Train position determination system and method for cooperative vehicle infrastructure warning

Abstract

The application provides a train position determination system and method for vehicle-road cooperation warning, belongs to the field of railway communication, and relates to the following technical scheme: a locomotive comprehensive wireless communication device broadcasts train approaching early warning information and sends train number checking information to a vehicle-road cooperation warning platform; a vehicle-road cooperation warning ground device is used for receiving the train approaching early warning information, extracting locomotive heartbeat information from the train approaching early warning information, and transmitting the locomotive heartbeat information to the vehicle-road cooperation warning platform through a transmission network, wherein the locomotive heartbeat information comprises locomotive attribute information and locomotive position information; the vehicle-road cooperation warning platform determines the train position according to the train number checking information and the locomotive heartbeat information. The train number checking information and the locomotive heartbeat information are uploaded to the vehicle-road cooperation warning platform through the locomotive comprehensive wireless communication device and the vehicle-road cooperation warning ground device to determine the train position, a new positioning device does not need to be constructed on the train, cost is reduced, and operability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of railway communication technology, in particular to a train position determination system and method for cooperative train and track warning. BACKGROUND

[0002] With the continuous increase of railway train speed and the increasing density of train operation, not only the high-speed development of social economy is promoted, but also higher requirements for the monitoring of the operation environment along the railway are put forward. In this regard, on the one hand, a geological disaster monitoring system, a fence (boundary) intrusion alarm system, a limit intrusion alarm system and a high-speed train operation environment safety monitoring platform need to be built, and various types of disaster monitoring alarm information need to be integrated, so as to establish a unified command, scientific monitoring and coordinated and orderly cooperative train and track warning system, and to improve the level of railway train safety protection. On the other hand, when a line alarm occurs, the alarm information needs to be accurately transmitted to the relevant running train. Therefore, the position of the running train needs to be accurately determined.

[0003] In the prior art, the position information is obtained through the track circuit of the front end of the train control system, the transponder, the TDCS (railway dispatching command information management system) and the TDMS (transportation dispatching management system) of the rear end, and the cooperative train and track warning system cannot obtain the position information from the train control system. If a satellite positioning device or other position acquisition device is installed on the train, and the position information is transmitted to the cooperative train and track warning system through a wireless transmission system, a high cost will be generated, and the operability is poor. SUMMARY

[0004] The present application provides a train position determination system and method for cooperative train and track warning, which solves the defects of high cost and poor operability in the prior art that a satellite positioning device or other position acquisition device is installed on the train, and the position information is transmitted to the cooperative train and track warning system through a wireless transmission system.

[0005] The present application provides a train position determination system for cooperative train and track warning, comprising a locomotive comprehensive wireless communication device, at least one cooperative train and track warning ground device and a cooperative train and track warning platform.

[0006] The locomotive comprehensive wireless communication device is installed on the running train, and is used for broadcasting train approaching warning information and sending train number checking information to the cooperative train and track warning platform.

[0007] The cooperative train and track warning ground device is arranged along the train line, and is used for receiving the train approaching warning information, extracting locomotive heartbeat information from the train approaching warning information, and transmitting the locomotive heartbeat information to the cooperative train and track warning platform through a transmission network, wherein the locomotive heartbeat information comprises locomotive attribute information and locomotive position information.

[0008] The train-road cooperation warning platform is configured to determine the train position according to the train number verification information and the locomotive heartbeat information.

[0009] According to the train-road cooperation warning system, the locomotive comprehensive wireless communication device comprises a first service processing unit and a second service processing unit.

[0010] The first service processing unit is configured to determine train approaching early warning information according to train position information, train state information and train positioning information, and broadcast the train approaching early warning information.

[0011] The second service processing unit is configured to acquire alarm information transmitted by the train-road cooperation warning platform, and display and broadcast the alarm information.

[0012] According to the train-road cooperation warning system, the locomotive attribute information at least comprises a locomotive number, a train number and a speed, the locomotive position information at least comprises a line section name, a kilometer marker and longitude and latitude, and the alarm information at least comprises a dangerous situation alarm time, a dangerous situation category, a dangerous situation occurrence location and a dangerous situation occurrence location kilometer marker.

[0013] According to the train-road cooperation warning system, the determination of the train position according to the train number verification information and the locomotive heartbeat information comprises:

[0014] The first locomotive position information of a target train is extracted from the train number verification information.

[0015] The second locomotive position information of the target train is extracted from at least one of the locomotive heartbeat information.

[0016] The locomotive running direction is determined according to the locomotive attribute information.

[0017] The estimated position of the target train is obtained according to the locomotive running direction.

[0018] The first locomotive position information and the second locomotive position information are screened according to the estimated position, and the position of the target train is determined.

[0019] According to the train-road cooperation warning system, the train-road cooperation warning platform is further configured to determine the distance between the running train and a target location according to the train position.

[0020] The determination of the distance between the running train and the target location according to the train position comprises:

[0021] If the train position corresponding to the running train only contains longitude and latitude information, the longitude and latitude information is fitted into first kilometer marker information;

[0022] Based on the first kilometer marker information and second kilometer marker information corresponding to the target location determined in advance, the distance between the running train and the target location is determined.

[0023] According to the train position determination system for vehicle-road cooperative warning provided by the application, the longitude and latitude information is fitted into first kilometer marker information, which comprises:

[0024] Based on the preset distance interval, the longitude and latitude corresponding to the kilometer marker of each train line are collected to obtain a line database, and the line database is used to represent the corresponding relationship between the kilometer marker and the longitude and latitude;

[0025] According to the line database, the target train line corresponding to the longitude and latitude information is determined;

[0026] According to the distance between the longitude and latitude corresponding to the target train line and the longitude and latitude information, the kilometer marker corresponding to the longitude and latitude information is determined to complete the fitting.

[0027] According to the train position determination system for vehicle-road cooperative warning provided by the application, the vehicle-road cooperative warning ground equipment comprises a sky feed unit, a receiving unit, a control unit, a vehicle-road cooperative warning platform interface unit and a power supply unit;

[0028] The receiving unit is used to acquire the train proximity warning information through the sky feed unit, decode the train proximity warning information, and send the decoded train proximity warning information to the control unit;

[0029] The control unit is used to extract the locomotive heartbeat information from the decoded train proximity warning information;

[0030] The vehicle-road cooperative warning platform interface unit is used to upload the locomotive heartbeat information through the railway intranet after registration;

[0031] The power supply unit is used to supply power to the receiving unit, the control unit and the vehicle-road cooperative warning platform interface unit.

[0032] According to the train position determination system for vehicle-road cooperative warning provided by the application, the type of the power supply unit and the installation height of the sky feed unit are determined based on the installation location of the vehicle-road cooperative warning ground equipment, and the installation location and installation interval of the vehicle-road cooperative warning ground equipment are determined based on the installation environment.

[0033] The train position determination system for vehicle-road cooperative warning provided by the application broadcasts the train approaching early warning information, and comprises the following steps of:

[0034] The train approaching early warning information is broadcasted according to a preset running distance interval or a preset running time interval.

[0035] The application further provides a train position determination method for vehicle-road cooperative warning, comprising the following steps of:

[0036] The train approaching early warning information is determined based on a locomotive comprehensive wireless communication device on a running train, the train approaching early warning information is broadcasted, and train number checking information is sent to the vehicle-road cooperative warning platform;

[0037] The train approaching early warning information is received based on vehicle-road cooperative warning ground equipment along a train line, locomotive heartbeat information is extracted from the train approaching early warning information, and the locomotive heartbeat information is transmitted to the vehicle-road cooperative warning platform through a transmission network, wherein the locomotive heartbeat information comprises locomotive attribute information and locomotive position information.

[0038] The vehicle-road cooperative warning platform determines the train position according to the train number checking information and the locomotive heartbeat information.

[0039] The train position determination system and method for vehicle-road cooperative warning provided by the application upload train number checking information and locomotive heartbeat information to the vehicle-road cooperative warning platform through the locomotive comprehensive wireless communication device and the vehicle-road cooperative warning ground equipment to determine the train position, without the need to build a new positioning device on the train, thereby reducing the cost and improving the operability. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0041] Figure 1 is the principle block diagram of the train position determination system for vehicle-road cooperative warning provided by the application;

[0042] Figure 2 is the principle block diagram of the locomotive comprehensive wireless communication device provided by the application;

[0043] Figure 3 is the flowchart of determining the train position provided by the application;

[0044] Figure 4A flowchart of a process for determining the distance between a running train and a target location is provided by the present application.

[0045] Figure 5 A flowchart of a process for determining the distance between a running train and a target location is provided by the present application. Figure 4 A flowchart of a process for determining the distance between a running train and a target location is provided by the present application.

[0046] Figure 6 A flowchart of a process for determining the distance between a running train and a target location is provided by the present application.

[0047] Figure 7 A flowchart of a process for determining the distance between a running train and a target location is provided by the present application.

[0048] Figure 8 A flowchart of a process for determining the distance between a running train and a target location is provided by the present application.

[0049] Reference signs:

[0050] 1-locomotive integrated wireless communication device, 110-first service processing unit, 120-second service processing unit, 2-car-road cooperation alarm ground equipment, 210-sky feed unit, 220-receiving unit, 230-control unit, 240-car-road cooperation alarm platform interface unit, 250-power supply unit, 260-alarm unit, 3-car-road cooperation alarm platform. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0052] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0053] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "connected", "connected to", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection, can be mechanical connection, can also be electrical connection, can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0054] In the embodiments of the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0055] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0056] Figure 1 is one of the principle diagrams of the train position determination system for vehicle-road cooperative warning provided by the present application, as shown in Figure 1 The present application provides a train position determination system for vehicle-road cooperative warning, which comprises a locomotive comprehensive wireless communication device 1, at least one vehicle-road cooperative warning ground device 2 and a vehicle-road cooperative warning platform 3.

[0057] The locomotive comprehensive wireless communication device 1 is installed on a running train, and is used to broadcast train approaching warning information and send train number checking information to the vehicle-road cooperative warning platform.

[0058] The train-road cooperation alarm ground device 2 is arranged along a train line, is used for receiving the train approaching early warning information, extracting the locomotive heartbeat information from the train approaching early warning information, and transmitting the locomotive heartbeat information to the train-road cooperation alarm platform 3 through a transmission network, wherein the locomotive heartbeat information includes locomotive attribute information and locomotive position information.

[0059] The train-road cooperation alarm platform 3 is used for the train number checking information and the locomotive heartbeat information to determine the train position.

[0060] Optionally, the train number checking information includes the basic information such as the locomotive number, the train number and the running speed of the running train, and also includes the position information such as the kilometer marker, the longitude and latitude, the route number, the line code, the cell ID and the position ID.

[0061] Specifically, the locomotive comprehensive wireless communication device 1 is installed on the running train, is the existing equipment in the existing railway equipment system, and obtains the position information such as the running section and the kilometer marker of the train running, the state information such as the running locomotive number, the train number and the speed from the train running monitoring device through the TAX box device.

[0062] The TAX box provides information source for the wireless train number checking system, and periodically transmits the train number information to the locomotive data acquisition encoder through the RS-485 interface.

[0063] Optionally, the train running monitoring device can be the LKJ-2000 type train running monitoring recording device, and the basic component unit is a main box and two displays. The speed information comes from the photoelectric speed sensor, the locomotive signal information comes from the general locomotive signal, the pressure monitoring detects the pressure of the locomotive brake cylinder and the pressure of the equalizing air cylinder in addition to the pressure of the train pipe, the pressure sensor can adopt the TQG14 type locomotive pressure transmitter, and the pointer type speed indicator can adopt the ZL type or EGZ3 / 8 type double-needle speedometer.

[0064] Specifically, the locomotive comprehensive wireless communication device 1 is installed with the LBJ (train protection alarm device), the power supply interface, the antenna interface, the TAX box / CIR data interface and the maintenance data interface of the functional unit of the LBJ are connected to the corresponding interfaces of the CIR B subrack, and the LBJ device sends the information including the train number, the locomotive number, the kilometer marker, the longitude and latitude and the like through the wireless mode once every 200 meters of the train running.

[0065] It can be understood that the present application uploads train number checking information and locomotive heartbeat information to the train-road cooperative alarm platform 3 through the locomotive comprehensive wireless communication device 1 and the train-road cooperative alarm ground device 2 respectively to determine the train position, without the need to build a new positioning device on the train, thereby reducing the cost and improving the operability. The train-road cooperative alarm ground device 2 is a new device, which borrows the existing network and the train proximity warning information of the vehicle-mounted broadcast, without the need to install a new positioning device on the train and deploy a network transmission channel on the ground, thereby greatly reducing the equipment cost. In addition, the train-road cooperative alarm ground device 2 uses the existing railway network, and has a high safety factor.

[0066] Figure 2 The present application provides a principle block diagram of the locomotive comprehensive wireless communication device, as shown in Figure 2 On the basis of the above embodiment, as an optional embodiment, the locomotive comprehensive wireless communication device 1 comprises a first service processing unit 110 and a second service processing unit 120.

[0067] The first service processing unit 110 is used for determining the train proximity warning information according to the train position information, the train state information and the train positioning information, and broadcasting the train proximity warning information; the train position information comprises position information such as a running section and a kilometer marker of the train, which is obtained from a train operation monitoring device based on a TAX box device; the train state information comprises state information such as a running locomotive number, a train number and a speed, which is obtained from the train operation monitoring device based on the TAX box device; and the train positioning information comprises latitude and longitude information of the train, which is obtained from a satellite positioning unit.

[0068] The second service processing unit 120 is used for obtaining alarm information transmitted by the train-road cooperative alarm platform 3, and displaying and broadcasting the alarm information.

[0069] The locomotive attribute information at least comprises a locomotive number, a train number and a speed, the locomotive position information at least comprises a line section name, a kilometer marker and latitude and longitude, and the alarm information at least comprises a dangerous situation alarm time, a dangerous situation category, a dangerous situation occurrence location and a dangerous situation occurrence location kilometer marker.

[0070] Specifically, the first service processing unit 110 is a function of the existing locomotive comprehensive wireless communication device 1, and the second service processing unit 120 is a train-road cooperative alarm program function added to the locomotive comprehensive wireless communication device 1, which mainly realizes registration to the train-road cooperative alarm platform 3, receives alarm pictures and data sent by the train-road cooperative alarm platform 3, and sends a sound and light alarm prompt function.

[0071] The locomotive comprehensive wireless communication device 1, referred to as CIR, is a railway special communication device. The CIR device is an upgraded product of a traditional wireless train dispatching radio station, is a necessary device for ensuring train operation safety, and is a comprehensive platform for realizing train and track data and voice transmission.

[0072] The locomotive comprehensive wireless communication device 1 in the application has the following functions: sending registration information to a train and track cooperative alarm platform 3, and the train and track system alarm platform obtaining information of a locomotive related to line operation; sending locomotive heartbeat information to the train and track cooperative alarm platform 3, including a locomotive number, a train number, a latitude and longitude, a kilometer marker and a line name; receiving alarm information of the train and track cooperative alarm platform 3 through a GSM-R network, and being capable of performing interface display and voice broadcast on dangerous alarm time, dangerous category, dangerous occurrence location and dangerous occurrence location kilometer marker; receiving alarm pictures of the train and track cooperative alarm platform 3 through the GSM-R network, and being capable of displaying the received alarm pictures; receiving alarm information sent by a train and track cooperative alarm ground device 2 through a radio station broadcast, and being capable of performing interface display and voice broadcast on dangerous alarm time, dangerous category, dangerous occurrence location and dangerous occurrence location kilometer marker.

[0073] It can be understood that, by arranging the first service processing unit 110 and the second service processing unit 120, the locomotive comprehensive wireless communication device 1 has the alarm function, realizes train and track cooperative alarm, does not need to increase new devices, and reduces the cost.

[0074] Figure 3 is a flowchart for determining the position of a train provided by the application; as shown in Figure 3 According to the train number checking information and the locomotive heartbeat information, the position of the train is determined, including:

[0075] S310, first locomotive position information of a target train is extracted from the train number checking information;

[0076] S320, second locomotive position information of the target train is extracted from at least one of the locomotive heartbeat information;

[0077] S330, according to the locomotive attribute information, the running direction of the locomotive is determined;

[0078] S340, according to the running direction of the locomotive, the estimated position of the target train is obtained;

[0079] S350, according to the estimated position, the first locomotive position information and the second locomotive position information are screened to determine the position of the target train.

[0080] Specifically, to ensure reliability, the vehicle-road cooperation alarm platform redundantly receives position information through two channels of train number checking information and vehicle-road cooperation alarm ground equipment, and the train proximity warning information sent by the locomotive can be received by multiple vehicle-road cooperation alarm ground equipment, and the multiple vehicle-road cooperation alarm ground equipment all report position information to the cooperative alarm platform, and due to the influence of transmission path and network, these data arrive in succession, which can cause front and rear disturbance of the locomotive position. The cooperative alarm platform calculates the running direction according to the current position and running speed of the locomotive, estimates the position of the train according to the time, filters out obviously unreasonable position information caused by network delay and the like, such as filtering out the backward position data not in line with the running direction of the train according to the principle that the train cannot reverse, determining the accurate train position, and filtering out the front and rear disturbance of the train position.

[0081] It can be understood that the vehicle-road cooperation alarm platform 3 obtains train position information through two channels and finally determines the train position, thereby improving the accuracy of position determination.

[0082] Figure 4 is a flowchart for determining the distance between the running train and the target site provided by the application, as shown in Figure 4 On the basis of the above embodiment, as an optional embodiment, the vehicle-road cooperation alarm platform is further used to determine the distance between the running train and the target site according to the train position.

[0083] The distance between the running train and the target site is determined according to the train position, including:

[0084] S410, if the train position corresponding to the running train only contains latitude and longitude information, fitting the latitude and longitude information into first kilometer marker information;

[0085] S420, determining the distance between the running train and the target site based on the first kilometer marker information and the second kilometer marker information corresponding to the target site determined in advance.

[0086] Specifically, when calculating the distance between the running train and the target site, kilometer marker and latitude and longitude calculation can be used. Because the straight-line distance between the target site and the running train is calculated by using latitude and longitude, and the railway line is difficult to be a straight line due to environmental constraints during construction, so the distance calculated by using latitude and longitude is generally inaccurate, and the kilometer marker is generally used during calculation, and if only the latitude and longitude position, the latitude and longitude is generally fitted into the kilometer marker for calculation, thereby improving the accuracy of distance calculation.

[0087] Optionally, the target site can be a danger occurrence site, and the position of the target site can be represented by the kilometer marker of the danger occurrence site.

[0088] It can be understood that the present application provides a technical solution for calculating the distance between a running train and a target location, which can improve the accuracy of distance calculation by fitting the longitude and latitude information into kilometer markers.

[0089] Figure 5 The present application provides Figure 4 The flowchart of step S420 in the present application is shown in the following figure. Figure 5 As an optional embodiment based on the above embodiment,

[0090] The fitting of the longitude and latitude information into first kilometer marker information comprises:

[0091] S510, collecting the longitude and latitude corresponding to the kilometer markers of each train line based on a preset distance interval to obtain a line database, which is used to represent the corresponding relationship between kilometer markers and longitude and latitude;

[0092] Optionally, the longitude and latitude of the points corresponding to the kilometer markers can be collected at intervals of a certain distance d1 (usually 100 meters) along the railway line to obtain a database of the corresponding relationship between kilometer markers and longitude and latitude, and one data set corresponds to one railway line, and multiple data sets of multiple lines are merged into one large line database, which serves as a basic data set for determining the position of the train.

[0093] S520, determining the target train line corresponding to the longitude and latitude information according to the line database;

[0094] Optionally, the determination of the target train line includes two cases:

[0095] a, initial calculation. The longitude and latitude to be fitted are matched and filtered with the longitude and latitude in the basic data set, and the similar longitude and latitude are matched out, and the straight-line distance d2 is calculated with these similar longitude and latitude, and the line corresponding to the longitude and latitude with the shortest distance (and meeting d2 less than 200 meters) is the train line corresponding to the longitude and latitude to be fitted, i.e. the target train line.

[0096] b, re-calculation. If the train data has been calculated before, it is only necessary to check whether there is a longitude and latitude meeting d2 less than 200 meters between the longitude and latitude to be fitted and the original line data set, if yes, it is considered that the train is running on the original line, otherwise, it is calculated according to step a.

[0097] S530, determining the kilometer marker corresponding to the longitude and latitude information according to the distance between the longitude and latitude corresponding to the target train line and the longitude and latitude information to complete the fitting.

[0098] Optionally, a straight line distance between the to-be-fitted longitude and latitude and the longitude and latitude corresponding to the target train line is calculated, the minimum distance d3 and the corresponding longitude and latitude A and the second minimum distance d4 and the corresponding longitude and latitude B are found out, and it is determined whether A and B are adjacent longitude and latitude, if A and B are adjacent longitude and latitude, the kilometer marker is:

[0099]

[0100] Wherein, Ba is the kilometer marker of point A, and Bb is the kilometer marker of point B. If A and B are not adjacent longitude and latitude, the kilometer marker of point A is taken as the kilometer marker of the to-be-fitted longitude and latitude, that is, the first kilometer marker information.

[0101] It can be understood that the present application provides a technical solution of fitting longitude and latitude information into a kilometer marker, and the accuracy of distance calculation can be improved by fitting longitude and latitude information into a kilometer marker.

[0102] On the basis of the above-mentioned embodiments, as an optional embodiment, the vehicle-road cooperation alarm ground equipment 2 comprises a sky feed unit 210, a receiving unit 220, a control unit 230 and a vehicle-road cooperation alarm platform interface unit 240.

[0103] The receiving unit 220 is configured to acquire the train proximity warning information through the sky feed unit 210, decode the train proximity warning information, and send the decoded train proximity warning information to the control unit 230.

[0104] The control unit 230 is configured to extract the locomotive heartbeat information from the decoded train proximity warning information.

[0105] The vehicle-road cooperation alarm platform interface unit 240 uploads the locomotive heartbeat information based on a railway intranet.

[0106] Optionally, the receiving unit 220 is a POCSAG code receiving unit 220, and the POCSAG code is a format of train data transmission. The receiving unit 220 receives the POCSAG information broadcast by the locomotive comprehensive wireless communication device 1, and transmits the received information to the control unit 230. The control unit 230 extracts train number, locomotive number, running speed, kilometer marker, longitude and latitude and other information, controls the vehicle-road cooperation alarm platform 3 interface unit 240, and transmits the information to the vehicle-road cooperation alarm platform 3 through a transmission network, so as to obtain the position of the running train. The transmission network can be a wireless transmission network or a network of an existing safety monitoring platform.

[0107] Figure 6 is a working process schematic diagram of the vehicle-road cooperation alarm ground equipment provided by the present application, like Figure 6As shown, optionally, the working process of the vehicle-road cooperation alarm ground device 2 includes judging whether the vehicle-road cooperation alarm ground device 2 has been registered in the vehicle-road cooperation alarm platform 3, if yes, judging whether the train approaching early warning information is received, if yes, uploading the train position information and the train state information through the vehicle-road cooperation alarm platform 3 interface unit 240.

[0108] It can be understood that the vehicle-road cooperation alarm ground device 2 sends the train approaching early warning information received to the vehicle-road cooperation alarm platform 3 after extracting the train position information and the train state information and other information. The present application utilizes the existing device to transmit the train position information, without the need to set a new device, thereby reducing the cost.

[0109] On the basis of the above embodiment, as an optional embodiment, the vehicle-road cooperation alarm ground device 2 further includes a power supply unit 250, and the power supply unit 250 is used for supplying power to the receiving unit 220, the control unit 230 and the vehicle-road cooperation alarm platform interface unit 240.

[0110] Specifically, the power supply unit 250 can adopt the power supply system of the safety monitoring platform device or the solar power supply system according to the conditions of the installation site.

[0111] It can be understood that the power supply unit 250 provided in the vehicle-road cooperation alarm ground device 2 can be used in an emergency in an unexpected situation, thereby improving the safety.

[0112] Figure 7 The present application provides a principle block diagram of the vehicle-road cooperation alarm ground device, as shown in Figure 7 As shown, optionally, the vehicle-road cooperation alarm ground device further includes an alarm unit 260, which can receive the train approaching early warning information sent by the train and send the information to the vehicle-road cooperation alarm platform through the railway internal network, so as to realize the determination of the train position by the vehicle-road cooperation alarm platform; on the other hand, the alarm information sent by the vehicle-road cooperation alarm platform is pushed to the CIR approaching the locomotive through the alarm unit.

[0113] The functions of the vehicle-road cooperation alarm ground device include receiving the approaching early warning information sent by the CIR through the early warning receiving unit, obtaining the train number, the locomotive number, the kilometer marker, the longitude and latitude and other contents, and sending the information to the vehicle-road cooperation alarm platform through the internal network; the alarm information of the vehicle-road cooperation alarm platform is received from the railway internal network through the network unit, and the radio alarm broadcast is sent to the vehicle-mounted CIR; the vehicle-road cooperation alarm ground device has the function of sending the registration information and the state information to the vehicle-road cooperation alarm platform.

[0114] Optionally, the performance of the vehicle-road cooperation alarm ground device at least includes that the IP protection level is IP65, the transmitting power of the antenna feeder unit is 5W, and the antenna standing wave ratio is less than 1.5.

[0115] The vehicle-road cooperative warning ground device mainly receives the locomotive approaching information sent by the vehicle broadcast and sends warning information. The principle is to cover the preset kilometer along the line, and at the same time, the actual geographical environment on site needs to be combined to test the field strength, and the optimal deployment is carried out according to the on-site field strength coverage. For weak field sections, increase the ground equipment. For example, after using optical fiber to access the intranet along the line, the test line is 42 kilometers long, 15 sets of vehicle-road cooperative warning ground equipment are used, and the existing transmission and power supply resources are used for transmission and power supply, which reduces the cost and improves the operability.

[0116] On the basis of the above embodiment, as an optional embodiment, the type of the power supply unit 250 and the installation height of the antenna feeder unit 210 are determined based on the installation site of the vehicle-road cooperative warning ground device 2.

[0117] Optionally, the antenna feeder unit 210 is installed at a height of 3-15 meters according to the topographical environment of the installation site.

[0118] It can be understood that the type of the power supply unit 250 and the installation height of the antenna feeder unit 210 are determined based on the installation site of the vehicle-road cooperative warning ground device 2, which has high flexibility.

[0119] On the basis of the above embodiment, as an optional embodiment, the installation site and installation interval of the vehicle-road cooperative warning ground device 2 are determined based on the installation environment.

[0120] Optionally, the vehicle-road system warning ground device is arranged at an interval of 5-10 kilometers in a plain environment, at an interval of 3-5 kilometers in a mountainous environment, at a tunnel entrance of a long and large tunnel, and at an installation interval of 2-3 kilometers in a tunnel.

[0121] It can be understood that the installation site and installation interval of the vehicle-road cooperative warning ground device 2 are determined based on the installation environment, which has high flexibility.

[0122] On the basis of the above embodiment, as an optional embodiment, the broadcasting of the train approaching warning information includes:

[0123] The train approaching warning information is broadcasted at a preset running distance interval or a preset running time interval.

[0124] Specifically, the LBJ device sends information containing train number, locomotive number, kilometer marker, longitude and latitude, etc. by wireless mode once every 200 meters of running distance of the train.

[0125] It can be understood that the present application reduces energy consumption by presetting running distance interval or running time interval without sending broadcast information in real time.

[0126] The train position determination method for car-road cooperative alarm provided by the present application is described below, and the train position determination method for car-road cooperative alarm described below can be correspondingly referred to the train position determination system for car-road cooperative alarm described above.

[0127] Figure 8 The flowchart of the train position determination method for car-road cooperative alarm provided by the present application is shown in FIG. 1, and the present application further provides a train position determination method for car-road cooperative alarm, which comprises the following steps. Figure 8

[0128] S810, determining train approaching early warning information based on a locomotive comprehensive wireless communication device on a running train, and broadcasting the train approaching early warning information;

[0129] S820, receiving the train approaching early warning information based on a car-road cooperative alarm ground device along a train line, extracting the locomotive heartbeat information from the train approaching early warning information, and transmitting the locomotive heartbeat information to a car-road cooperative alarm platform through a transmission network, wherein the locomotive heartbeat information comprises locomotive attribute information and locomotive position information;

[0130] S830, determining train position according to the train number checking information and the locomotive heartbeat information by the car-road cooperative alarm platform.

[0131] As an embodiment, the locomotive comprehensive wireless communication device comprises a first service processing unit and a second service processing unit;

[0132] The first service processing unit is configured to determine the train approaching early warning information according to train position information, train state information and train positioning information, and broadcast the train approaching early warning information;

[0133] The second service processing unit is configured to acquire alarm information transmitted by the car-road cooperative alarm platform, and display and broadcast the alarm information;

[0134] The locomotive attribute information comprises at least locomotive number, train number and speed, and the locomotive position information comprises at least line section name, kilometer marker and longitude and latitude; the alarm information comprises at least danger alarm time, danger category, danger occurrence location and danger occurrence location kilometer marker. ​

[0135] As an embodiment, the determining the train position according to the train number verification information and the locomotive heartbeat information comprises:

[0136] extracting first locomotive position information of a target train from the train number verification information;

[0137] extracting second locomotive position information of the target train from at least one of the locomotive heartbeat information;

[0138] determining a locomotive running direction according to the locomotive attribute information;

[0139] obtaining an estimated position of the target train according to the locomotive running direction;

[0140] screening the first locomotive position information and the second locomotive position information according to the estimated position to determine the position of the target train.

[0141] As an embodiment, the train-road cooperative warning platform is further configured to determine a distance between the running train and a target location according to the train position.

[0142] The determining the distance between the running train and the target location according to the train position comprises:

[0143] if the train position corresponding to the running train only contains longitude and latitude information, fitting the longitude and latitude information into first kilometer marker information;

[0144] determining the distance between the running train and the target location based on the first kilometer marker information and second kilometer marker information corresponding to the target location determined in advance.

[0145] As an embodiment, the fitting the longitude and latitude information into first kilometer marker information comprises:

[0146] collecting longitude and latitude corresponding to kilometer markers of each train line based on a preset distance interval to obtain a line database, the line database being used to represent the corresponding relationship between kilometer markers and longitude and latitude;

[0147] determining a target train line corresponding to the longitude and latitude information according to the line database;

[0148] determining kilometer markers corresponding to the longitude and latitude information according to the distance between longitude and latitude corresponding to the target train line and the longitude and latitude information to complete the fitting.

[0149] As an embodiment, the train-road cooperative warning ground equipment comprises a sky feed unit, a receiving unit, a control unit, a train-road cooperative warning platform interface unit and a power supply unit.

[0150] The receiving unit is configured to obtain the train approach warning information via the antenna feeder unit, decode the train approach warning information, and send the decoded train approach warning information to the control unit.

[0151] The control unit is configured to extract the locomotive heartbeat information from the decoded train approach warning information.

[0152] The vehicle-road cooperative warning platform interface unit is configured to upload the locomotive heartbeat information based on the railway intranet after registration.

[0153] The power supply unit is configured to supply power to the receiving unit, the control unit, and the vehicle-road cooperative warning platform interface unit.

[0154] As an embodiment, the type of the power supply unit and the installation height of the antenna feeder unit are determined based on the installation location of the vehicle-road cooperative warning ground equipment.

[0155] As an embodiment, the installation location and installation interval of the vehicle-road cooperative warning ground equipment are determined based on the installation environment.

[0156] As an embodiment, the broadcasting of the train approach warning information comprises:

[0157] The train approach warning information is broadcasted at a preset running distance interval or a preset running time interval.

[0158] The train position determination system and method for vehicle-road cooperative warning provided by the present application determine the train position by uploading train number checking information and locomotive heartbeat information to the vehicle-road cooperative warning platform via the locomotive comprehensive wireless communication device and the vehicle-road cooperative warning ground equipment, without the need to build a new positioning device on the train, thereby reducing the cost and improving the operability.

[0159] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A train position determination system for vehicle-road cooperative alarm, characterized in that, This includes integrated wireless communication equipment for locomotives, at least one vehicle-road cooperative alarm ground device, and a vehicle-road cooperative alarm platform; The locomotive integrated wireless communication equipment is installed on the running train and is used to broadcast train approach warning information and send train number verification information to the vehicle-road cooperative alarm platform. The vehicle-road cooperative alarm ground equipment is installed along the train line and is used to receive the train approach warning information, extract locomotive heartbeat information from the train approach warning information, and transmit the locomotive heartbeat information to the vehicle-road cooperative alarm platform through the transmission network. The locomotive heartbeat information includes locomotive attribute information and locomotive location information. The vehicle-road cooperative alarm ground equipment utilizes the existing network and the train approach warning information broadcast by the vehicle. The vehicle-road cooperative alarm platform is used to determine the train's location based on the train number verification information and the locomotive heartbeat information; The vehicle-road cooperative alarm platform is also used to determine the distance between the running train and the target location based on the train's position. Determining the distance between the running train and the target location based on the train's position includes: If the train location corresponding to the running train only contains latitude and longitude information, the latitude and longitude information is fitted to the first kilometer marker information; Based on the first kilometer marker information and the second kilometer marker information corresponding to the predetermined target location, the distance between the running train and the target location is determined; The process of fitting the latitude and longitude information into first kilometer marker information includes: Based on a preset distance interval, the latitude and longitude corresponding to the kilometer markers of each train line are collected to obtain a line database, which is used to characterize the correspondence between kilometer markers and latitude and longitude. Based on the route database, determine the target train route corresponding to the latitude and longitude information; Based on the distance between the latitude and longitude corresponding to the target train line and the latitude and longitude information, the kilometer marker corresponding to the latitude and longitude information is determined to complete the fitting; Calculate the straight-line distance between the latitude and longitude to be fitted and the latitude and longitude corresponding to the target train line. Find the minimum distance d3 and its corresponding latitude and longitude A, and the second minimum distance d4 and its corresponding latitude and longitude B. Determine whether A and B are adjacent latitude and longitude. If A and B are adjacent latitude and longitude, then the kilometer marker is: Where Ba is the kilometer marker of point A and Bb is the kilometer marker of point B. Since A and B are not adjacent latitude and longitude, the kilometer marker of point A is taken as the kilometer marker of the latitude and longitude to be fitted, which is the first kilometer marker information.

2. The train position determination system for vehicle-road cooperative alarm according to claim 1, characterized in that, The locomotive integrated wireless communication equipment includes a first service processing unit and a second service processing unit. The first business processing unit is used to determine the train approach warning information based on the train location information, train status information and train positioning information, and to broadcast the train approach warning information; The second business processing unit is used to acquire alarm information transmitted by the vehicle-road cooperative alarm platform, and to display and broadcast the alarm information.

3. The train position determination system for vehicle-road cooperative alarm according to claim 2, characterized in that, The locomotive attribute information includes at least the locomotive number, train number, and speed; the locomotive location information includes at least the line section name, kilometer marker, and latitude and longitude; the alarm information includes at least the alarm time, alarm type, alarm location, and alarm location kilometer marker.

4. The train position determination system for vehicle-road cooperative alarm according to claim 1, characterized in that, The step of determining the train position based on the train number verification information and the locomotive heartbeat information includes: Extract the first locomotive position information of the target train from the train number verification information; Extract the second locomotive position information of the target train from at least one of the locomotive heartbeat information; Based on the locomotive attribute information, the locomotive's running direction is determined; Based on the locomotive's direction of travel, the estimated position of the target train is obtained; The location of the target train is determined by filtering the first locomotive location information and the second locomotive location information based on the estimated location.

5. The train position determination system for vehicle-road cooperative alarm according to claim 1, characterized in that, The vehicle-road cooperative alarm ground equipment includes an antenna feeder unit, a receiving unit, a control unit, a vehicle-road cooperative alarm platform interface unit, and a power supply unit; The receiving unit is used to acquire the train approach warning information through the antenna feeder unit, decode the train approach warning information, and send the decoded train approach warning information to the control unit. The control unit is used to extract the locomotive heartbeat information from the decoded train approach warning information; The vehicle-road cooperative alarm platform interface unit is used to upload the locomotive heartbeat information through the railway intranet after registration; The power supply unit is used to supply power to the receiving unit, the control unit, and the vehicle-road cooperative alarm platform interface unit.

6. The train position determination system for vehicle-road cooperative alarm according to claim 5, characterized in that, The type of the power supply unit and the installation height of the antenna feeder unit are determined based on the installation location of the vehicle-road cooperative alarm ground equipment, and the installation location and installation interval of the vehicle-road cooperative alarm ground equipment are determined based on the installation environment.

7. The train position determination system for vehicle-road cooperative alarm according to claim 2, characterized in that, The broadcasting of the train approach warning information includes: The train approach warning information is broadcast according to the preset running distance interval or preset running time interval.

8. A method for determining train position for vehicle-road cooperative alarm, characterized in that, The train position determination system for vehicle-road cooperative alarm based on any one of claims 1-7 includes: Based on the integrated wireless communication equipment of the locomotive on the running train, the train approach warning information is determined, the train approach warning information is broadcast, and the train number verification information is sent to the vehicle-road cooperative alarm platform. The ground equipment for vehicle-road cooperative alarm along the train line receives the train approach warning information, extracts the locomotive heartbeat information from the train approach warning information, and transmits the locomotive heartbeat information to the vehicle-road cooperative alarm platform through the transmission network. The locomotive heartbeat information includes locomotive attribute information and locomotive location information. The vehicle-road cooperative alarm platform determines the train's location based on the train number verification information and the locomotive heartbeat information.

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