Determination of train operation parameters, determination of braking parameters, control method, device

Abstract

This application relates to the field of intelligent driving technology. Specifically, it relates to a method for determining train operation parameters, a method for determining train braking parameters, a train control method, a train control system, a device, a computer device, and a storage medium. The method for determining train operation parameters is applied to the first train within a virtual formation. The method includes: obtaining in real time the spacing distance between the first train and the second train sent by a perception system; determining the second position of the second train at the current moment based on the first position of the first train at the current moment and the spacing distance at the current moment; and determining the second speed of the second train based on the change amount of the spacing distance between the current moment and the previous moment, and the first speed of the first train. This solves the technical problem of relatively low train operation safety at present, and achieves the technical effect of improving train operation safety.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology. Specifically, it relates to a method for determining train operation parameters, a method for determining train braking parameters, a train control method, a train control system, a device, a computer device, and a storage medium. Background Art

[0002] In the virtual formation train operation control system, the rear vehicle of the virtual formation generally adopts a soft wall collision safety model, and the parameters of this model include the speed of the front vehicle and the distance between the front vehicle and the rear vehicle. Therefore, the rear vehicle within the virtual formation needs to obtain the speed and position information of the front vehicle in real time to calculate the emergency braking trigger speed to ensure the stable and safe operation of the train.

[0003] Currently, the method of obtaining the speed and position information of the front vehicle is mainly based on vehicle-to-vehicle communication. However, the actual running speed of the train is very fast, and it is easy to have unstable communication or even communication interruption, which will directly lead to information lag and affect the safety of train operation.

[0004] Therefore, the current train operation safety is relatively low. Summary of the Invention

[0005] This application provides a method for determining train operation parameters, a method for determining train braking parameters, a train control method, a train control system, a device, a computer device, and a storage medium in the embodiments.

[0006] In the first aspect of the embodiments of this application, a method for determining train operation parameters is provided, which is applied to the first train within the virtual formation. Here, the first train refers to the train that is located behind the second train within the virtual formation and is adjacent to the second train. The method includes:

[0007] Obtain in real time the distance between the first train and the second train sent by the perception system;

[0008] Determine the second position of the second train at the current moment according to the first position of the first train at the current moment and the distance between the intervals at the current moment;

[0009] Determine the second speed of the second train according to the change amount of the distance between the intervals at the current moment and the previous moment, and the first speed of the first train.

[0010] In an optional embodiment of this application, determining the second speed of the second train according to the change amount of the distance between the intervals at the current moment and the previous moment, and the first speed of the first train includes:

[0011] Determine the speed difference between the first train and the second train at the current moment according to the change amount of the distance between the intervals at the current moment and the previous moment;

[0012] Determine the second speed of the second train based on the speed difference and the first speed of the first train.

[0013] In an alternative embodiment of the present application, trains within the virtual formation are all equipped with warning devices, which are used to generate warning signals when the trains encounter abnormalities.

[0014] In an alternative embodiment of the present application, the method for determining train operation parameters further includes:

[0015] Receive the warning signal of the abnormal train within the virtual formation; wherein, the abnormal train refers to a train within the virtual formation whose operation parameters exceed the preset normal operation parameter range;

[0016] Disconnect the virtual formation connection with the abnormal train.

[0017] In an alternative embodiment of the present application, the warning device is at least one of a lighting warning device, a sound warning device, an electromagnetic warning device, and a network warning device.

[0018] In an alternative embodiment of the present application, the method for determining train operation parameters further includes:

[0019] Receive the second position and the second speed sent by the second train;

[0020] Determine the distance interval between the first train and the second train based on the first position of the first train and the second position;

[0021] Determine the speed difference between the first train and the second train based on the second speed and the first speed of the first train.

[0022] In the second aspect of the embodiments of the present application, a method for determining train braking parameters is provided, which is applied to the first train within the virtual formation, where the first train refers to the train that is located behind the second train within the virtual formation and is adjacent to the second train. The method includes:

[0023] Determine the second position of the second train at the current moment and the second speed of the second train according to the method for determining train operation parameters as described in any one of the above;

[0024] Determine the braking trigger speed of the first train based on the distance interval, the second position, the second speed at the current moment, and the first speed of the first train.

[0025] In the third aspect of the embodiments of the present application, a method for controlling a train is provided, which is applied to the first train within the virtual formation, where the first train refers to the train that is located behind the second train within the virtual formation and is adjacent to the second train. The method includes:

[0026] Determine the braking trigger speed of the first train according to the above method for determining train braking parameters;

[0027] Based on the braking trigger speed, control the first train to perform a braking operation under preset braking conditions.

[0028] The fourth aspect of the embodiments of the present application provides a train control system, including:

[0029] A plurality of signal collectors are respectively arranged in different sections of the preset running tracks of each train in the virtual formation. The signal collectors are used to collect the running information of each train in the virtual formation; wherein, the running information at least includes: the current position of each train;

[0030] A controller is respectively connected to the plurality of signal collectors in a signal connection. The controller is used to calculate the interval distance between two adjacent trains according to the current positions of each train, and send the interval distance to the first train; wherein, the first train refers to the train located behind in the running direction among two adjacent trains.

[0031] The fifth aspect of the embodiments of the present application provides a device for determining train operation parameters, which is applied to the first train in the virtual formation. The first train refers to the train located behind the second train in the virtual formation and adjacent to the second train. The device includes:

[0032] An acquisition module is used to acquire in real time the interval distance between the first train and the second train sent by the perception system;

[0033] A first determination module is used to determine the second position of the second train at the current moment according to the first position of the first train at the current moment and the interval distance at the current moment;

[0034] A second determination module is used to determine the second speed of the second train according to the change amount of the interval distance between the current moment and the previous moment, and the first speed of the first train.

[0035] The sixth aspect of the embodiments of the present application provides a device for determining train braking parameters, which is applied to the first train in the virtual formation. The first train refers to the train located behind the second train in the virtual formation and adjacent to the second train. The device includes:

[0036] A third determination module is used to determine the second position of the second train at the current moment and the second speed of the second train according to the method for determining train operation parameters as described in any one of the above;

[0037] A fourth determination module is used to determine the braking trigger speed of the first train according to the interval distance, the second position, the second speed at the current moment, and the first speed of the first train.

[0038] The seventh aspect of the embodiments of the present application provides a train control device, which is applied to the first train within a virtual formation. Herein, the first train refers to the train that is located behind and adjacent to the second train within the virtual formation. The device includes:

[0039] A fifth determination module, configured to determine the braking trigger speed of the first train according to the above-mentioned train braking parameter determination method;

[0040] A control module, configured to control the first train to perform a braking operation under a preset braking condition based on the braking trigger speed.

[0041] The eighth aspect of the embodiments of the present application provides a computer device, including: a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of any one of the above methods are implemented.

[0042] The ninth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored. It is characterized in that when the computer program is executed by a processor, the steps of any one of the above methods are implemented.

[0043] The above-mentioned train operation parameter determination method obtains in real time the interval distance between the first train and the second train sent by the perception system, then determines the second position of the second train at the current moment according to the first position of the first train at the current moment and the interval distance at the current moment, and determines the second speed of the second train according to the change amount of the interval distance between the current moment and the previous moment, and the first speed of the first train. There is no need for information interaction between the first train and the second train, avoiding information lag caused by unstable or even interrupted communication in the traditional method. Only by the perception system of the third party sending the interval distance between the first train and the second train in real time can the second position and the second speed of the second train located in front of the first train be obtained through simple calculation, with higher reliability and stability, thus solving the technical problem of low train operation safety at present and achieving the technical effect of improving train operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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 to the present application. In the drawings:

[0045] Figure 1 is a schematic diagram of an application scenario of the train operation parameter determination method provided by an embodiment of the present application;

[0046] Figure 2 is a flowchart of the train operation parameter determination method provided by an embodiment of the present application;

[0047] Figure 3 Flow chart of a train operation parameter determination method provided by an embodiment of the present application;

[0048] Figure 4 Flow chart of a train operation parameter determination method provided by an embodiment of the present application;

[0049] Figure 5 Flow chart of a train operation parameter determination method provided by an embodiment of the present application;

[0050] Figure 6 Flow chart of a train braking parameter determination method provided by an embodiment of the present application;

[0051] Figure 7 Flow chart of a train control method provided by an embodiment of the present application;

[0052] Figure 8 Schematic diagram of a train control system and an application environment provided by an embodiment of the present application;

[0053] Figure 9 Schematic diagram of the structure of a train operation parameter determination device provided by an embodiment of the present application;

[0054] Figure 10 Schematic diagram of the structure of a train braking parameter determination device provided by an embodiment of the present application;

[0055] Figure 11 Schematic diagram of the structure of a train control device provided by an embodiment of the present application;

[0056] Figure 12 Schematic diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0057] In the process of implementing the present application, the inventors found that the current train operation safety is relatively low.

[0058] In view of the above problems, in the embodiments of the present application, a train operation parameter determination method, a train braking parameter determination method, a train control method, a train control system, a device, a computer device and a storage medium are provided to improve the reliability and safety of train operation.

[0059] The solutions in the embodiments of the present application can be implemented in various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript.

[0060] In order to make the technical solutions and advantages in the embodiments of the present application clearer and more understandable, the exemplary embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than an exhaustive list of all embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0061] The application environment of the train operation parameter determination method provided by the embodiments of the present application will be briefly described as follows:

[0062] The train operation parameter determination method provided by the embodiments of the present application is applied to a virtual formation train operation control system. Each train in the virtual formation train operation system forms a virtual formation. The virtual formation includes multiple trains, and a perception system for collecting and determining the speed of each train and the spacing distance between two adjacent trains. The perception system is composed of multiple signal collectors and a controller. Each signal collector is respectively arranged in different sections of the preset operation track of each train in the virtual formation. The signal collector is used to collect the operation information of each train in the virtual formation; the controller is respectively connected to the multiple signal collectors in a signal connection manner, and is used to calculate the spacing distance between two adjacent trains according to the current positions of the trains. Of course, other auxiliary systems or auxiliary devices such as network communication devices and safety braking systems may also be included in the virtual formation train operation control system, which will not be exhaustively listed here and can be specifically configured according to actual situations.

[0063] Please refer to Figure 1 , in the following embodiments, taking the first train in the above virtual formation train as the execution subject, and applying the train operation parameter determination method provided by the embodiments of the present application to the first train in the above virtual formation, an example will be given to illustrate the determination of the running speed and position information of the second train in the virtual formation. Among them, the second train is the leading train in the train operation route, and the first train refers to the train that is located behind the second train in the virtual formation and is adjacent to the second train, that is, the first train is the trailing train. The train operation parameter determination method provided by the embodiments of the present application includes the following steps 201-step 203, as Figure 2 shown:

[0064] Step 201, obtain the spacing distance between the first train and the second train sent by the perception system in real time.

[0065] The perception system sends the obtained spacing distance to the first train. It should be noted that each train within the virtual formation of this perception system is independent of each other, which can be understood as the communication medium between trains. The ways for this perception system to determine the spacing distance include but are not limited to the following two: The first way is to determine the spacing distance between the first train and the second train according to their real-time positions; The second way is that if the positions of the signal collectors in the perception system are fixed and the spacing distances between any two of them are equal, the spacing distance between the first train and the second train can be calculated through the number of signal collectors passed by the first train and the second train and this spacing distance; This is not an exhaustive list here and can be specifically set according to the actual situation, as long as the function of determining the spacing distance between the first train and the second train can be achieved.

[0066] Step 202: Determine the second position of the second train at the current moment according to the first position of the first train at the current moment and the spacing distance at the current moment.

[0067] During the running process of the train, its position will change at any time. The first train, as the main body, can determine its own position in real time through a GPS system (Global Positioning System) and so on, that is, obtain its own first position, and then determine the second position of the second train (as the leading train) at the current moment in real time through this first position and the spacing distance.

[0068] Step 203: Determine the second speed of the second train according to the change amount of the spacing distance between the current moment and the previous moment and the first speed of the first train.

[0069] The first train, as the main body, can determine its own speed without real-time interaction with other trains or devices during the running process, that is, obtain the first speed; The perception system sends the spacing distances between the first train and the second train at different moments to the first train in real time, and the first train can calculate the second speed of the second train through these three parameters.

[0070] The train operation parameter determination method provided by the embodiment of the present application obtains in real time the interval distance between the first train and the second train sent by the perception system, and then determines the second position of the second train at the current moment according to the first position of the first train at the current moment and the interval distance at the current moment, and determines the second speed of the second train according to the change amount of the interval distance between the current moment and the previous moment and the first speed of the first train. There is no need for information interaction between the first train and the second train, which avoids information lag caused by unstable or even interrupted communication in the traditional method. Only by the perception system of the third party sending in real time the interval distance between the first train and the second train can the second position and the second speed of the second train in front of the first train be obtained through simple calculation, with higher reliability and stability, thus solving the technical problem of low train operation safety at present and achieving the technical effect of improving train operation safety.

[0071] Please refer to Figure 3 In an optional embodiment of the present application, step 203 above, determining the second speed of the second train according to the change amount of the interval distance between the current moment and the previous moment and the first speed of the first train, includes the following steps 301 - step 302:

[0072] Step 301: Determine the speed difference between the first train and the second train at the current moment according to the change amount of the interval distance between the current moment and the previous moment.

[0073] Step 302: Determine the second speed of the second train according to the speed difference and the first speed of the first train.

[0074] The second speed of the second train can be calculated by the first train through the following formula (1):

[0075] Second speed = First speed + Speed difference (1)

[0076] The embodiment of the present application determines the speed difference between the first train and the second train at the current moment according to the change amount of the interval distance between the current moment and the previous moment, and then determines the second speed of the second train according to the speed difference and the first speed of the first train. The calculation method is simple, and the calculation efficiency of the second speed of the second train is higher, which can further improve the rate of determining train operation parameters in the embodiment of the present application, and further improve the reliability, stability and safety of train operation.

[0077] Please refer to Figure 4 In an optional embodiment of the present application, the above train operation parameter determination method further includes the following steps 401 - step 403:

[0078] Step 401: Receive the second position and the second speed sent by the second train.

[0079] Step 402: Determine the interval distance between the first train and the second train according to the first position and the second position of the first train.

[0080] Step 403: Determine the speed difference between the first train and the second train according to the second speed and the first speed of the first train.

[0081] The first train can calculate the speed difference between the first train and the second train through the following formula (2):

[0082] Speed difference = Second speed – First speed (2)

[0083] In the embodiment of the present application, while determining the second speed through the perception system, the second position and the second speed sent by the second train are also available at the same time, and the speed difference of the second train is calculated based on the second speed. This can facilitate the correction or calibration of the speed difference in the embodiment of the present application based on the speed difference obtained in the traditional manner, improve the accuracy and reliability of the second speed and the second position, and further improve the safety of train operation.

[0084] In an alternative embodiment of the present application, warning devices are arranged on the trains within the above virtual formation. The warning devices are used to generate warning signals when the trains have abnormalities.

[0085] The number of the warning devices can be one or more. If the number of the warning devices is one, it can be arranged on the roof or any one side of the two sides of the train; if the number of the warning devices is more than one, they can be arranged at any position of the train, as long as it is convenient for other trains to obtain the warning signal in time. In the embodiment of the present application, by arranging the warning devices, it is convenient for the trains to observe the generated warning signals in time and take corresponding measures in time, thereby improving the safety of train operation.

[0086] The triggering conditions for generating warning signals can be, for example, that the train has a fault or needs to withdraw from the virtual formation, etc. The embodiment of the present application does not make specific limitations and can be specifically set according to the actual situation, as long as the purpose of improving the reliability of information interaction between trains and the reliability and safety of train operation can be achieved based on the warning signals generated by the warning devices.

[0087] In an alternative embodiment of the present application, the above warning device is at least one of a light warning device, a sound warning device, an electromagnetic warning device, and a network warning device, as long as the purpose of warning can be achieved. Of course, multiple warning methods can be used simultaneously for warning, and the embodiment of the present application does not make specific limitations. Through this warning method, the intuitiveness is higher, and the safety of train operation can be further improved.

[0088] Please refer to Figure 5, in an optional embodiment of the present application, the above train operation parameter determination method further includes the following steps 501-502:

[0089] Step 501: Receive a warning signal from an abnormal train within the virtual formation.

[0090] Among them, an abnormal train refers to a train within the virtual formation whose operation parameters exceed the preset normal operation parameter range. For example, if the preset normal operation speed is at most 150 km / h, and the operation speed of a certain train within the virtual formation is 200 km / h, then it far exceeds the preset normal operation speed, and the train corresponding to the operation speed of 200 km / h is the abnormal train. This abnormal train can automatically trigger its own warning device to generate this warning signal.

[0091] Step 502: Disconnect the virtual formation connection with the abnormal train.

[0092] After receiving this warning signal, the first train can disconnect the connection with the abnormal train in the virtual formation. It should be noted that the embodiments of the present application take the first train as the execution subject for illustration. Similarly, once the first train is an abnormal train, the first train can also send a warning signal, and other trains can also disconnect the formation connection with the first train after receiving this warning signal.

[0093] After receiving the warning signal from an abnormal train within the virtual formation in the embodiments of the present application, the virtual formation connection with the abnormal train can be disconnected based on this warning signal, thereby maintaining the stability of each train within the virtual formation; at the same time, when each train has a fault or the like, it can also actively remind other trains to disconnect itself from the virtual formation based on this warning signal, with higher flexibility and reliability.

[0094] Please refer to Figure 6 , an embodiment of the present application provides a train braking parameter determination method, which is applied to the first train within the above virtual formation. Among them, the first train refers to the train located after the second train within the virtual formation and adjacent to the second train. This train braking parameter determination method includes the following steps 601-602:

[0095] Step 601: Determine the second position of the second train at the current moment and the second speed of the second train according to the train operation parameter determination method described above.

[0096] The determination method and corresponding beneficial effects of the second position and the second speed of the second train have been elaborated in detail in the above embodiments and will not be repeated here.

[0097] Step 602: Determine the braking trigger speed of the first train according to the interval distance, the second position, the second speed at the current moment, and the first speed of the first train.

[0098] The braking trigger speed of the first train can be calculated by the following formula (3):

[0099] (3)

[0100] In formula (3), the emergency braking speed of the first train and the emergency braking speed of the second train are a fixed constant, which can be specifically set according to the actual situation.

[0101] In the embodiment of the present application, the second position and the second speed of the second train are determined by the above method for determining train operation parameters. It is convenient for the first train, which is the following train, to calculate the braking trigger speed of the first train without directly communicating with the second train, the leading train. This can avoid information lag caused by unstable or even interrupted communication in the traditional method. In the embodiment of the present application, it only needs to send the distance between the first train and the second train to the first train based on the perception system, and then the braking trigger speed of the first train can be obtained more stably and reliably, thereby solving the technical problem of low train operation safety at present and achieving the technical effect of improving train operation safety.

[0102] Please refer to Figure 7 , an embodiment of the present application provides a train control method, which is applied to the first train in a virtual formation. Among them, the first train refers to the train that is located behind the second train in the virtual formation and is adjacent to the second train. The train control method includes the following steps 701-step 702:

[0103] Step 701: Determine the braking trigger speed of the first train according to the above method for determining train braking parameters;

[0104] The determination method and beneficial effects of the train braking parameter determination method have been elaborated in detail in the above embodiments and will not be repeated here.

[0105] Step 702: Control the first train to perform a braking operation under a preset braking condition based on the braking trigger speed.

[0106] The preset braking condition refers to the condition for triggering train braking. For example, the train running speed reaches 150 km / h, or the train running duration reaches 50 h, etc. Of course, this is only an example here and does not constitute a limitation on the specific content of the preset braking condition.

[0107] Based on the above train braking parameter determination method, the braking trigger speed is determined in the embodiment of the present application, and based on the braking trigger speed, the first train is controlled to perform a braking operation under preset braking conditions, which can avoid the information lag caused by unstable or even interrupted communication in the traditional method. In the embodiment of the present application, only the interval distance between the first train and the second train needs to be sent to the first train based on the perception system, and the braking trigger speed can be obtained more stably and reliably, thereby solving the technical problem of low train operation safety at present. The braking reliability and stability of the train are higher, and the technical effect of improving the train operation safety is achieved.

[0108] It should be understood that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0109] Please refer to Figure 8 , an embodiment of the present application provides a train control system 80, including a plurality of signal collectors 801 and a controller 802, wherein:

[0110] The plurality of signal collectors 801 are respectively arranged in different sections of the preset running tracks of each train in the virtual formation. The signal collector 801 is used to collect the running information of each train in the virtual formation; wherein, the running information at least includes: the current position of each train. The signal collector 801 can be an image collector, an infrared detector, etc., as long as it can collect the current position of each train, and the embodiment of the present application does not make specific limitations.

[0111] The controller 802 is respectively connected to the plurality of signal collectors 801 in signal. The controller 802 is used to calculate the interval distance between two adjacent trains according to the current position of each train, and send the interval distance to the first train; wherein, the first train refers to the train located behind in the running direction among two adjacent trains. The controller 802 can be an integrated control terminal, or can be composed of a plurality of control systems with different levels. Each control system is respectively configured to different control terminals to perform control functions of different levels. The embodiment of the present application does not make specific limitations and can be selected or set according to actual situations.

[0112] An embodiment of the present application provides a train control system, which includes a plurality of signal collectors and a controller. The plurality of signal collectors are respectively arranged in different sections of the preset running tracks of the trains in the virtual formation. The signal collectors are used to collect the running information of the trains in the virtual formation. The controller is respectively in signal connection with the plurality of signal collectors. The controller is used to calculate the interval distance between two adjacent trains according to the current positions of the trains, and send the interval distance to the first train. The controller can then obtain the second position and the second speed of the second train through simple calculations based on the interval distance, thereby determining the braking trigger speed, and can control the first train to perform a braking operation under the preset braking conditions based on the braking trigger speed. This can avoid the information lag caused by unstable or even interrupted communication in the traditional method, thus solving the technical problem of low train running safety at present. The train braking reliability and stability are higher, achieving the technical effect of improving train running safety.

[0113] Please refer to Figure 9 , an embodiment of the present application provides a device 900 for determining train operation parameters, which is applied to the first train in the virtual formation. Here, the first train refers to the train that is behind the second train in the virtual formation and is adjacent to the second train. The device 900 for determining train operation parameters at least includes an acquisition module 910, a first determination module 920, and a second determination module 930, where:

[0114] The acquisition module 910 is used to obtain in real time the interval distance between the first train and the second train sent by the perception system;

[0115] The first determination module 920 is used to determine the second position of the second train at the current moment according to the first position of the first train at the current moment and the interval distance at the current moment;

[0116] The second determination module 930 is used to determine the second speed of the second train according to the change amount of the interval distance between the current moment and the previous moment, and the first speed of the first train.

[0117] In an alternative embodiment of the present application, the second determination module 930 is specifically used to determine the speed difference between the first train and the second train at the current moment according to the change amount of the interval distance between the current moment and the previous moment; and determine the second speed of the second train according to the speed difference and the first speed of the first train.

[0118] In an alternative embodiment of the present application, the trains in the virtual formation are all equipped with warning devices, and the warning devices are used to generate warning signals when the trains have abnormalities.

[0119] In an alternative embodiment of the present application, the train operation parameter determination device 900 further includes an alarm module, which is configured to receive an alarm signal of an abnormal train within the virtual formation; wherein, the abnormal train refers to a train within the virtual formation whose operation parameters exceed the preset normal operation parameter range; and release the virtual formation connection with the abnormal train.

[0120] In an alternative embodiment of the present application, the alarm device is at least one of a light alarm, a sound alarm, an electromagnetic alarm, and a network alarm.

[0121] In an alternative embodiment of the present application, the second determination module 930 is specifically configured to receive the second position and the second speed sent by the second train; determine the distance interval between the first train and the second train according to the first position and the second position of the first train; and determine the speed difference between the first train and the second train according to the second speed and the first speed of the first train.

[0122] For the specific limitations of the above-mentioned train operation parameter determination device 900, reference may be made to the limitations of the train operation parameter determination method in the foregoing text, which will not be elaborated herein. Each module in the above-mentioned train operation parameter determination device 900 can be implemented in whole or in part by software, hardware, and their combination.

[0123] Please refer to Figure 10 , an embodiment of the present application provides a train braking parameter determination device 1000, which is applied to the first train within the virtual formation. Wherein, the first train refers to the train located behind the second train within the virtual formation and adjacent to the second train. The train braking parameter determination device 1000 at least includes a third determination module 1010 and a fourth determination module 1020, wherein:

[0124] The third determination module 1010 is configured to determine the second position of the second train at the current moment and the second speed of the second train according to the train operation parameter determination method as described in any one of the above.

[0125] The fourth determination module 1020 is configured to determine the braking trigger speed of the first train according to the distance interval, the second position, the second speed at the current moment, and the first speed of the first train.

[0126] For the specific limitations of the above-mentioned train braking parameter determination device 1000, reference may be made to the limitations of the train braking parameter determination method in the foregoing text, which will not be elaborated herein. Each module in the above-mentioned train braking parameter determination device 1000 can be implemented in whole or in part by software, hardware, and their combination.

[0127] Please refer to Figure 11, an embodiment of the present application provides a train control device 1100, which is applied to the first train within a virtual formation. Herein, the first train refers to the train that is located behind the second train within the virtual formation and is adjacent to the second train. The train control device 1100 at least includes a fifth determination module 1110 and a control module 1120, where:

[0128] The fifth determination module 1110 is configured to determine the braking trigger speed of the first train according to the above-mentioned train braking parameter determination method;

[0129] The control module 1120 is configured to control the first train to perform a braking operation under a preset braking condition based on the braking trigger speed.

[0130] For the specific limitations of the above-mentioned train control device 1100, reference can be made to the limitations on the train control method in the foregoing text, which will not be elaborated here. Each module in the above-mentioned train control device 1100 can be implemented in whole or in part through software, hardware, and their combination.

[0131] The above-mentioned modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0132] In an embodiment, a computer device is provided. The internal structure diagram of the computer device can be as Figure 12 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it is used to implement the above-mentioned method for determining train operation parameters, the method for determining train braking parameters, and the train control method. It includes: including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements any step in the above-mentioned method for determining train operation parameters, the method for determining train braking parameters, and the train control method.

[0133] In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it can implement any step in the above-mentioned method for determining train operation parameters, the method for determining train braking parameters, and the train control method.

[0134] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0135] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0136] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0137] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0138] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0139] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

Claims

1. A method for determining train operation parameters, characterized in that Applied to the first train within a virtual formation, where the first train refers to the train that is behind the second train within the virtual formation and adjacent to the second train, the method includes: Obtain in real time the spacing distance between the first train and the second train sent by the perception system; Determine the second position of the second train at the current moment based on the first position of the first train at the current moment and the spacing distance at the current moment; Determine the second speed of the second train based on the change in the spacing distance between the current moment and the previous moment, and the first speed of the first train; The determining the second speed of the second train based on the change in the spacing distance between the current moment and the previous moment, and the first speed of the first train includes: Determine the speed difference between the first train and the second train at the current moment based on the change in the spacing distance between the current moment and the previous moment; Determine the second speed of the second train based on the speed difference and the first speed of the first train; Wherein, during the running process of the train, the position will change at any time. The first train, as the main body, determines its own position in real time through the positioning system as its first position; the first train, as the main body, can determine its own speed during the running process without real-time interaction with other trains or devices to obtain the first speed.

2. The method for determining train operation parameters according to claim 1, wherein The trains within the virtual formation are all equipped with warning devices, and the warning devices are used to generate warning signals when the trains have abnormalities.

3. The method for determining train operation parameters according to claim 2, wherein The method further includes: Receive the warning signal of the abnormal train within the virtual formation; wherein, the abnormal train refers to the train within the virtual formation whose operating parameters exceed the preset normal operating parameter range; Disconnect the virtual formation connection with the abnormal train.

4. The method for determining train operation parameters according to claim 2, wherein The warning device is at least one of a light warning device, a sound warning device, an electromagnetic warning device, and a network warning device.

5. The method for determining train operation parameters according to claim 1, characterized in that The method further includes: Receive the second position and the second speed sent by the second train; Determine the spacing distance between the first train and the second train based on the first position of the first train and the second position; Determine the speed difference between the first train and the second train based on the second speed and the first speed of the first train.

6. A method for determining train braking parameters, characterized in that, Applied to the first train within a virtual formation, where the first train refers to the train that is behind the second train within the virtual formation and adjacent to the second train, the method includes: Determine the second position of the second train at the current moment and the second speed of the second train according to the train operation parameter determination method according to any one of claims 1-5; Determine the braking trigger speed of the first train based on the spacing distance, the second position, the second speed at the current moment, and the first speed of the first train.

7. A train control method, characterized in that, Applied to the first train within a virtual formation, where the first train refers to the train that is behind the second train within the virtual formation and adjacent to the second train, the method includes: Determine the braking trigger speed of the first train according to the train braking parameter determination method according to claim 6; Control the first train to perform a braking operation under preset braking conditions based on the braking trigger speed.

8. A device for determining train operation parameters, characterized in that Applied to the first train within a virtual formation, where the first train refers to the train that is behind and adjacent to the second train within the virtual formation, the device includes: An acquisition module, configured to acquire in real time the distance between the first train and the second train sent by the perception system; A first determination module, configured to determine the second position of the second train at the current moment according to the first position of the first train at the current moment and the distance between the two trains at the current moment; A second determination module, configured to determine the second speed of the second train according to the change in the distance between the two trains from the current moment to the previous moment and the first speed of the first train; The step of determining the second speed of the second train according to the change in the distance between the two trains from the current moment to the previous moment and the first speed of the first train includes: Determine the speed difference between the first train and the second train at the current moment according to the change in the distance between the two trains from the current moment to the previous moment; Determine the second speed of the second train according to the speed difference and the first speed of the first train; During the operation of the train, its position will change at any time. The first train, as the main body, determines its own position in real time through the positioning system as its first position. As the main body, the first train can determine its own speed during operation without real-time interaction with other trains or devices, and obtain the first speed.

9. A device for determining train braking parameters, characterized in that, Applied to the first train within a virtual formation, where the first train refers to the train that is behind and adjacent to the second train within the virtual formation, the device includes: A third determination module, configured to determine the second position of the second train at the current moment and the second speed of the second train according to the train operation parameter determination method according to any one of claims 1-5; A fourth determination module, configured to determine the braking trigger speed of the first train according to the distance between the two trains at the current moment, the second position, the second speed, and the first speed of the first train; 10. A train control device, characterized in that, Applied to the first train within a virtual formation, where the first train refers to the train that is behind and adjacent to the second train within the virtual formation, the device includes: A fifth determination module, configured to determine the braking trigger speed of the first train according to the train braking parameter determination method according to claim 6; A control module, configured to control the first train to perform a braking operation under preset braking conditions based on the braking trigger speed.

11. A computer device, comprising: Comprising a memory and a processor, the memory stores a computer program, characterized in that when the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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