Rail Transit Control Method, Device, Electronic Device and Storage Medium

Abstract

The present application provides a rail transit control method, device, electronic device and storage medium, relating to the field of rail transit control. The method includes: obtaining road network circle information of a rail line; if it is detected that there is an overlap in the spatial routes of the running routes of two traffic instruments in the same time period on the rail line, determining whether there are parallel opposing lanes in the same road network circle; if it is determined that there are parallel opposing lanes in the same road network circle, changing the running route of a first traffic instrument to a route using the parallel opposing lane; wherein, the first traffic instrument is selected from one of the two traffic instruments. By using the circular structure of the railway section as the avoidance point for active avoidance to change the running routes of conflicting traffic instruments, the method improves the transportation efficiency of rail transit and the reliability of rail transit control.

Description

Technical Field

[0001] This application relates to the field of rail transit control. Specifically, it relates to a rail transit control method, device, electronic device, and computer-readable storage medium. Background Art

[0002] Currently, for railway transportation, coordinating the transportation dispatching between locomotives and avoiding oncoming conflicts during the driving process is not only necessary to ensure the safety of transportation operations but also a prerequisite for improving the transportation efficiency of the road network. In the prior art, when locomotives on the railway travel towards each other, the transportation operations of each locomotive are usually planned in advance by the dispatcher, and at the same time, the locomotive drivers communicate in real time to actively avoid each other. In addition, the railway sets up safety interlocks to prevent oncoming conflicts by exclusive means.

[0003] However, the prior art relies on manual experience and advance estimation, which is not applicable to the situation where the operation duration is unstable or fluctuates greatly during railway transportation. It has the disadvantages of low transportation efficiency and being prone to deadlocks. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a rail transit control method, device, electronic device, and storage medium. By using the circular structure of the railway section as the avoidance point for active avoidance to change the running routes of conflicting traffic instruments, the transportation efficiency of rail transit and the reliability of rail transit control can be improved.

[0005] In a first aspect, the embodiments of this application provide a rail transit control method, which includes: obtaining the road network circle information of the track line; where the road network circle information is information representing the nodes and edges of the road network circle, and the road network circle is a closed path composed of tracks; if it is detected that there is a spatial line overlap in the running lines of two traffic instruments in the same time period on the track line, then determine whether there is a parallel oncoming track in the same road network circle; if it is determined that there is a parallel oncoming track in the same road network circle, then change the running line of the first traffic instrument to the line using the parallel oncoming track; where the first traffic instrument is selected from one of the two traffic instruments.

[0006] In the above implementation process, the parallel oncoming track of the running line of the traffic instrument can be found based on the circular structure of the track line as the avoidance point for active avoidance, which can avoid the additional turnout occupation / congestion caused by avoidance, and the avoidance method based on the parallel oncoming track does not depend on the estimation of the operation time of the traffic instrument, thereby improving the transportation efficiency of rail transit and the reliability of rail transit control.

[0007] Optionally, in the embodiments of the present application, the method for confirming that there is an overlapping spatial line between two operating lines may include: performing line overlap detection based on the vertex identifiers of the undirected graph of the track line. If there are the same vertex identifiers in the path vertex sequences of the two operating lines, it is confirmed that there is an overlapping spatial line between the two operating lines; wherein, the vertex identifier represents the turnout of the track line; the path vertex sequence includes all vertex identifiers of the operating line.

[0008] In the above implementation process, the coordinate of each vertex in the undirected graph points to a specific position, and the edge represents the connection relationship between vertices. In the embodiments of the present application, performing line overlap detection based on the vertex identifiers of the undirected graph can quickly determine whether two lines intersect or overlap and improve the efficiency of overlapping spatial line detection.

[0009] Optionally, in the embodiments of the present application, if it is detected that there is an overlapping spatial line between the operating lines of two traffic instruments in the same time period on the track line, then determining whether there is a parallel oncoming turnout in the same road network circle may include: establishing a mapping table of the road network circle based on the road network circle information, and associating the road network circle number with the vertex identifier pair in the mapping table; wherein, the vertex identifier pair represents the edge between two turnouts in the road network circle; searching and confirming whether there is a parallel oncoming turnout in the road network circle based on the vertex identifier pair in the mapping table.

[0010] In the above implementation process, searching and confirming whether there is a parallel oncoming turnout in the road network circle based on the vertex identifier pair in the mapping table can effectively identify and input nodes, avoid inaccurate node numbers or position information, improve the accuracy and search efficiency of detection, and the implementation method based on the mapping table is relatively simple, easy to program, and can facilitate the analysis and processing of the situation where there is a parallel oncoming turnout in the road network circle.

[0011] Optionally, in the embodiments of the present application, obtaining the road network circle information of the rail transit may include: performing a search in the undirected graph of the rail transit based on a preset search algorithm, and obtaining and returning multiple road network circles, wherein the preset search algorithm includes a depth-first search algorithm.

[0012] Optionally, in the embodiments of the present application, performing a search in the undirected graph of the rail transit based on a preset search algorithm, and obtaining and returning multiple road network circles may include: starting from any node in the undirected graph for node traversal search, and recording the nodes that have been visited; if it is determined that there is no other adjacent node for the currently visited node, then returning to the previous node and searching whether there is another adjacent node for the previous node; if an already visited node is searched again, then it is determined that a road network circle is found and the search result is returned; wherein, the road network circle is composed of all nodes that have not returned from the search.

[0013] In the above implementation process, by using the depth-first search algorithm to traverse nodes on an undirected graph to search for road network loops, all nodes can be completely traversed without repeating the visit of any node, which can ensure the accuracy of the detection and search results. Moreover, only one stack or recursive function is needed to record the path and visited nodes during the traversal process, which is easy to program and implement, thereby improving the versatility of the rail transit control method.

[0014] Optionally, in the embodiment of the present application, after obtaining and returning multiple road network loops, the method may further include: numbering each road network loop and generating a road network loop list to manage the road network loop information based on the road network loop list; wherein, the road network loop list is used to represent the correspondence between the road network loop and the number.

[0015] In the above implementation process, managing the road network loop information based on the road network loop list can effectively distinguish different road network loops, and avoid problems such as duplicate counting and misidentification, which can facilitate the management, query, and update of road network loops, and can visually display the road network loop information in the form of a table or graph, etc., which can improve the accuracy and applicability of data management.

[0016] Optionally, in the embodiment of the present application, if it is determined that there are parallel opposite lanes in the same road network loop, changing the running route of the first transportation device to use the route of the parallel opposite lane may include: determining that the transportation device that finally reaches the running route with spatial route overlap is the first transportation device.

[0017] In a second aspect, an embodiment of the present application provides a rail transit control device, which may include: an acquisition module for acquiring road network loop information of a track line; wherein, the road network loop information is information representing the nodes and edges of the road network loop, and the road network loop is a closed path composed of tracks; a detection module for determining whether there are parallel opposite lanes in the same road network loop if it is detected that there is a spatial route overlap between the running routes of two transportation devices in the track line at the same time; a control module for changing the running route of the first transportation device to use the route of the parallel opposite lane if it is determined that there are parallel opposite lanes in the same road network loop; wherein, the first transportation device is selected from one of the two transportation devices.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device includes a memory and a processor, and when the processor reads and runs the program instructions stored in the memory, it executes the steps in any of the above implementation manners.

[0019] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored, and when the computer program instructions are read and run by a processor, the steps in any of the above implementation manners are executed. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a flowchart of the rail transit control method provided by the embodiment of the present application;

[0022] Figure 2 It is a schematic diagram of a road network circle in the rail line provided by the embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of a parallel oncoming lane provided by the embodiment of the present application;

[0024] Figure 4 It is a flowchart of determining whether there is a parallel oncoming lane in the same road network circle provided by the embodiment of the present application;

[0025] Figure 5 It is a flowchart of obtaining the road network circle information of rail transit through the depth-first search algorithm provided by the embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of the rail transit control device provided by the embodiment of the present application;

[0027] Figure 7 It is a schematic diagram of the structure of the electronic device provided by the embodiment of the present application. Detailed Embodiments

[0028] The following will describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of systems, methods, and computer program products according to multiple embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in various embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0029] During the research process, the applicant found that in the prior art, for the situation of track conflicts, it is generally based on advance planning to actively resolve possible conflicts, such as the active avoidance method based on time windows, the avoidance method based on traffic signal rules, etc. By presetting the time window for train operation to avoid conflicts and collisions between trains, when a train finds that another train has occupied its predetermined time window, it will automatically adjust its speed or delay to the next available time window to avoid conflicts with other trains. Or use multiple signal lights to represent multiple regions or track segments, which are used to indicate whether a train can enter the region. If another train is in the region, the signal light will show red, indicating that the region is occupied. When a train approaches a red signal light, it will decelerate and wait for the signal light to turn green, indicating that the region is now free and allowing the train to enter.

[0030] However, the above-mentioned implementation methods often have limitations in actual complex industrial scenarios. First, the operation duration cannot be estimated in advance. Especially due to equipment aging, the operation duration fluctuates greatly due to unstable production, and coupled with the manual control of the production rhythm, it is very difficult to estimate each operation duration in advance. Second, for the traffic scenario of a multi-locomotive limited logistics park, the reuse rate of railway sections is very high. The preemption method using signal lights and interlocks affects the transportation efficiency, and in extreme cases, it is even easy to cause deadlock, and then manual intervention is required, resulting in low transportation efficiency and low control reliability.

[0031] Based on this, the embodiments of the present application provide a rail transit control solution, which changes the running routes of conflicting traffic instruments by taking the loop structure of the rail line as the avoidance point for active avoidance, thereby improving the transportation efficiency of rail transit and the reliability of rail transit control.

[0032] The rail control method provided by the embodiments of the present application can be applied to railway traffic, such as passenger trains, freight trains, special lines, etc., and can also be applied to rail transit such as tramcars, multiple unit trains, maglev trains, etc. The following embodiments of the present application will be described by taking the special line applied to the industrial park as an example. In the special line of the industrial park, a locomotive can complete the transportation task through the park railway.

[0033] Please refer to Figure 1 , Figure 1 which is a flowchart of the rail transit control method provided by the embodiments of the present application. Among them, the rail transit control method may include the following steps:

[0034] Step S100: Obtain the road network loop information of the rail line.

[0035] In the above step S100, the road network loop information is the information representing the nodes and edges of the road network loop. The road network loop is a closed path composed of rails, and the rails can be the railways in the industrial park.

[0036] Please refer to Figure 1 and in combination with Figure 2 , Figure 2 which is a schematic diagram of the road network loop in the rail line provided by the embodiments of the present application.

[0037] Among them, the road network loop can be a closed path composed of several railways in the undirected graph of the railway, and can also be called a loop. Specifically, if starting from a node, traversing some nodes along certain edges and finally returning to this node without passing through any edge or node repeatedly, then this path is called a loop or a ring. The loop is one of the basic structures of the park railway. Generally, the operation waiting positions of locomotives and the switching of pushing, pulling and coupling methods are all carried out on the road network loop. The above-mentioned undirected graph of the railway can be established with signal lights as nodes and equal-position signal lights and paired signal light pairs as edges.

[0038] Step S101: If it is detected that there is a spatial line overlap in the running lines of two traffic instruments in the same period on the rail line, determine whether there is a parallel opposite track in the same road network loop.

[0039] In the above step S101, the traffic instrument can be a locomotive performing transportation tasks on the industrial park railway. Please refer to Figure 2 and in combination with Figure 3 , Figure 3Schematic diagram of a parallel oncoming lane provided by an embodiment of the present application. Among them, the transportation task of a locomotive corresponds to the planned path of a pair of signal lamp nodes on the road network map. By checking all the edges on this path, if it is an edge on the loop, the other side (parallel edge) of the road network loop can be added to the candidate routing section as a basis for avoidance, that is, the parallel oncoming lane; while for the section between loops, it is regarded as a whole and the corresponding parallel oncoming lane is found.

[0040] In Figure 3 , the parallel oncoming lane can be the object parallel edge of one side in the same road network loop, such as EBCD ∥ DGFE, AFGH ∥ HCBA, DCBE ∥ EFGD, HGFA ∥ ABCH. That is, it can be determined that the parallel oncoming lane of EBCD is DGFE, the parallel oncoming lane of AFGH is HCBA, the parallel oncoming lane of DCBE is EFGD, and the parallel oncoming lane of HGFA is ABCH. The parallel oncoming lane can also be the object parallel edge of one side in different road network loops, such as ABCD ∥ HGFE, DCBA ∥ EFGH. That is, it can be determined that the parallel oncoming lane of ABCD is HGFE, and the parallel oncoming lane of DCBA is EFGH. Among them, EBCD is the track line passing through the four turnouts E, B, C, and D in sequence. EBCD ∥ DGFE means that the track line passing through the turnouts D, G, F, and E in sequence is the object parallel edge of EBCD. Similarly, other letters representing lines are also the track lines passing through each turnout in sequence. It should be understood that the above parallel refers to the relationship that the railway lines are object parallel edges, rather than the parallel relationship in which two straight lines do not intersect at any position in mathematical geometry.

[0041] Step S102: If it is determined that there is a parallel oncoming lane in the same road network loop, change the running line of the first transportation device to the line using the parallel oncoming lane.

[0042] In the above step S102, the first transportation device is selected from one of the two transportation devices. Exemplarily, if it is determined that the lines of the first transportation device and the second transportation device are both ABCD and in the same time period, and there is a line conflict between the two transportation devices at this time, the running line of the first transportation device can be changed to the parallel oncoming lane of ABCD, that is, HGFE, so as to resolve the oncoming conflict between the two transportation devices.

[0043] Through Figure 1It can be seen that the rail transit control method provided by the embodiments of the present application can find the parallel opposite lane of the running line of the traffic instrument as the avoidance point for active avoidance based on the loop structure of the rail line, which can avoid the additional turnout occupation / congestion caused by avoidance, and the avoidance method based on the parallel opposite lane does not depend on the estimation of the operation time of the traffic instrument, thereby improving the transportation efficiency of rail transit and the reliability of rail transit control. In addition, the avoidance method based on the parallel opposite lane can also facilitate the management of the signal light status of the road network loop, and the rail transit control method can be integrated into the red light band and white light band signals of the railway system for conflict detection.

[0044] In an alternative implementation manner of the embodiments of the present application, for the above step S101, the way to confirm that there is a spatial line overlap between two running lines can be:

[0045] Perform line overlap detection based on the vertex identifiers of the undirected graph of the rail line. If there are the same vertex identifiers in the path vertex sequences of the two running lines, it is confirmed that there is a spatial line overlap between the two running lines.

[0046] Among them, the vertex identifier represents the turnout of the rail line; the path vertex sequence includes all vertex identifiers of the running line.

[0047] Specifically, in the path vertex sequence of the running line, pairing two by two before and after can represent the edges passed by the locomotive's planned path. If two consecutive vertex characters are the same (the vertex characters in reverse order are also regarded as the same), it means that the planned paths of the two locomotives overlap or conflict on this edge.

[0048] In addition, it is also possible to obtain the line data of each traffic instrument, such as line coordinate points, and by judging the running time and position of different instruments, compare whether there is the same time period, that is, whether two or more traffic instruments are running on the same line within the same time period. Thus, for two or more traffic instruments with the same time period, by comparing their line data, it is judged whether there is a line overlap situation. For example, a line segment intersection algorithm can be used to judge whether there is an intersection, overlap, etc. between each line segment.

[0049] From the above implementation manner, it can be seen that the coordinates of each vertex in the undirected graph point to a specific position, and the edge represents the connection relationship between the vertices. In the embodiments of the present application, performing line overlap detection based on the vertex identifiers of the undirected graph can quickly determine whether two lines intersect or overlap and improve the efficiency of spatial line overlap detection.

[0050] Please refer to Figure 4 , Figure 4The flowchart provided by the embodiments of this application for determining whether there are parallel opposite tracks in the same road network circle. The implementation method for determining whether there are parallel opposite tracks in the same road network circle may include the following steps:

[0051] Step S400: Based on the road network circle information, establish a mapping table of the road network circle, and associate the road network circle number with the vertex identifier pair in the mapping table.

[0052] In the above step S400, the vertex identifier pair represents the edge between two switches in the road network circle. A switch is a device used to realize the switching and transfer of trains on intersecting or branching lines. Exemplarily, the mapping table of the road network circle can be implemented using different data structures such as hash tables, arrays, linked lists, etc. The mapping table can be represented as an adjacency matrix, adjacency list, and associative array, etc.

[0053] In addition, for the preprocessing and optimization of the mapping table, the union-find set or Tarjan algorithm can be used to pre-compute all the connected components and the nodes and edges they contain, and then calculate all the road network circles in each connected component and store them in the mapping table, so as to avoid a large amount of repeated calculations when searching for road network circles and improve the calculation efficiency.

[0054] Step S401: Based on the vertex identifier pair, search in the mapping table to confirm whether there are parallel opposite tracks in the road network circle.

[0055] In the above step S4, each record in the mapping table contains a vertex identifier and the corresponding node ID. By traversing each node in the road network circle, find the adjacent nodes, that is, the nodes connected to it in the road network circle list. For each adjacent node, respectively search for its corresponding node ID in the mapping table, and determine the direction relationship between the two edges according to the found node ID. By traversing and searching all the vertex identifier pairs in the mapping table, it is determined whether there are parallel opposite tracks in the line corresponding to the vertex identifier pair in the road network circle.

[0056] By Figure 4 It can be seen that the embodiments of this application search and confirm whether there are parallel opposite tracks in the road network circle through the vertex identifier pair in the mapping table, which can effectively identify and input nodes, avoid inaccurate node numbers or position information, improve the detection accuracy and search efficiency, and the implementation method based on the mapping table is relatively simple, easy to program, and can facilitate the analysis and processing of the situation where there are parallel opposite tracks in the road network circle.

[0057] In an alternative implementation of the embodiments of this application, for step S100, the way to obtain the road network circle information of the rail transit can be to search in the undirected graph of the rail transit based on a preset search algorithm, and obtain and return multiple road network circles.

[0058] Among them, the preset search algorithms may include the Depth First Search (DFS) algorithm, the Breadth First Search (BFS) algorithm, etc.

[0059] In the embodiments of this application, taking the use of the depth first search algorithm as an example for illustration, please refer to Figure 5 , Figure 5 which is a flowchart for obtaining the road network loop information of rail transit through the depth first search algorithm provided by the embodiments of this application. The steps for obtaining the road network loop information of rail transit may include:

[0060] Step S500: Start node traversal search from any node in the undirected graph, and record the nodes that have been visited.

[0061] In the above step S500, the depth first search method can be implemented based on recursion or a stack. First, a starting node can be selected, marked as visited, and added to the "to be visited" node queue. Pop a node from the "to be visited" node queue, and traverse all unvisited adjacent nodes of this node. For each adjacent node, mark it as visited and add it to the "to be visited" node queue.

[0062] Step S501: If it is determined that there is no other adjacent node for the currently visited node, then return to the previous node and search whether there is another adjacent node for the previous node.

[0063] In the above step S501, if the current node has unvisited adjacent nodes, then pop it from the "to be visited" node queue, and repeat step S501 until the current node has no unvisited adjacent nodes. If the current node has no unvisited adjacent nodes, then pop it from the "to be visited" queue and return to the upper-level node.

[0064] Step S502: If a previously visited node is searched again, then determine that a road network loop is found and return the search result.

[0065] In the above step S502, the road network loop consists of all nodes that have not returned for search, and the nodes that have not returned for search are the nodes that have not returned to the previous node for search. During the traversal process, if it is found that a certain node has been marked as visited, it means that there is a loop, that is, a road network loop is found. Continue traversing until all nodes have been visited, or a road network loop is found to end the above steps.

[0066] Through Figure 5It can be seen that in the embodiment of the present application, by using the depth-first search algorithm to traverse nodes on an undirected graph to search for road network loops, all nodes can be fully traversed without repeatedly visiting any node, which can ensure the accuracy of the detection and search results. Moreover, only one stack or recursive function is needed to record the path and visited nodes during the traversal process, which is easy to implement programmatically, thereby improving the versatility of the rail transit control method.

[0067] Optionally, after searching in the undirected graph of rail transit based on a preset search algorithm to obtain and return multiple road network loops, the method provided by the embodiment of the present application may further include:

[0068] Number each road network loop and generate a road network loop list to manage the road network loop information based on the road network loop list.

[0069] Among them, the road network loop list is used to represent the correspondence between the road network loop and the number. The road network loop list refers to a data structure that numbers and organizes all the road network loops in the undirected graph according to certain rules to form a list. In the road network loop list, each road network loop is assigned a unique identifier or index number, and at the same time includes the nodes and edges it contains, and may also include some other characteristic attributes, such as length, area, weight, etc. In the road network loop list, each road network loop has a unique ID number indicating its position in the list. At the same time, each road network loop also has attributes such as the number of nodes, the number of edges, length, and area it contains, which can facilitate subsequent data analysis and visualization.

[0070] It can be seen from this that managing the road network loop information based on the road network loop list can effectively distinguish different road network loops, avoid problems such as double counting and misidentification, facilitate the management, query, and update of road network loops, and can visually display the road network loop information in the form of a table or graph, etc., which can improve the accuracy and applicability of data management.

[0071] Optionally, based on the consideration of first come first served, it can be determined that the transportation vehicle that finally arrives at the operating line with overlapping space lines is the first transportation vehicle. The locomotive that arrives first selects the corresponding planned route first, and the vehicle that arrives later selects the parallel opposite lane corresponding to its planned route, thereby actively resolving oncoming conflicts.

[0072] Based on the same inventive concept, the embodiment of the present application also provides a rail transit control device. Please refer to Figure 6 , Figure 6 is a schematic diagram of the rail transit control device provided by the embodiment of the present application. The rail transit control device 600 may include:

[0073] An acquisition module 610 is configured to acquire road network loop information of a rail line; wherein, the road network loop information is information representing nodes and edges of the road network loop, and the road network loop is a closed path formed by rails.

[0074] A detection module 620 is configured to, if it is detected that there is a spatial line overlap in the running lines of two traffic instruments in the same time period on the rail line, determine whether there is a parallel oncoming lane in the same road network loop.

[0075] A control module 630 is configured to, if it is determined that there is a parallel oncoming lane in the same road network loop, change the running line of the first traffic instrument to the line using the parallel oncoming lane; wherein, the first traffic instrument is selected from one of the two traffic instruments.

[0076] In an optional embodiment, the detection module 620 can also be configured to perform line overlap detection based on the vertex identifiers of the undirected graph of the rail line. If there are the same vertex identifiers in the path vertex sequences of two running lines, it is confirmed that there is a spatial line overlap between the two running lines; wherein, the vertex identifier represents the turnout of the rail line; and the path vertex sequence includes all vertex identifiers of the running line.

[0077] In an optional embodiment, the detection module 620 can be specifically configured to establish a mapping table of the road network loop based on the road network loop information, and associate the road network loop number with the vertex identifier pair in the mapping table; wherein, the vertex identifier pair represents the edge between two turnouts in the road network loop; and based on the vertex identifier pair, search and confirm whether there is a parallel oncoming lane in the road network loop in the mapping table.

[0078] In an optional embodiment, the acquisition module 610 can be specifically configured to search in the undirected graph of rail transit based on a preset search algorithm, obtain and return multiple road network loops, wherein the preset search algorithm includes a depth-first search algorithm.

[0079] In an optional embodiment, the acquisition module 610 can be specifically configured to start node traversal search from any node in the undirected graph and record the nodes that have been visited; if it is determined that there is no other adjacent node for the currently visited node, return to the previous node and search whether there is another adjacent node for the previous node; and if a previously visited node is searched again, determine that a road network loop is found and return the search result; wherein, the road network loop is composed of all nodes that have not returned the search.

[0080] In an optional embodiment, the acquisition module 610 can also be configured to number each road network loop and generate a road network loop list to perform data management on the road network loop information based on the road network loop list; wherein, the road network loop list is used to represent the corresponding relationship between the road network loop and the number.

[0081] In an alternative embodiment, the control module 630 may be specifically configured to determine that the first traffic device is the traffic device that last arrives at the running route where there is an overlap in the existing space route.

[0082] Based on the same inventive concept, please refer to Figure 7 , Figure 7 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present application. An electronic device 700 provided by an embodiment of the present application includes: a processor 701 and a memory 702. The memory 702 stores machine-readable instructions executable by the processor 701. When the machine-readable instructions are executed by the processor 701, the above method is executed.

[0083] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium. Computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are read and run by a processor, the steps in any of the above implementation manners are executed.

[0084] The computer-readable storage medium may be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or other various media that can store program codes. Among them, the storage medium is used to store a program. After receiving an execution instruction, the processor executes the program. The method executed by the electronic terminal defined by the process disclosed in any embodiment of the present invention can be applied to the processor or implemented by the processor.

[0085] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical or other form.

[0086] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] Furthermore, in each embodiment of the present application, the various functional modules may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0088] Alternatively, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part.

[0089] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.).

[0090] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0091] The above are only examples of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A rail transit control method, characterized in that, including: obtaining road network loop information of an orbital line; wherein, the road network loop information is information representing nodes and edges of the road network loop, and the road network loop is a closed path composed of tracks; if it is detected that there is a spatial line overlap in the running lines of two traffic instruments in the same time period on the orbital line, then determine whether there are parallel opposite lanes in the same road network loop; if it is determined that there are parallel opposite lanes in the same road network loop, then change the running line of the first traffic instrument to use the line of the parallel opposite lane; wherein, the first traffic instrument is selected from one of the two traffic instruments.

2. The method according to claim 1, characterized in that, wherein, the method for confirming that there is a spatial line overlap between two running lines includes: performing line overlap detection based on the vertex identifiers of the undirected graph of the orbital line. If the same vertex identifier exists in the path vertex sequences of the two running lines, then confirm that there is a spatial line overlap between the two running lines; wherein, the vertex identifier represents the turnout of the orbital line; the path vertex sequence includes all vertex identifiers of the running line.

3. The method according to claim 1, wherein wherein, the step of if it is detected that there is a spatial line overlap in the running lines of two traffic instruments in the same time period on the orbital line, then determine whether there are parallel opposite lanes in the same road network loop includes: establishing a mapping table of the road network loop based on the road network loop information, and associating the road network loop number with the vertex identifier pair in the mapping table; wherein, the vertex identifier pair represents the edge between two turnouts in the road network loop; searching and confirming whether there are parallel opposite lanes in the road network loop based on the vertex identifier pair in the mapping table.

4. The method according to claim 1, wherein wherein, the step of obtaining the road network loop information of the rail transit includes: searching in the undirected graph of the rail transit based on a preset search algorithm, and obtaining and returning multiple road network loops, wherein the preset search algorithm includes a depth-first search algorithm.

5. The method according to claim 4, characterized in that, wherein, the step of searching in the undirected graph of the rail transit based on a preset search algorithm, and obtaining and returning multiple road network loops includes: starting from any node in the undirected graph for node traversal search, and recording the nodes that have been visited; if it is determined that there is no other adjacent node for the currently visited node, then return to the previous node, and search whether there is another adjacent node for the previous node; if a previously visited node is searched again, then determine that a road network loop is found and return the search result; wherein, the road network loop is composed of all nodes that have not returned the search.

6. The method according to claim 4, wherein after obtaining and returning multiple road network loops, the method further includes: numbering each road network loop and generating a road network loop list to perform data management on the road network loop information based on the road network loop list; wherein, the road network loop list is used to represent the corresponding relationship between the road network loop and the number.

7. The method according to claim 1, wherein wherein, the step of if it is determined that there are parallel opposite lanes in the same road network loop, then change the running line of the first traffic instrument to use the line of the parallel opposite lane includes: determining that the traffic instrument that finally reaches the running line with the spatial line overlap is the first traffic instrument.

8. A rail transit control device, characterized in that, including: An acquisition module, configured to acquire road network loop information of a track line; wherein, the road network loop information is information representing nodes and edges of a road network loop, and the road network loop is a closed path formed by tracks; A detection module, configured to, if it is detected that there is a spatial line overlap in the running lines of two traffic instruments in the same time period on the track line, determine whether there is a parallel oncoming lane in the same road network loop; A control module, configured to, if it is determined that there is a parallel oncoming lane in the same road network loop, change the running line of the first traffic instrument to the line using the parallel oncoming lane; wherein, the first traffic instrument is selected from one of the two traffic instruments.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. Program instructions are stored in the memory. When the processor runs the program instructions, the steps in the method according to any one of claims 1-7 are executed.

10. A computer-readable storage medium, characterized in that, Computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are run by a processor, the steps in the method according to any one of claims 1-7 are executed.

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