Locomotive automatic driving based block mode switching control method, device and system

Abstract

The application provides a kind of based on the automatic driving of locomotive closed mode switching control method, device and system, method includes: obtaining the current position information of first signal system transmission when locomotive runs in first closed mode, according to current position information, detect whether locomotive is in pre-stored signal switching area;If locomotive is in signal switching area, then start signal switching, switch the communication connection with first signal system to the communication connection with second signal system, while maintaining the first operating parameter according to first signal system transmission controls locomotive operation;After signal switching is completed, detect whether the stable second operating parameter of second signal system transmission in second closed mode to be switched is received;If so, then according to second operating parameter, re-plan the front running control curve, and according to front running control curve, control locomotive operation.The application can realize the full automatic switching of signal system, and does not stop and exit automatic driving in switching process.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic driving of locomotives, and particularly relates to a block mode switching control method, device and system based on automatic driving of locomotives. BACKGROUND

[0002] Most freight railways use fixed block signal systems. Under the traditional fixed block system, the specific position of a train in a partition cannot be known, and in order to fully ensure safety, a protection section must be added between two trains, which makes the safety interval between trains larger and affects the use efficiency of the line. With the development of mobile block technology, some freight railways are carrying out research on the application of mobile block technology. The application of mobile block technology for speed safety protection of train tail tracking can effectively reduce the safety running interval of trains.

[0003] The automatic driving technology of locomotives is mainly based on fixed block signal systems. The automatic driving device (ATO) obtains the forward train permission through the on-board train operation monitoring and recording device (LKJ). When the mobile block signal system is used in the front section and station, the driver needs to manually switch the on-board signal system in the specified area, and switch the train operation monitoring and recording device (LKJ) to the train automatic protection device (ATP). There are great differences between fixed block and mobile block signal systems in terms of protection function, etc. How the automatic driving system controls the smooth transition of the switching process of trains between different signal systems is a difficult problem affecting the development of automatic driving technology of locomotives. During the signal switching process, ATO and ATP cannot immediately establish communication connection, and at this time, the communication interruption between ATO and LKJ will trigger the safety protection mechanism of the automatic driving system of the locomotive, and the automatic driving is actively exited. If the relevant train parameters are not obtained in time, the accuracy of the automatic driving system calculation will be affected, and the automatic driving planning control will be unreasonable. When the signal system is switched, the train route permission will jump, which will affect the automatic driving planning control. After the signal system is switched, if the current position of the train and the line data have not been updated to the relevant data of the signal system after switching, the automatic driving device will retrieve the train position error in the control planning process, which will affect the accuracy of the planning control of the automatic driving device. SUMMARY

[0004] The present application provides a block mode switching control method, device and system based on automatic driving of locomotives to solve the problem that the existing signal system cannot be smoothly transitioned.

[0005] In order to achieve the above object, the embodiment of the present application provides a method for switching the block mode of an automatic driving locomotive, comprising: obtaining current position information transmitted by a first signal system when the locomotive is running in a first block mode, and detecting whether the locomotive is in a pre-stored signal switching area according to the current position information; if the locomotive is in the signal switching area, starting signal switching, switching the communication connection with the first signal system to the communication connection with a second signal system, and meanwhile keeping the first running parameters transmitted by the first signal system to control the running of the locomotive; after the signal switching is completed, detecting whether stable second running parameters transmitted by a second signal system in a second block mode to be switched are received; if yes, re-planning a front running control curve according to the second running parameters, and controlling the running of the locomotive according to the re-planned front running control curve.

[0006] Optionally, the keeping the first running parameters transmitted by the first signal system to control the running of the locomotive comprises: if the first running parameters transmitted by the first signal system are not currently received, controlling the running of the locomotive according to the last received first running parameters, wherein the first running parameters at least include first train parameters, first line data and first traffic permission.

[0007] Optionally, the starting signal switching, switching the communication connection with the first signal system to the communication connection with the second signal system, and meanwhile keeping the first running parameters transmitted by the first signal system to control the running of the locomotive further comprises: detecting whether the communication with the first signal system is interrupted, and if yes, recording the interruption time; if the interruption time reaches a first preset time, performing communication interruption protection on the locomotive.

[0008] Optionally, the second running parameters at least include second train parameters, second line data and second traffic permission, and the detecting whether stable second running parameters transmitted by the second signal system in the second block mode to be switched are received comprises: detecting whether the second train parameters are received; after the second train parameters are received, continuing to detect whether the second line data are received; after the second line data are received, continuing to detect whether stable second traffic permission is received.

[0009] Optionally, the detecting whether the second line data are received further comprises: detecting whether an update count is received, wherein the update count is used to indicate that the second line data are updated.

[0010] Optionally, the method further comprises: if the second line data and the update count are not received, applying the second line data to the second signal system.

[0011] Optionally, one of the first signal system and the second signal system is arranged in a train operation monitoring and recording device, the corresponding first block mode or the second block mode is a fixed block mode, and the other of the first signal system and the second signal system is arranged in a train automatic protection device, the corresponding first block mode or the second block mode is a moving block mode.

[0012] Based on the same inventive concept, the embodiment of the present application further provides a block mode switching control device based on automatic driving of a locomotive, comprising: a switching confirmation unit, configured to acquire current position information transmitted by a first signal system when a locomotive operates in a first block mode, and detect whether the locomotive is in a pre-stored signal switching area according to the current position information; an operation keeping unit, configured to start signal switching if the locomotive is in the signal switching area, switch communication connection with the first signal system to communication connection with a second signal system, and meanwhile keep controlling the locomotive to operate according to first operation parameters transmitted by the first signal system; and an operation updating unit, configured to detect whether stable second operation parameters transmitted by a second signal system in a second block mode to be switched are received after signal switching is completed; if yes, re-plan a front operation control curve according to the second operation parameters, and control the locomotive to operate according to the re-planned front operation control curve.

[0013] Based on the same inventive concept, the embodiment of the present application further provides a block mode switching control system based on automatic driving of a locomotive, the system comprising: a train operation monitoring and recording device, a train automatic protection device and an automatic driving device, wherein the automatic driving device comprises the aforementioned block mode switching control device based on automatic driving of a locomotive, the train operation monitoring and recording device is provided with a first signal system and adopts a fixed block mode, and the train automatic protection device is provided with a second signal system and adopts a moving block mode.

[0014] Based on the same inventive concept, the embodiment of the present application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the aforementioned method when executing the program.

[0015] The beneficial effects of the present application are: from the above, it can be seen that the embodiment of the present application provides a closed mode switching control method, device and system based on automatic driving of a locomotive, the method comprising: acquiring current position information transmitted by a first signal system under which the locomotive operates in a first closed mode, and detecting whether the locomotive is in a pre-stored signal switching area according to the current position information; if the locomotive is in the signal switching area, starting signal switching, switching the communication connection with the first signal system to the communication connection with a second signal system, while maintaining the control of the locomotive operation according to the first operating parameters transmitted by the first signal system; after the signal switching is completed, detecting whether stable second operating parameters transmitted by a second signal system under a second closed mode to be switched are received; if yes, re-planning a front running control curve according to the second operating parameters, and controlling the locomotive operation according to the re-planned front running control curve, which can realize full-automatic switching of the signal system without stopping and exiting the automatic driving during the switching process. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only the embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0017] Figure 1 The flowchart of the closed mode switching control method based on automatic driving of a locomotive in the embodiment of the present application is shown.

[0018] Figure 2 The schematic diagram of another closed mode switching control method based on automatic driving of a locomotive in the embodiment of the present application is shown.

[0019] Figure 3 The structure schematic diagram of the closed mode switching control device based on automatic driving of a locomotive in the embodiment of the present application is shown.

[0020] Figure 4 The structure schematic diagram of the closed mode switching control system based on automatic driving of a locomotive in the embodiment of the present application is shown.

[0021] Figure 5 The electronic device schematic diagram in the embodiment of the present application is shown. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the specific embodiments and the accompanying drawings.

[0023] It should be noted that the technical terms or scientific terms used in the embodiments of the present application should be understood as the common meanings understood by those skilled in the art to which the present disclosure belongs, unless otherwise defined. The terms "first", "second", and similar words used in the embodiments of the present application do not represent any order, number, or importance, but are only used to distinguish different components. The terms "include", "contain", and similar words mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0024] The embodiments of the present application provide a closed mode switching control method based on automatic driving of a locomotive. The closed mode switching control method based on automatic driving of a locomotive is applied to an automatic driving device. As shown in FIG. 1, the closed mode switching control method based on automatic driving of a locomotive includes: Figure 1

[0025] Step S11: acquiring current position information transmitted by a first signal system when a locomotive is running in a first closed mode, and detecting whether the locomotive is in a pre-stored signal switching area according to the current position information.

[0026] In the embodiments of the present application, the locomotive is taken as one information unit, and the signal switching area kilometer marker information that needs to be switched is stored as a locomotive pre-stored switching area data file in a certain binary data format. After starting an automatic driving device (ATO), the automatic driving device reads the pre-stored signal switching area file and stores it in a cache area according to the corresponding data format.

[0027] After the locomotive enters the automatic driving control, the current position information transmitted by the first signal system when the locomotive is running in the first closed mode is acquired, and whether the locomotive is in the pre-stored signal switching area is detected according to the current position information. Preferably, the current running speed is also acquired, and whether the locomotive is in the signal switching area is detected according to the current running speed and the current position information.

[0028] Step S12: if the locomotive is in the signal switching area, signal switching is started, the communication connection with the first signal system is switched to the communication connection with a second signal system, and the first running parameter transmitted according to the first signal system is maintained to control the locomotive to run.

[0029] ​When switching the signal, the automatic driving device first cuts off the communication connection with the first signal system and then establishes a communication connection with the second signal system. During the signal switching process, the automatic driving device controls the locomotive to run according to the first operation parameter transmitted by the first signal system. Alternatively, if the first operation parameter transmitted by the first signal system is not currently received, the locomotive is controlled to run according to the last received first operation parameter, wherein the first operation parameter at least includes a first train parameter, first line data and a first traffic permit. When the ATO does not receive the first operation parameter such as the locomotive number, train number, train length, total weight and the like sent by any signal system, the last received first operation parameter is retained, and the automatic driving control is continued according to the last received first operation parameter until a new first operation parameter is received again.

[0030] During the signal switching process, the automatic driving device ATO performs a delay judgment after detecting the communication interruption with the first signal system. Alternatively, the automatic driving device ATO detects whether the communication with the first signal system is interrupted, and if so, records the interruption time; if the interruption time reaches a first preset time, the communication interruption protection is performed on the locomotive. That is, if the train does not leave the signal switching area within the first preset time and still does not establish a communication connection with any signal system, the automatic driving device ATO performs the communication interruption protection, that is, controls the locomotive to stop and exit the automatic driving, and then enters the automatic driving system again after the signal system switching is completed. If a communication connection with any signal system is established within the first preset time, the automatic driving device ATO does not perform the protection. The first preset time can be set according to the needs, and is preferably 5 seconds.

[0031] In the embodiments of the present application, one of the first signal system and the second signal system is arranged in a train operation monitoring and recording device, and the corresponding first block mode or second block mode is a fixed block mode; the other of the first signal system and the second signal system is arranged in a train automatic protection device, and the corresponding first block mode or second block mode is a moving block mode. That is, the first signal system can be arranged in the train operation monitoring and recording device, and the corresponding first block mode is the fixed block mode; the second signal system is arranged in the train automatic protection device, and the corresponding second block mode is the moving block mode. Alternatively, the second signal system can be arranged in the train operation monitoring and recording device, and the corresponding second block mode is the fixed block mode; the first signal system is arranged in the train automatic protection device, and the corresponding first block mode is the moving block mode. The fixed block mode is to take a fixed block section as a unit for a safety interval between trains, and the automatic driving device ATO cannot know the specific position of the train in the section, so the start and end points of train braking are always at the boundary of a section, and the train operation permission is issued by a ground signal. The moving block mode refers to a communication-based block mode in which a following train automatically sets a running speed according to the distance between the following train and a preceding train and a route condition, and the train operation permission is issued by the tail of the preceding train.

[0032] Step S13: After the signal switching is completed, it is detected whether a stable second running parameter transmitted by the second signal system in the second block mode to be switched is received; if yes, a front running control curve is re-planned according to the second running parameter, and the locomotive is controlled to run according to the re-planned front running control curve.

[0033] The second running parameter at least includes a second train parameter, second line data and a second operation permission. The stable second running parameter means that the second train parameter, the second line data and the stable second operation permission are received. In step S13, after the signal switching is completed, it is first detected whether the stable second running parameter transmitted by the second signal system in the second block mode to be switched is received. Alternatively, it is detected whether the second train parameter is received; after it is determined that the second train parameter is received, it is continued to be detected whether the second line data is received; after it is determined that the second line data is received, it is continued to be detected whether the stable second operation permission is received. When it is detected whether the second line data is received, it is also simultaneously detected whether an update count is received, the update count being used to indicate that the second line data is updated. If the second line data and the update count are not received, the second line data can be applied to the second signal system.

[0034] In the embodiment of the present application, if the train is switched from the fixed block mode to the moving block mode, the train operation permission is converted from the ground signal to the tail of the front train, and if the train is switched from the moving block mode to the fixed block signal system, the train operation permission is converted from the tail of the front train to the ground signal, at this time, the train operation permission will jump. The automatic driving device keeps the current train operation condition during the signal switching process until the second operation permission received by the train is stable, and then re-plans the front operation control curve. The automatic driving device controls the locomotive to run according to the new front operation control curve.

[0035] The more detailed block mode switching control method based on the automatic driving of the locomotive in the embodiment of the present application is as shown in Figure 2

[0036] Step S200: automatically driving the train in the first block mode.

[0037] The first block mode can be a fixed block mode or a moving block mode. Specifically, if the automatic driving device of the locomotive is in communication connection with the train operation monitoring and recording device, the automatic driving of the locomotive is controlled in the fixed block mode. If the automatic driving device of the locomotive is in communication connection with the train automatic protection device, the automatic driving of the locomotive is controlled in the moving block mode.

[0038] Step S201: reading the pre-stored signal switching area pre-stored file.

[0039] Before automatic driving, the signal switching area is pre-set and stored.

[0040] Step S202: detecting that the locomotive is in the signal switching area.

[0041] During automatic driving, the position information of the locomotive needs to be continuously acquired and compared with the pre-set at least one signal switching area. If the position information of the locomotive is the same as one of the pre-stored signal switching areas, it means that the locomotive is in the signal switching area, and the signal switching needs to be performed.

[0042] Step S203: starting the signal switching.

[0043] Step S204: judging whether the communication interruption is interrupted for the first pre-set time. If yes, step S205 is performed; otherwise, step S206 is performed.

[0044] During the signal switching, the communication connection with the first signal system is first disconnected, and the interruption time is counted. The communication interruption time obtained by counting is compared with the first pre-set time.

[0045] Step S205: triggering the communication interruption protection and exiting the automatic driving.

[0046] ​If the communication interruption time obtained by timing reaches the first preset time, the communication interruption protection is triggered, the automatic driving is exited, and the automatic driving is reentered after the signal switching is completed.

[0047] Step S206: It is judged whether the second train parameter is received. If not, step S207 is executed; otherwise, step S208 is executed.

[0048] If the communication interruption time obtained by timing does not reach the first preset time, it is indicated that the signal switching can be continued without exiting the automatic driving. In the signal switching process, it is firstly judged whether the second train parameter is received. If the second train parameter is received, it is indicated that the automatic driving device has established a communication connection with the second signal system, but it is not determined whether the signal is stable.

[0049] Step S207: The control is performed according to the last received train parameter. Then, the step S206 is returned.

[0050] If the second train parameter is not received, the automatic driving device controls according to the last received train parameter.

[0051] Step S208: It is judged whether the second line data is received. If not, step S209 is executed; otherwise, step S210 is executed.

[0052] After the second train parameter is received, it is continuously judged whether the second line data is received.

[0053] Step S209: The second line data is applied. Then, the step S208 is returned.

[0054] If the second line data is not received, the second line data is applied to the second signal system which has established a communication connection. Specifically, the automatic driving device ATO sends a line information update application to the second signal system after the switching, so as to apply the second line data. After the second signal system after the switching receives the application, the second line data is sent to the automatic driving device ATO and an update count is sent at the same time. When the automatic driving device ATO detects that the update count is changed, it is considered that the line data update is completed.

[0055] Step S210: It is judged whether the stable second driving permission is received. If not, step S211 is executed; otherwise, step S212 is executed.

[0056] After the second line data is received, it is continuously judged whether the stable second driving permission is received.

[0057] Step S211: The current running condition is maintained. Then, the step S210 is returned.

[0058] If the stable second train operation permission is not received, the current operation state is maintained. That is, if the locomotive is still currently controlled to operate according to the first operation parameter, the locomotive is controlled to continue operating according to the first operation parameter, and the operation state of the locomotive is maintained unchanged. The stable second train operation permission not being received can be that the second train operation permission is not received, or that the second train operation permission is received but is unstable, for example, intermittent.

[0059] Step S212: The automatic driving device replans the front operation control curve.

[0060] If the stable second train operation permission is received, the automatic driving device replans the front operation control curve according to second operation parameters. The second operation parameters at least include second train parameters, second line data, and the second train operation permission.

[0061] Step S213: The automatic driving device controls the locomotive to operate in the second block mode.

[0062] After the front operation control curve is replanned, the automatic driving device controls the locomotive to operate according to the replanned front operation control curve, that is, the automatic driving device controls the locomotive to operate in the second block mode.

[0063] Thus, the automatic switching of the locomotive from the first block mode to the second block mode is completed.

[0064] The block mode switching control method based on automatic driving of the locomotive according to the embodiment of the present application can realize full-automatic switching without stopping and without exiting the automatic driving during the signal system switching process. The driver only needs to manually operate the hard-wire switch for signal switching, and does not need to operate the automatic driving system, which can reduce the labor intensity of the driver and ensure the safety of the automatic driving. Meanwhile, the signal system switching without stopping can improve the efficiency of railway operation.

[0065] The block mode switching control method based on automatic driving of the locomotive according to the embodiment of the present application acquires the current position information transmitted by the first signal system when the locomotive operates in the first block mode, and detects whether the locomotive is in a pre-stored signal switching area according to the current position information. If the locomotive is in the signal switching area, the signal switching is started, the communication connection with the first signal system is switched to the communication connection with the second signal system, and the locomotive is controlled to operate according to the first operation parameters transmitted by the first signal system is maintained. After the signal switching is completed, it is detected whether the stable second operation parameters transmitted by the second signal system in the second block mode to be switched are received. If yes, the front operation control curve is replanned according to the second operation parameters, and the locomotive is controlled to operate according to the replanned front operation control curve, which can realize full-automatic switching of the signal system without stopping and without exiting the automatic driving during the switching process.

[0066] The above described particular embodiments of the present application. In some cases, the actions or steps described in the embodiments of the present application can be performed in an order different from the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain implementations, multi-task processing and parallel processing are possible or can be advantageous.

[0067] Based on the same concept, the embodiments of the present application also provide a locomotive automatic driving based block mode switching control device. The application is applied to the automatic driving device. The Figure 3 As shown, the locomotive automatic driving based block mode switching control device comprises a switching confirmation unit, a running keeping unit and an updated running unit. Among them,

[0068] The switching confirmation unit is used to obtain the current position information transmitted by the first signal system when the locomotive runs in the first block mode, and detect whether the locomotive is in the pre-stored signal switching area according to the current position information;

[0069] The running keeping unit is used to start signal switching if the locomotive is in the signal switching area, switch the communication connection with the first signal system to the communication connection with the second signal system, and keep controlling the locomotive running according to the first running parameter transmitted by the first signal system;

[0070] The updated running unit is used to detect whether the stable second running parameter transmitted by the second signal system in the second block mode to be switched is received after the signal switching is completed; if yes, the front running control curve is re-planned according to the second running parameter, and the locomotive is controlled to run according to the re-planned front running control curve.

[0071] For the convenience of description, the above device is described as various modules respectively described in function. Of course, the functions of each module can be realized in the same or multiple software and / or hardware when implementing the embodiments of the present application.

[0072] The device of the above embodiments is applied to the corresponding method in the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described here.

[0073] Based on the same concept, the embodiments of the present application also provide a locomotive automatic driving based block mode switching control system, as Figure 4As shown, the automatic driving based block mode switching control system of the locomotive comprises a train operation monitoring and recording device, a train automatic protection device and an automatic driving device, the automatic driving device comprises the aforementioned automatic driving based block mode switching control device, the train operation monitoring and recording device is provided with a first signal system and adopts a fixed block mode, the train automatic protection device is provided with a second signal system and adopts a moving block mode.

[0074] Based on the same inventive concept, the embodiments of the present application also provide an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of the above embodiments when executing the program.

[0075] Figure 5 A more specific hardware structure of the electronic device is shown, which can comprise a processor 501, a memory 502, an input / output interface 503, a communication interface 504 and a bus 505. The processor 501, the memory 502, the input / output interface 503 and the communication interface 504 are connected to each other through the bus 505.

[0076] The processor 501 can be implemented by a general CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit) or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the method embodiments of the present application.

[0077] The memory 502 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device and the like. The memory 502 can store an operating system and other application programs, and when the technical solutions provided by the method embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 502 and executed by the processor 501.

[0078] The input / output interface 503 is configured to connect an input / output module to realize information input and output. The input / output module can be configured in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0079] The communication interface 504 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as a USB, a network cable, etc.) or a wireless manner (such as a mobile network, WIFI, Bluetooth, etc.).

[0080] The bus 505 includes a channel to transmit information between various components (such as the processor 501, the memory 502, the input / output interface 503, and the communication interface 504) of the device.

[0081] It should be noted that although the above device only shows the processor 501, the memory 502, the input / output interface 503, the communication interface 504, and the bus 505, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary for implementing the embodiments of the present application, and does not have to contain all the components shown in the figure.

[0082] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to limit the scope of the present application to these examples; under the idea of the present application, the above embodiments or technical features in different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in details.

[0083] The present application is intended to cover all such alternatives, modifications, and variations of the broad scope of the embodiments of the present application. Therefore, any omission, modification, equivalent replacement, improvement, etc. made in the spirit and principle of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for switching a block mode based on automatic driving of a locomotive, characterized by, The method is applied to an automatic driving device, and the method comprises: acquiring current position information transmitted by a first signal system in a first block mode in which a locomotive runs, and detecting whether the locomotive is in a pre-stored signal switching area according to the current position information; if the locomotive is in the signal switching area, starting signal switching, switching a communication connection with the first signal system to a communication connection with a second signal system, while keeping controlling the locomotive to run according to first running parameters transmitted by the first signal system; after the signal switching is completed, detecting whether stable second running parameters transmitted by a second signal system in a second block mode to be switched are received; if yes, re-planning a front running control curve according to the second running parameters, and controlling the locomotive to run according to the re-planned front running control curve; one of the first signal system and the second signal system is arranged in a train operation monitoring and recording device, and the corresponding first block mode or second block mode is a fixed block mode, and the other of the first signal system and the second signal system is arranged in a train automatic protection device, and the corresponding first block mode or second block mode is a moving block mode.

2. The method of claim 1 wherein, The keeping of controlling the locomotive to run according to the first running parameters transmitted by the first signal system comprises: if the first running parameters transmitted by the first signal system are not currently received, controlling the locomotive to run according to the first running parameters received last time, wherein the first running parameters at least comprise first train parameters, first line data and first train operation permission.

3. The method of claim 1 wherein, The starting of the signal switching, the switching of the communication connection with the first signal system to the communication connection with the second signal system, and the keeping of controlling the locomotive to run according to the first running parameters transmitted by the first signal system further comprise: detecting whether the communication with the first signal system is interrupted, and if yes, recording an interruption time; if the interruption time reaches a first preset time, performing communication interruption protection on the locomotive.

4. The method of claim 1 wherein, The second running parameters at least comprise second train parameters, second line data and second train operation permission, and the detecting of whether stable second running parameters transmitted by the second signal system in the second block mode to be switched are received comprises: detecting whether the second train parameters are received; after it is determined that the second train parameters are received, continuing to detect whether the second line data are received; after it is determined that the second line data are received, continuing to detect whether stable second train operation permission is received.

5. The method of claim 4 wherein, The detecting of whether the second line data are received further comprises: detecting whether an update count is received, the update count being used to indicate that the second line data are updated.

6. The method of claim 5 wherein, The method further comprises: if the second line data and the update count are not received, applying the second line data to the second signal system.

7. A control device for switching a block mode based on automatic driving of a locomotive, characterized by The device is a sub-device of an automatic driving device, and the device comprises: The switching confirmation unit is configured to acquire current position information transmitted by a first signal system when a locomotive is running in a first block mode, and detect whether the locomotive is in a pre-stored signal switching area according to the current position information; The operation maintaining unit is configured to start signal switching and switch a communication connection from the first signal system to a second signal system if the locomotive is in the signal switching area, while maintaining control of the locomotive operation according to first operation parameters transmitted by the first signal system; The operation updating unit is configured to detect whether stable second operation parameters transmitted by a second signal system in a second block mode to be switched are received after the signal switching is completed, and re-plan a forward operation control curve according to the second operation parameters and control the locomotive operation according to the re-planned forward operation control curve if the stable second operation parameters are received; one of the first signal system and the second signal system is arranged in a train operation monitoring and recording device, and the first block mode or the second block mode corresponding to the one of the first signal system and the second signal system is a fixed block mode; the other of the first signal system and the second signal system is arranged in a train automatic protection device, and the first block mode or the second block mode corresponding to the other of the first signal system and the second signal system is a moving block mode.

8. A block mode switching control system based on automatic locomotive driving, characterized in that, The system comprises a train operation monitoring and recording device, a train automatic protection device, and an automatic driving device, the automatic driving device comprises the block mode switching control device based on locomotive automatic driving according to claim 7, the train operation monitoring and recording device is provided with a first signal system and adopts a fixed block mode, and the train automatic protection device is provided with a second signal system and adopts a moving block mode.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method according to any one of claims 1 to 6 when executing the program. The processor implements the method according to any one of claims 1 to 6 when executing the program.

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