to the takeover object controller; wherein the takeover control zone where the takeover object controller is located is the next control zone of the handover control zone where the handover object controller is located along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the downgraded vehicle path; wherein the control right handover command is used to enable the takeover object controller to complete the transfer of control right based on the control right handover command when determining that the end point of the downgraded vehicle path is located at the boundary between the handover control zone and the takeover control zone, and extend the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path.

[0013] According to a fourth aspect of the embodiment of the present application, a downgraded vehicle cross-control zone operation system is provided, including a handover control zone and a corresponding handover object controller, a takeover control zone and a corresponding takeover object controller; wherein,

[0014] The transfer object controller sends a control right transfer command to the takeover object controller, the takeover control area is the next control area of ​​the transfer control area along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; wherein, the control right transfer command is used to enable the takeover object controller to complete the transfer of control right based on the control right transfer command when determining that the end point of the downgraded vehicle path is located at the boundary between the transfer control area and the takeover control area, so as to extend the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path.

[0015] According to a fifth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the above method.

[0016] According to a sixth aspect of an embodiment of the present application, a computer program product is provided, comprising a computer program or instructions, which implement the above method when executed by a processor.

[0017] Using the method for operating a downgraded vehicle across control zones provided in the embodiment of the present application, the takeover object controller receives the control transfer command sent by the handover object controller. When it is determined that the end point of the current downgraded vehicle path is at the boundary between the handover control zone and the takeover control zone, the takeover object controller completes the transfer with the handover object controller based on the control transfer command. After having the authority to extend the downgraded vehicle path, the takeover object controller extends the downgraded vehicle path so that the downgraded vehicle can travel based on the extended downgraded vehicle path. By utilizing the transfer of the authority to extend the downgraded vehicle path to the corresponding object controllers in each control zone, the extension operation of the downgraded vehicle path by the object controllers in multiple control zones is standardized, the confusion in exercising the authority to extend the downgraded vehicle path between the various object controllers is reduced, and conflicts in control authority are avoided, thereby improving the efficiency and safety of the downgraded vehicle during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 This is an interactive flow chart of the method for operating a downgraded vehicle across control zones in Example 1;

[0020] Figure 2 A schematic diagram of a structure of a downgraded vehicle running on a track;

[0021] Figure 3 Another schematic diagram of the structure of the downgraded vehicle running on the track;

[0022] Figure 4 A schematic diagram of a structure in which an upgraded car is changed into a downgraded car;

[0023] Figure 5 Another structural diagram of an upgraded car becoming a downgraded car;

[0024] Figure 6 This is a schematic diagram of the structure of the cross-control area operation system of a downgraded vehicle in Example 2. DETAILED DESCRIPTION

[0025] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0026] When the rail train is running on the track, it can be controlled by the on-board controller (Intelligent Vehicle On-Board Controller, IVOC) to achieve automatic driving, or it can be driven manually by the driver. When the rail train is used as an upgraded vehicle, the communication equipment on the rail train has not failed, and it can communicate with the object controller (Object Controller, OC), the train intelligent monitoring system (Intelligent Train Supervision, ITS) and other upgraded vehicles to ensure the safe driving of the rail train. Multiple object controllers can be connected to each other, multiple object controllers can be connected to the train intelligent monitoring system, object controllers can be connected to rail trains, and multiple rail trains can be connected to each other to achieve multi-party communication.

[0027] When the communication equipment of a rail train fails, the rail train runs on the track as a downgraded vehicle. At this time, the driver needs to rely on the downgraded vehicle path for manual control. Due to the limitations of the communication cable transmission distance and the number of trackside equipment, when the object controller processes the downgraded vehicle path, the downgraded vehicle path is bound to cross the control area. When multiple object controllers process the downgraded vehicle path, it will cause confusion in the processing of the downgraded vehicle path, and the downgraded vehicle path cannot be effectively extended, resulting in low efficiency and safety threats during the operation of the downgraded vehicle.

[0028] Example 1

[0029] This embodiment provides a method for a downgraded vehicle to operate across control zones. Figure 1 The interactive flow chart of the method for operating a downgraded vehicle across control zones is shown. The method can be applied to a downgraded vehicle operating across control zones system, which includes a plurality of control zones and corresponding object controllers. Although the processes described below include multiple operations that appear in a specific order, it should be clearly understood that these processes may also include more or fewer operations, and these operations may be performed sequentially or in parallel (for example, using a parallel processor or a multi-threaded environment).

[0030] like Figure 1 As shown, the method includes at least some of the following steps: (S101-S104):

[0031] S101. The controller to which the transfer is made sends a control transfer command to the controller to which the takeover is made.

[0032] The transfer object controller is located in the transfer control area, the takeover object controller is located in the takeover control area, the transfer control area and the takeover control area are adjacent, and the takeover control area is located in the transfer control area along the travel direction of the downgraded vehicle, that is, the takeover control area is the next control area of ​​the transfer control area along the travel direction of the downgraded vehicle. The transfer object controller has the authority to extend the current downgraded vehicle path, and the takeover object controller does not have the authority to extend the current downgraded vehicle path.

[0033] The object controller can collect and control the status of the trackside equipment in the corresponding control area, where the trackside equipment includes but is not limited to signal lights, switches, screen doors, and emergency stop buttons. In a track line, multiple control areas may be included, each of which includes a corresponding object controller, and each object controller collects and controls the status of the trackside equipment in the corresponding control area. When processing the downgraded vehicle path, the object controller can only process the path of the downgraded vehicle within the current control area, and cannot involve the paths in other control areas. That is, the object controller can only extend the downgraded vehicle path to the boundary between the current control area and the next control area, and cannot cross the boundary between the control areas. The subsequent downgraded vehicle path needs to be extended by the object controller of the next control area.

[0034] For example, if Figure 2 As shown, Figure 2 It is a structural schematic diagram of a downgraded vehicle running on a track. The downgraded vehicle 101 runs from the handover control area 102 to the receiving control area 103. There is a dividing line 104 between the handover control area 102 and the receiving control area 103. The object controller of the handover control area 102 extends the end point of the downgraded vehicle path 105 to the dividing line 104. The extension of the downgraded vehicle path 105 at the receiving control area 102 needs to be operated by the object controller of the receiving control area 102.

[0035] S102: The takeover object controller receives a control transfer command sent by the transfer object controller.

[0036] The takeover object controller is located in the takeover control area, and receives and controls the status of the trackside equipment in the takeover control area. Since the object controller can only process the downgraded vehicle path within its own control area, when the end point of the downgraded vehicle path is at the boundary between the handover control area and the takeover control area, the handover object controller in the handover control area can send a control transfer command to the takeover object controller in the takeover control area.

[0037] That is, when the transfer object controller extends the downgraded vehicle path and the end point of the extended downgraded vehicle path is at the boundary line between the transfer control area and the taking over control area, the transfer object controller of the transfer control area sends a control transfer command to the taking over object controller of the taking over control area, and the taking over object controller receives the control transfer command sent by the transfer object controller.

[0038] The control right indicates that the object controller has the authority to process the downgraded vehicle path, that is, it includes the authority to extend the downgraded vehicle path. The transfer object controller has the control right of the downgraded vehicle path. When the end point of the downgraded vehicle path is at the boundary between the transfer control area and the takeover control area, the transfer object controller transfers the control right of the downgraded vehicle path to the takeover object controller. The transfer object controller initiates a control right transfer command to the takeover object controller, and the takeover object controller receives the control right transfer command sent by the transfer object controller.

[0039] S103: When the controller of the takeover object determines that the end point of the path of the downgraded vehicle is located at the boundary between the handover control area and the takeover control area, the control right transfer is completed based on the control right transfer command.

[0040] After receiving the control transfer command, the takeover object controller determines whether the end point of the current downgraded vehicle path is located at the boundary between the handover control area and the receiving control area. If it is determined that the end point of the downgraded vehicle path is not located at the boundary between the handover control area and the receiving control area, the takeover object controller does not complete the handover of control with the handover object controller; if it is determined that the end point of the downgraded vehicle path is located at the boundary between the handover control area and the receiving control area, the takeover object controller completes the transfer of control based on the control transfer command, that is, the authority to extend the downgraded vehicle path is transferred from the handover object controller to the takeover object controller.

[0041] For example, if Figure 2 As shown, the takeover object controller 103 receives the control transfer command sent by the transfer object controller 102, and the takeover object controller 103 determines whether the end point of the current downgraded vehicle path 105 is located at the dividing line 104. If it is determined that the end point of the current downgraded vehicle path 105 is not located at the dividing line 104, the takeover object controller 103 does not accept the control transfer application of the transfer object controller 102; if it is determined that the end point of the current downgraded vehicle path 105 is located at the dividing line 104, the takeover object controller 103 completes the transfer of control based on the control transfer command of the transfer object controller 102, that is, the authority to extend the downgraded vehicle path 105 is transferred from the transfer object controller 102 to the takeover object controller 103.

[0042] S104: The controller of the takeover object extends the path of the downgraded vehicle based on the authority to extend the path of the downgraded vehicle, and the downgraded vehicle travels based on the extended path of the downgraded vehicle.

[0043] After the transfer of control rights between the takeover object controller and the handover object controller is completed, the authority to extend the path of the downgraded vehicle is transferred from the handover object controller to the takeover object controller. The takeover object controller can extend the path of the downgraded vehicle to plan the driving route of the downgraded vehicle.

[0044] After the takeover object controller and the handover object controller complete the transfer of control, the takeover object controller extends the downgraded vehicle path as the main control object controller. When the end of the downgraded vehicle path is extended to the boundary line with the next control area, the takeover object controller can no longer extend the current downgraded vehicle path. At this time, the takeover object controller becomes the new handover object controller, and the object controller of the next control area adjacent to the takeover object controller serves as the new takeover object controller. The new handover object controller and the new takeover object controller continue to complete the transfer of control. This is repeated until the downgraded vehicle path completely covers the downgraded vehicle's running route.

[0045] The object controller that takes over can calculate and extend the path of the downgraded vehicle according to the operation plan and the status of the trackside equipment issued by the train intelligent monitoring system. After obtaining the extended path of the downgraded vehicle, the object controller that takes over can send the extended path of the downgraded vehicle to the train intelligent monitoring system, the object controllers of other control areas, and the upgraded vehicle. The downgraded vehicle can travel according to the extended path of the downgraded vehicle, the object controller can control the status of the trackside equipment in this control area, and the driver can control the downgraded vehicle in the downgraded vehicle path according to the status of the trackside equipment.

[0046] For example, if Figure 2 and Figure 3 As shown, Figure 3 After completing the transfer of control rights with the transfer object controller 102, the takeover object controller 103 can extend the current downgraded vehicle path 105 to obtain an extended downgraded vehicle path 106, and the downgraded vehicle travels based on the extended downgraded vehicle path 106.

[0047] In summary, the takeover object controller receives the control transfer command sent by the handover object controller. When it is determined that the end point of the current downgraded vehicle path is at the boundary between the handover control area and the takeover control area, the takeover object controller completes the transfer with the handover object controller based on the control transfer command. After having the authority to extend the downgraded vehicle path, the takeover object controller extends the downgraded vehicle path so that the downgraded vehicle can travel based on the extended downgraded vehicle path. By transferring the authority to extend the downgraded vehicle path to the corresponding object controllers in each control area, the extension operation of the downgraded vehicle path by the object controllers in multiple control areas is standardized, the confusion of exercising the authority to extend the downgraded vehicle path between the various object controllers is reduced, and the conflict of control authority is avoided, thereby improving the efficiency and safety of the downgraded vehicle during operation.

[0048] In one or more embodiments, the control transfer command includes the current downgraded vehicle path information, and the transfer object controller and the takeover object controller may pre-store the boundary line information of the transfer control area and the takeover control area. The transfer object controller and the takeover object controller complete the transfer of control rights, which may include some of the following steps (S201-S211):

[0049] S201: The transfer object controller obtains current downgraded vehicle path information.

[0050] Before the transfer object controller completes the transfer of control rights with the takeover object controller, the transfer object controller has the extension authority for the current downgraded vehicle path. After extending the current downgraded vehicle path information, the transfer object controller can obtain the current downgraded vehicle path information.

[0051] S202: Based on the current downgraded vehicle path information and the boundary line information, determine whether the end point of the current downgraded vehicle path is located at the boundary line.

[0052] The transfer object controller pre-stores the boundary line information of the transfer control area and the receiving control area. After obtaining the current downgraded vehicle path information, the transfer object controller can determine whether the current downgraded vehicle path end point is located at the boundary line based on the boundary line information and the current downgraded vehicle path information.

[0053] If the end point of the current downgraded vehicle path is not at the dividing line, it means that the handover object controller can still extend the current downgraded vehicle path, while the takeover object controller cannot extend the current downgraded vehicle path, that is, the handover object controller does not need to transfer control to the takeover object controller.

[0054] If the current downgraded vehicle path ends at the dividing line, it means that the transfer object controller can no longer extend the current downgraded vehicle path, and the takeover object controller needs to extend the current downgraded vehicle path, that is, the transfer object controller needs to execute step S203 and send a control transfer command to the takeover object controller. In some embodiments, the transfer object controller may also send a control transfer command to the takeover object controller when the platform at the starting point of the downgraded vehicle path is not detained, the platform screen door is closed, or the emergency stop button is not pressed.

[0055] Before sending the control transfer command to the takeover object controller, the handover object controller detects whether the current end point of the downgraded vehicle path is at the dividing line. When the current end point of the downgraded vehicle path is at the dividing line, the control transfer command is sent to the takeover object controller, which can avoid the risk of sending the control transfer command to the takeover object controller when the current end point of the downgraded vehicle path is not at the dividing line, thereby resulting in the risk of not being able to form a complete downgraded vehicle path.

[0056] S205: The takeover object controller receives the current downgraded vehicle path information sent by the handover object controller.

[0057] The control transfer command sent by the transfer object controller includes the current downgraded vehicle path information.

[0058] S206: The takeover object controller determines whether the end point of the current downgraded vehicle path is located at the boundary line based on the current downgraded vehicle path information and the boundary line information.

[0059] The takeover object controller pre-stores the boundary line information of the handover control area and the takeover control area. After obtaining the current downgraded vehicle path information, it can determine whether the current downgraded vehicle path end point is located at the boundary line based on the current downgraded vehicle path information and the boundary line information.

[0060] If the end point of the current downgraded vehicle path is not at the dividing line, it indicates that the takeover object controller does not have the authority to extend the current downgraded vehicle path, and the takeover object controller does not receive the control transfer application from the transfer object controller, that is, the takeover object controller does not complete the control transfer with the transfer object controller.

[0061] If the end point of the current downgraded vehicle path is located at the dividing line, it means that the transfer object controller can no longer extend the current downgraded vehicle path, and the takeover object controller can extend the current downgraded vehicle path. At this time, the authority to extend the downgraded vehicle path needs to be transferred from the transfer object controller to the takeover object controller, and the takeover object controller executes step S207 to complete the transfer of the authority to extend the downgraded vehicle path based on the control transfer command. When the takeover object controller determines that the end point of the current downgraded vehicle path is located at the dividing line, it completes the transfer of control with the transfer object controller, which can further avoid the risk of sending the control transfer command to the takeover object controller when the end point of the current downgraded vehicle path is not at the dividing line, thereby failing to form a complete downgraded vehicle path.

[0062] In one or more embodiments, after the transfer object controller sends the control transfer command to the takeover object controller, the transfer object controller may further execute step S208 to change the state of the transfer object controller from the idle state to the transfer waiting state. The object processor may perform extension processing on the degraded vehicle path when it is in the idle state, and may not perform extension processing on the degraded vehicle path when it is in the non-idle state.

[0063] When completing the transfer of control rights based on the control rights transfer command, the takeover object controller may execute step S209, send a transfer consent message to the transfer object controller, and change the state of the takeover object controller from an idle state to a waiting for confirmation state.

[0064] If the transfer object controller does not receive the transfer consent information sent by the takeover object controller, it can continue to send control transfer commands to the takeover object controller at preset time intervals. After receiving the transfer consent information sent by the takeover object controller, the transfer object controller executes step S210, sends a transfer confirmation message to the takeover object controller, and changes the state of the transfer object controller from the transfer waiting state to the idle state. Among them, the transfer confirmation message is used for the takeover object controller to complete the transfer of control, that is, it is used for the takeover object controller to complete the transfer of the extended downgraded vehicle path authority. The state of the transfer object controller changes during the authority transfer process, and the progress of the authority transfer between the transfer object controller and the takeover object controller can be fed back in time.

[0065] After receiving the handover confirmation message, the takeover object controller completes the control transfer with the handover object controller and may send a handover completion message to the handover object controller. In one or more embodiments, changing the state of the handover object controller from the handover waiting state to the idle state may include:

[0066] The state of the handover object controller is changed from the handover waiting state to the timing waiting state. After receiving the handover completion information, the handover object controller changes the state of the handover object controller from the timing waiting state to the idle state.

[0067] In some embodiments, changing the state of the handover object controller from a handover waiting state to an idle state may include: changing the state of the handover object controller from a handover waiting state to a timing waiting state, and if the handover object controller does not receive the handover completion information within a second preset time, changing the state of the handover object controller from the timing waiting state to an idle state.

[0068] When the transfer object controller receives the transfer completion information or does not receive the transfer completion information within the second preset time, the state of the transfer object controller is changed from the transfer waiting state to the idle state, which can provide timely feedback on the progress of the authority transfer between the transfer object controller and the takeover object controller and facilitate the transfer object controller to perform subsequent operations.

[0069] After receiving the confirmation transfer information sent by the transfer object controller, the takeover object controller executes step S211, takes over the authority of extending the downgraded vehicle path from the transfer object controller based on the confirmation transfer information, and changes the state of the takeover object controller from the waiting confirmation state to the idle state. The state of the takeover object controller changes during the authority transfer progress, and the progress of the authority transfer between the transfer object controller and the takeover object controller can be fed back in time.

[0070] When the takeover object controller does not receive the confirmation handover information within the first preset time, the state of the takeover object controller is changed from the waiting confirmation state to the idle state. When the confirmation handover information is not received, the takeover object controller cannot complete the control transfer with the transfer object controller. In order to ensure the normal operation of the takeover object controller, if the confirmation handover information is not received within the first preset time, the state of the takeover object controller can be changed from the waiting confirmation state to the idle state, so that the takeover object controller can perform other operations. The transfer of control rights can continue with the transfer object controller later.

[0071] The upgraded vehicle can be calculated by the onboard controller according to the trackside equipment status sent by the object controller, the operation plan of the local train sent by the train intelligent monitoring system, and the downgraded vehicle path sent by the object controller, and obtain the authorized movement path of the upgraded vehicle. The downgraded vehicle needs to be manually controlled by the driver according to the downgraded vehicle path, which can be calculated by the object controller, which can be calculated by the object controller according to the operation plan of the local train and the status of the trackside equipment. After obtaining the downgraded vehicle path, the object controller can send the downgraded vehicle path to the upgraded vehicle, the train intelligent monitoring system, and other object controllers.

[0072] When a rail train changes from an upgraded train to a downgraded train, determining the transfer control area and the transfer object controller of the transfer control area and the current downgraded train path may include the following steps (S301-S302):

[0073] S301. When a rail train is downgraded from an upgraded train to a downgraded train, obtain the last authorized movement path of the rail train when it is an upgraded train.

[0074] The authorized movement path of the upgraded vehicle is the automatic operation path of the upgraded vehicle, and the vehicle controller of the upgraded vehicle can automatically drive based on the automatic operation path. The authorized movement path can be used as the downgraded vehicle path from the upgraded vehicle to the downgraded vehicle, that is, the last authorized movement path of the upgraded vehicle is used as the current downgraded vehicle path of the downgraded vehicle.

[0075] For example, if Figure 4 As shown, Figure 4 The upgraded vehicle 107 is running on the track. The upgraded vehicle 107 is changed into the downgraded vehicle 108 due to the failure of the communication device. The last authorized movement path 108 of the upgraded vehicle 107 can be initialized as the current downgraded vehicle path 105 of the downgraded vehicle 108.

[0076] S302, determining the control area that the automatic operation path passes through, taking the control area where the end point of the automatic operation path is located as the handover control area, and taking the object controller of the control area where the end point of the automatic operation path is located as the handover object controller.

[0077] The route of the rail train may include multiple control areas. The movement authorization path of the last-minute upgraded vehicle may be located in the same control area or in different control areas. Get the control area where the automatic operation path is located. When the automatic operation path is located in the same control area, the downgraded vehicle path is also located in the same control area. At this time, the object controller of the control area can be used as the transfer object controller.

[0078] When the automatic operation path is located in different control zones, the downgraded vehicle path is also located in different control zones. The control zone where the end point of the automatic operation path is located is used as the handover control zone, and the object controller of the control zone where the end point of the automatic operation path is located is used as the handover object controller. Using the control zone where the end point of the automatic operation path is located as the handover control zone can avoid the subsequent transfer of the authority to extend the downgraded vehicle path in order to extend the downgraded vehicle path, improve the processing efficiency of the downgraded vehicle path, and ensure the driving safety of rail trains.

[0079] For example, if Figure 5 As shown, Figure 5 FIG. 1 is another structural diagram of an upgraded vehicle changing to a downgraded vehicle. The upgraded vehicle 107 changes to a downgraded vehicle 101 due to a communication device failure. The last authorized movement path 108 of the upgraded vehicle 107 is the last automatic operation path of the upgraded vehicle 107, which is the current downgraded vehicle path 105. The automatic operation path spans across area a and area b, and the end point of the automatic operation path is in area b. Area b is used as the handover control area, and the object controller of area b is used as the handover object controller.

[0080] When the downgraded vehicle has stopped at the platform along the downgraded vehicle path, the controller of the takeover object can remove the restriction on the path except the current platform in the downgraded vehicle path. Removing the restriction on the path except the path corresponding to the current platform in the downgraded vehicle path can facilitate other upgraded vehicles to pass normally on the required path, ensuring the orderly, safe and fast passage of rail trains on the track.

[0081] When the downgraded car starts running at the platform where it stops, the takeover object controller can restore the restrictions on the original downgraded car path except for the path where the current platform is located. In other words, in order to ensure the safe operation of the rail train, other rail trains cannot appear in the downgraded car path. When the downgraded car has left the platform along the downgraded car path, the takeover object controller removes the restrictions on the path of the downgraded car path for the platform where it stops. After removing the restrictions on the platform where it stopped before, the takeover object controller facilitates the normal stop of other rail trains on the platform, ensuring the orderly, safe and fast passage of rail trains on the track. It should be noted that the takeover object controller is an object processor that has the function of processing the downgraded car path.

[0082] After the communication device is restored, the downgraded vehicle becomes an upgraded vehicle. After the object controller receives the mobile authorization path from the vehicle controller, it clears the downgraded vehicle path and changes the state of the object controller to an idle state.

[0083] It should be noted that the above method embodiment only introduces and explains the method for operating a downgraded vehicle across control zones from the perspective of the interaction between the transfer object controller and the takeover object controller. In the above embodiment, the steps executed by the transfer object controller can be independently implemented as the method for operating a downgraded vehicle across control zones of the transfer object controller; the steps executed by the takeover object controller can be independently implemented as the method for operating a downgraded vehicle across control zones of the takeover object controller.

[0084] Example 2

[0085] This embodiment provides a system for operating a downgraded vehicle across control zones, such as Figure 6 As shown, Figure 6 The structure diagram of the downgraded vehicle cross-control area operation system is shown in FIG. The system includes a transfer control area 102 and a corresponding transfer object controller 201, a takeover control area 103 and a corresponding takeover object controller 202. The transfer object controller 201 is connected with the takeover object controller 202 to realize communication. The transfer object controller 201 can receive and control the trackside equipment status in the transfer control area 102, and the takeover object controller 202 can receive and control the trackside equipment status in the takeover control area 103.

[0086] The controller to which the transfer object is transferred sends a control transfer command to the controller to which the takeover object is taken over, and the controller to which the takeover object is taken over receives the control transfer command sent by the controller to which the transfer object is transferred; wherein the takeover control area is the next control area of ​​the transfer control area along the direction of travel of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; for details, please refer to the relevant description in Example 1, which will not be repeated here.

[0087] When the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary between the handover control area and the takeover control area, the control transfer is completed based on the control transfer command; for details, please refer to the relevant description in Example 1, which will not be repeated here.

[0088] The controller of the takeover object extends the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0089] In one or more embodiments, the takeover object controller further includes boundary information of the handover control area and the takeover control area, and the control right handover command includes current downgraded vehicle path information; when the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary of the handover control area and the takeover control area, the control right transfer is completed based on the control right handover command, and the takeover object controller may specifically execute:

[0090] The current downgraded vehicle path information sent by the transfer object controller is obtained; based on the current downgraded vehicle path information and the boundary line information, it is determined whether the end point of the current downgraded vehicle path is located at the boundary line; if the end point of the current downgraded vehicle path is located at the boundary line, the transfer of the extended downgraded vehicle path authority is completed based on the control transfer command. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0091] In one or more embodiments, the controller taking over the object completes the transfer of control rights based on the control rights transfer command, and the controller taking over the object may specifically execute:

[0092] Sending a handover consent message to the handover object controller, and changing the state of the takeover object controller from an idle state to a waiting confirmation state; receiving a handover confirmation message sent by the handover object controller; based on the handover confirmation message, taking over the authority to extend the downgraded vehicle path from the handover object controller, and changing the state of the takeover object controller from the waiting confirmation state to an idle state. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0093] In one or more embodiments, the takeover object controller is further configured to execute: if no confirmation handover information is received within the first preset time, the state of the takeover object controller is changed from the waiting confirmation state to the idle state. For details, please refer to the relevant description in embodiment 1, which will not be repeated here.

[0094] In one or more embodiments, the downgraded vehicle cross-control zone operation system is further configured to perform the following steps:

[0095] In the case where the rail train is downgraded from an upgraded vehicle to the downgraded vehicle, the last authorized movement path of the rail train when it is an upgraded vehicle is obtained; wherein the authorized movement path is the automatic operation path of the upgraded vehicle; the control area passed by the automatic operation path is determined, and the control area where the end point of the automatic operation path is located is used as the handover control area, and the object controller of the control area where the end point of the automatic operation path is located is used as the handover object controller. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0096] In one or more embodiments, the controller for taking over the object is further used to execute: when the downgraded vehicle has stopped at a platform along the downgraded vehicle path, the restriction on the path except the current platform in the downgraded vehicle path is released. And / or, when the downgraded vehicle starts at the platform where it is stopped, the restriction on the path except the current platform in the downgraded vehicle path is restored; when the downgraded vehicle has left the platform along the downgraded vehicle path, the restriction on the path of the downgraded vehicle path is released. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0097] In one or more embodiments, the transfer object controller further includes boundary information of the transfer control area and the takeover control area; the transfer object controller sends a control transfer command to the takeover object controller, and specifically performs the following steps:

[0098] The handover object controller obtains the current downgraded vehicle path information; based on the current downgraded vehicle path information and the boundary line information, determines whether the end point of the current downgraded vehicle path is located at the boundary line; if the end point of the current downgraded vehicle path is located at the boundary line, sends the control handover command to the takeover object controller. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0099] In one or more embodiments, after the transfer object controller sends the control transfer command to the takeover object controller, the transfer object controller can also be used to execute: changing the state of the transfer object controller from the idle state to the transfer waiting state; after receiving the transfer consent information sent by the takeover object controller, sending a transfer confirmation information to the takeover object controller, and changing the state of the transfer object controller from the transfer waiting state to the idle state. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0100] In one or more embodiments, the handover object controller changes the state of the handover object controller from the handover waiting state to the idle state, and specifically performs the following steps:

[0101] The state of the transfer object controller is changed from the transfer waiting state to the timing waiting state; after the transfer object controller receives the transfer completion information, the state of the transfer object controller is changed from the timing waiting state to the idle state; or if the transfer object controller does not receive the transfer completion information within the second preset time, the state of the transfer object controller is changed from the timing waiting state to the idle state. For details, please refer to the relevant description in Example 1, which will not be repeated here.

[0102] The embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions can execute the downgraded vehicle cross-control zone operation method in any of the above method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0103] The embodiment of the present invention further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor (i.e., the onboard controller) of the rail train reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the rail train executes the cross-control area operation method of the downgraded vehicle of embodiment 1.

[0104] In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] In this application, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0106] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for operating a downgraded vehicle across control zones, characterized in that: The method comprises: The takeover object controller receives the control right transfer command sent by the handover object controller; wherein the takeover control area where the takeover object controller is located is the next control area of ​​the handover control area where the handover object controller is located along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; When the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary between the handover control area and the takeover control area, the control right transfer is completed based on the control right transfer command; The takeover object controller extends the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path; The method further comprises: When the downgraded vehicle has stopped at a platform along the downgraded vehicle path, the takeover object controller removes restrictions on the downgraded vehicle path except for the path where the current platform is located; When the downgraded vehicle starts at the station where it stops, the controller taking over the object restores the restrictions on the path of the downgraded vehicle except the path where the current station is located; When the downgraded vehicle has left the platform along the downgraded vehicle path, the takeover object controller removes the restriction on the path of the downgraded vehicle on the platform where the downgraded vehicle stops.

2. The method according to claim 1, characterized in that The takeover object controller also includes the boundary information of the handover control area and the takeover control area, and the control right handover command includes the current downgraded vehicle path information; when the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary of the handover control area and the takeover control area, the control right transfer is completed based on the control right handover command, including: The takeover object controller receives the current downgraded vehicle path information sent by the handover object controller; Based on the current downgraded vehicle path information and the boundary line information, determining whether the end point of the current downgraded vehicle path is located at the boundary line; In the case where the end point of the current downgraded vehicle path is located at the dividing line, the transfer of the authority to extend the downgraded vehicle path is completed based on the control transfer command.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: When the rail train is downgraded from an upgraded vehicle to the downgraded vehicle, obtaining the last authorized movement path of the rail train when it is an upgraded vehicle; wherein the authorized movement path is the automatic operation path of the upgraded vehicle; The control area passed by the automatic operation path is determined, the control area where the end point of the automatic operation path is located is used as the handover control area, and the object controller of the control area where the end point of the automatic operation path is located is used as the handover object controller.

4. A system for operating a downgraded vehicle across control zones, characterized in that: The system includes a handover control area and a corresponding handover object controller, a takeover control area and a corresponding takeover object controller; The takeover object controller receives the control right transfer command sent by the handover object controller; the takeover control area is the next control area of ​​the handover control area along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; When the takeover object controller determines that the end point of the downgraded vehicle path is located at the boundary between the handover control area and the takeover control area, the control right transfer is completed based on the control right transfer command; The takeover object controller extends the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path; When the downgraded vehicle has stopped at a platform along the downgraded vehicle path, the takeover object controller removes restrictions on the downgraded vehicle path except for the path where the current platform is located; When the downgraded vehicle starts at the station where it stops, the controller taking over the object restores the restrictions on the path of the downgraded vehicle except the path where the current station is located; When the downgraded vehicle has left the platform along the downgraded vehicle path, the takeover object controller removes the restriction on the path of the downgraded vehicle on the platform where the downgraded vehicle stops.

5. A method for operating a downgraded vehicle across control zones, characterized in that: The method comprises: The transfer object controller sends a control right transfer command to the takeover object controller; wherein the takeover control area where the takeover object controller is located is the next control area of ​​the transfer control area where the transfer object controller is located along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; Among them, the control transfer command is used to enable the takeover object controller to complete the transfer of control rights based on the control transfer command when determining that the end point of the downgraded vehicle path is located at the boundary between the transfer control area and the takeover control area, and extend the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path; when the downgraded vehicle has stopped at a platform along the downgraded vehicle path, the takeover object controller releases the restrictions on the path of the downgraded vehicle except for the current platform; when the downgraded vehicle starts at the platform where it is stopped, the takeover object controller restores the restrictions on the path of the downgraded vehicle except for the current platform; when the downgraded vehicle has left the platform along the downgraded vehicle path, the takeover object controller releases the restrictions on the path of the downgraded vehicle except for the current platform.

6. The method according to claim 5, characterized in that The transfer object controller also includes the boundary information of the transfer control area and the takeover control area; the transfer object controller sends a control transfer command to the takeover object controller, including: The transfer object controller obtains current downgraded vehicle path information; Based on the current downgraded vehicle path information and the boundary line information, determining whether the end point of the current downgraded vehicle path is located at the boundary line; When the end point of the current downgraded vehicle path is located at the dividing line, the control transfer command is sent to the takeover object controller.

7. A system for operating a downgraded vehicle across control zones, characterized in that: The system includes a handover control area and a corresponding handover object controller, a takeover control area and a corresponding takeover object controller; The transfer object controller sends a control right transfer command to the takeover object controller, the takeover control area is the next control area of ​​the transfer control area along the moving direction of the downgraded vehicle, and the control right indicates that the object controller has the authority to extend the path of the downgraded vehicle; Among them, the control transfer command is used to enable the takeover object controller to complete the transfer of control rights based on the control transfer command when determining that the end point of the downgraded vehicle path is located at the boundary between the transfer control area and the takeover control area, so as to extend the downgraded vehicle path based on the authority to extend the downgraded vehicle path, and the downgraded vehicle travels based on the extended downgraded vehicle path; when the downgraded vehicle has stopped at a platform along the downgraded vehicle path, the takeover object controller releases the restrictions on the path of the downgraded vehicle except for the current platform; when the downgraded vehicle starts at the platform where it is stopped, the takeover object controller restores the restrictions on the path of the downgraded vehicle except for the current platform; when the downgraded vehicle has left the platform along the downgraded vehicle path, the takeover object controller releases the restrictions on the path of the downgraded vehicle except for the current platform.

8. A computer-readable storage medium, characterized in that: It stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1-3 or any one of claims 5-6.

9. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the method described in any one of claims 1-3 or any one of claims 5-6 is implemented.

Images