Train automatic creeping method, vehicle-mounted control system and automatic creeping control system

Abstract

The present application relates to a kind of train automatic peristalsis method, vehicle control system and automatic peristalsis control system.The method includes judging the current running position of train;When determining that train is located in platform section, receive the head image and tail image of train in running state;According to the head image and tail image, it is judged whether the advancing direction of train is consistent with the direction of entering platform;When the advancing direction of train is consistent with the direction of entering platform, control train to peristalsis forward, until train reaches platform;When the advancing direction of train is opposite to the direction of entering platform, control train to peristalsis backward, until train reaches platform.The present application can realize the peristalsis behavior of the advancing peristalsis and the backward peristalsis of train, achieve the purpose of reducing peristalsis time, effectively shorten the time for solving train fault, improve train fault processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of locomotive control technology, and particularly to a method for automatic train creep, an onboard control system, and an automatic creep control system. Background Technology

[0002] In existing technologies, when communication timeouts or failures occur between the VOBC system and TCMS system inside a train, a creeping approach is typically used to mitigate the problem. Specifically, the VOBC system reports the fault to the ATS system. After the ATS dispatcher issues a command to enter creeping mode, the train begins to move forward, propelling it to the platform for maintenance. The drawback of this creeping approach is that it uses a creeping motion regardless of the train's operating status, resulting in a maximum speed of only 5-15 km / h. Even with ATP (Automatic Train Protection) protection in place, this slow speed not only affects other trains in operation but also reduces the efficiency of fault resolution due to the prolonged creeping time. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a train automatic creep method, an on-board control system, and an automatic creep control system to solve the problems of long creep time and reduced train fault handling efficiency in existing systems.

[0004] Firstly, a method for automatic train creeping is provided, the method comprising:

[0005] The system determines the train's current operating position. When the train is located in the platform section, it receives images of the front and rear of the train in operation. Based on these images, it determines whether the train's direction of travel is consistent with the direction of entering the platform. When the train's direction of travel is consistent with the direction of entering the platform, it controls the train to move forward until it reaches the platform. When the train's direction of travel is opposite to the direction of entering the platform, it controls the train to move backward until it reaches the platform.

[0006] In a second aspect, embodiments of the present invention provide an on-board control system, characterized in that the on-board control system includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the automatic train creep method described in the first aspect.

[0007] Thirdly, embodiments of the present invention provide an automatic train creep control system, the system comprising:

[0008] The vehicle-mounted control system and the train traction controller are connected to the vehicle-mounted control system. The vehicle-mounted control system is used to determine the train creep direction according to the automatic creep method described in the first aspect, control the train traction controller, and control the train to run to the destination platform in the creep direction.

[0009] The advantages of this invention compared to the prior art are:

[0010] The automatic train creep method, on-board control system, and automatic creep control system of the present invention determine the train's operating state. Based on the specific operating state of the train, such as when the train is located in a platform section, the forward direction of the train is identified by conditional judgment of the front and rear images of the train. Then, based on the different forward directions of the train, various creep behaviors such as forward creep and backward creep are realized, thereby reducing creep time, effectively shortening the time for resolving train faults, and improving the efficiency of train fault handling. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of an application system of the automatic train creeping method provided in Embodiment 1 of the present invention;

[0013] Figure 2 This is a schematic flowchart of an automatic train creeping method provided in an embodiment of the present invention;

[0014] Figure 2-1 , Figure 2-2 This is a diagram showing the relationship between the train's direction of travel and the platform's position under a certain operating state, provided in Embodiment 1 of the present invention.

[0015] Figure 3 This is a schematic flowchart of an automatic train creeping method provided in an embodiment of the present invention;

[0016] Figure 3-1 , Figure 3-2 This is a diagram showing the relationship between the train's direction of travel and the platform's position under a certain operating state, provided in Embodiment 1 of the present invention.

[0017] Figure 4 This is a schematic flowchart of an automatic train creeping method provided in an embodiment of the present invention;

[0018] Figure 4-1 , Figure 4-2 , Figure 4-3 , Figure 4-4 This is a diagram showing the relationship between the train's direction of travel and the platform's position under different operating conditions, provided by an embodiment of the present invention.

[0019] Figure 5 This is a schematic diagram of the structure of an on-board control system provided in an embodiment of the present invention. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0021] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0022] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0024] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] It should be understood that the sequence number of each step in the following embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0027] To illustrate the technical solution of the present invention, specific embodiments are described below.

[0028] The automatic creeping method for trains provided in Embodiment 1 of this invention can be applied to, for example... Figure 1 The train automatic creep control system in the application environment includes an automatic train monitoring system (ATS system, Automatic Train Supervision), an on-board control system (VOBC system, vehicle on-board controller, including creep algorithm module and on-board image recognition module), and a train traction controller. The creep algorithm module of the VOBC system is communicatively connected to the ATS system, the on-board image recognition module of the VOBC system, and the train traction controller.

[0029] When a communication timeout or failure occurs between the VOBC system and the TCMS (Train Control and Management System) inside the train, causing the train to malfunction and become unable to operate normally, the VOBC system sends a request to the ATS system to switch to creep driving mode. Upon receiving the request, the ATS system controls the train to enter creep driving mode. The automatic creep module in the ATS system sends train timetable data and turnout data to the creep algorithm module of the VOBC system. The onboard image recognition module of the VOBC system sends train image data to the creep algorithm module. The creep algorithm module of the VOBC system determines the creep direction of the train according to the automatic creep method described in the following embodiment, controls the train traction controller, and then controls the train to run to the destination platform in the creep direction.

[0030] The ATS, VOBC, and TCMS systems mentioned above are different servers, and each server can be implemented using an independent server or a server cluster composed of multiple servers.

[0031] See Figure 2 This is a schematic flowchart of a train automatic creep method according to an embodiment of the present invention. The above-described train automatic creep method can be applied to... Figure 1 The VOBC system in the text, the automatic train creep method may include the following steps:

[0032] Step S201: After receiving the command to enter the creep driving mode, determine the current running position of the train to determine whether the train in operation is located in the platform section.

[0033] The methods for determining whether a train in operation is located in the platform area include:

[0034] The system acquires train timetable data sent by the ATS system and position data sent by the train's position sensors. Based on the train's current running position in the position data and the platform section information in the train timetable data, it calculates the distance between the train's current running position and the nearest platform. If the distance is within a set threshold, it determines that the train is located in the platform section.

[0035] Step S202: When it is determined that the train in operation is located in the platform section, receive the front and rear images of the train in operation.

[0036] The images of the train's front and rear are captured by an image acquisition device installed at the front of the train, while the images of the rear are captured by an image acquisition device installed at the rear of the train. The image acquisition devices then send the captured front and rear images to the onboard image recognition module.

[0037] Step S203: Based on the front and rear images of the train, determine whether the train's direction of travel is consistent with the direction of entering the platform.

[0038] One method for determining whether the train's direction of travel is consistent with the direction of entering the platform includes:

[0039] The train's front and rear images are input into a trained train direction recognition network. When the train direction recognition network extracts a platform feature map from the front image but cannot extract a platform feature map from the rear image, it outputs that the train's forward direction is consistent with the direction of entering the platform.

[0040] If the train direction recognition network cannot extract the platform feature map from the front image but extracts the platform feature map from the rear image, it outputs that the train's forward direction is opposite to the direction of entering the platform.

[0041] In this step, the train direction recognition network (stored in the on-board image recognition module) uses the CNN convolutional neural network algorithm to recognize the platform departure feature maps of the input front and rear images of the train, thereby determining the directional relationship between the train's running direction and the platform.

[0042] For example, such as Figure 2-1 As shown in the figure, the boxes represent platforms, the straight lines represent tracks, and the arrows represent the direction of train travel. The direction from the train as the starting point to the target platform facing the front of the train as the ending point is defined as the direction of entering the platform (this definition is used in this embodiment and the following embodiments). The image acquisition devices located at the front and rear of the train send the acquired front and rear images to the train direction recognition network. When the train direction recognition network extracts the platform feature map, if it cannot extract the platform feature map from the front image but can extract the platform feature map from the rear image, it outputs that the train's forward direction is opposite to the direction of entering the platform.

[0043] like Figure 2-2 As shown, when the train is moving towards the station, the train direction recognition network extracts platform feature maps from the input front and rear images of the train. If the platform feature map cannot be extracted from the rear image but can be extracted from the front image, then the output train's forward direction is consistent with the direction of entering the station.

[0044] Step S204: When the train's forward direction is consistent with the direction of entering the platform, control the train to creep forward until the train reaches the platform; when the train's forward direction is opposite to the direction of entering the platform, control the train to creep backward until the train reaches the platform.

[0045] The automatic train creep method in this embodiment determines the train's operating status. When the train is in a special operating state (i.e., platform section), it determines the train's forward direction based on the images of the front and rear of the train. Based on the different forward directions, it controls the train's creep direction to achieve high-speed forward and backward creep, shortening the creep time. This can effectively shorten the processing time for resolving communication faults between the train's VOBC system and TCMS system.

[0046] See Figure 3 This is a flowchart illustrating an automatic train creeping method according to an embodiment of the present invention. The automatic train creeping method may include the following steps:

[0047] Step 301: Upon receiving the command to enter the creep driving mode, determine the current operating position of the train to determine whether the train in operation is located in a non-platform section and whether the train is located between the platform and the switching track or turnaround track.

[0048] The methods for determining whether a train in operation is located in a non-platform section include:

[0049] The system acquires train timetable data sent by the ATS system and position data sent by the train's position sensors. Based on the train's current running position in the position data and the platform section information in the train timetable data, it calculates the distance between the train's current running position and the nearest platform. If the distance is greater than a set threshold, it determines that the train is located in a non-platform section.

[0050] In this step, the methods for determining whether the train is located between the platform and the switching or turning track include:

[0051] If, by analyzing train timetable data, it is determined that there is a platform on one side of the train and a switching track or turnaround track on the other side, the train can be located between the platform and the switching track or turnaround track.

[0052] Step S302: When it is determined that the train in operation is located in a non-platform section and the train is located between the platform and the switching track or turnaround track, the train's front and rear images in operation are received.

[0053] Step S303: Based on the front and rear images of the train, determine whether the train's direction of travel is consistent with the direction of entering the platform.

[0054] Step S304: When the train's forward direction is consistent with the direction of entering the platform, control the train to creep forward until the train reaches the platform; when the train's forward direction is opposite to the direction of entering the platform, control the train to creep backward until the train reaches the platform.

[0055] Steps S302 to S304 in this embodiment are similar to steps S202 to S204 in the previous embodiment, and therefore will not be described in detail.

[0056] The difference between this embodiment and the previous embodiment is that the automatic train creep method in the previous embodiment was for a creep application scenario where the train is located in the platform section, while the automatic train creep method in this embodiment is for a creep application scenario where the train is located in a non-platform section and between the platform and the transfer rail or turnaround rail.

[0057] The method in this embodiment is the same as that in the previous embodiment, whether the train is in a creeping application scenario in a platform section or in a creeping application scenario in a non-platform section and between a platform and a switching track or turnaround track, it is necessary to determine the train's forward direction through the front and rear images, and determine the creeping direction of the train based on the forward direction of the train. It may creep forward or backward, and the judgment conditions for creeping forward or backward are consistent.

[0058] For example, such as Figure 3-1 As shown in the diagram, the boxes represent platforms, all straight and diagonal lines represent tracks, and the arrows indicate the train's direction of travel. Following step 301 above, the distance between the train's current position and the nearest platform can be calculated. If this distance is greater than a set threshold, the train is determined to be located in a non-platform section. Furthermore, if the analysis of the train timetable data indicates that one side of the train is a turnaround track and the other side is a platform, the train can be determined to be between the platform and the switching or turnaround track. Then, based on the received images of the front and rear of the train, it can be determined that the train's direction of travel is consistent with the direction of entering the platform. Therefore, the train is controlled to creep forward until it reaches the platform.

[0059] Similarly, such as Figure 3-2 As shown, following step 301 above, it can still be determined that the train is located in a non-platform section and is between the platform and the switching or turning track. Then, based on the received front and rear images, it can be determined that the train's direction of travel is inconsistent with the direction of entering the platform. After controlling the train to creep towards the platform, the next train running towards the platform is notified to stop at the previous station.

[0060] The automatic train creep method in this embodiment determines the train's operating status. When the train is in a second special operating state (i.e., in a non-platform section and between a platform and a switching or turning track), the train's forward direction is determined based on the images of the front and rear of the train. The creep direction of the train is controlled according to the different forward directions to achieve high-speed forward and backward creep, shorten the creep time, and thus effectively shorten the processing time for resolving communication failures between the train's VOBC system and TCMS system.

[0061] See Figure 4 This is a flowchart illustrating an automatic train creeping method according to an embodiment of the present invention. The method may include the following steps:

[0062] Step S401: Determine the current running position of the train to determine whether the train in operation is located in a non-platform section and whether the train is located between at least two platforms.

[0063] The methods for determining whether a train in operation is located in a non-platform section include:

[0064] The system acquires train timetable data sent by the ATS system and position data sent by the train's position sensors. Based on the train's current running position in the position data and the platform section information in the train timetable data, it calculates the distance between the train's current running position and the nearest platform. If the distance is greater than a set threshold, it determines that the train is located in a non-platform section.

[0065] In this step, the methods for determining whether the train is located between at least two platforms include:

[0066] Based on the train's current location, identify the platforms that are relatively close to the train's current location in the train timetable data, and determine the number of platforms. If the number of platforms is greater than or equal to 2, and at least one platform is located on each side of the train, then the train is determined to be located between at least two platforms.

[0067] For example, such as Figure 4-1 As shown, following the aforementioned method for determining non-platform sections, the distance between the train's current position and the nearest platform (the platform on the left) can be calculated. If this distance is greater than a set threshold, the train can be determined to be located in a non-platform section. Furthermore, in the train timetable data, two platforms can be identified that are relatively close to the train's current position and are located in front of and behind the train, indicating that the train is located between these two platforms. Similarly, as... Figure 4-2 As shown, it can be determined that the train is located in a non-platform section and that the train is located between three platforms; Figure 4-3 and Figure 4-4 As shown, it can be determined that the train is located in a non-platform section and that the train is located between the four platforms.

[0068] Step S402: When it is determined that the train in operation is located in a non-platform section and the train is located between at least two platforms, determine whether there is a turnout in the current operating section of the train based on the current operating position of the train and the turnout information of the current operating section.

[0069] The train's turnout information is obtained from the CI system (Computer Interlocking System). Combined with the train's current operating position, it can determine whether a turnout exists. Figure 4-1 and Figure 4-2 As shown, it can be determined that there are no switches in the current operating section of the train, such as... Figure 4-3 and Figure 4-4 As shown, it can be determined that there is a turnout in the current operating section of the train.

[0070] Step S403A: When it is determined that there are no switches in the current operating section of the train, the distances of the train from the two platforms are determined according to the current operating position of the train and the positions of the two platforms. Combined with the preset train traction extreme position, the time for the train to move forward to reach one platform and the time for moving backward to reach the other platform are calculated, and the shorter time is selected.

[0071] The preset train traction extreme position is determined based on the weather recognition results. In one example, the weather can be determined by performing weather recognition on the train's front or rear images based on the train direction recognition network in the first embodiment.

[0072] Step 404A: Take the platform direction of the shorter time as the preferred direction of train creep, and determine whether the preferred direction of creep is the front or rear direction of the train.

[0073] For example, such as Figure 4-1 As shown, according to step 403A, the time it takes for the train to creep to the platform on the left and right sides can be calculated respectively. After comparison, since the creeping time to the platform on the left is the shortest, the direction of the platform on the left is the preferred creeping direction of the train, and it can be determined that the preferred creeping direction is the rear of the train.

[0074] like Figure 4-2 As shown, it can be determined that the direction of the middle platform is the preferred direction of creep for both the left and right trains, and it can be determined that the preferred direction of creep for the left train is the front direction, and the preferred direction of creep for the right train is the rear direction.

[0075] Step 405A: When it is determined that the preferred direction of the creep is the direction of the train head, control the train to creep in the direction of the train head until the train reaches a platform on one side.

[0076] For example, due to Figure 4-2 The preferred direction for the left-hand train to creep is the direction of the locomotive's head. The train can be controlled to creep in the direction of the locomotive's head until it reaches the middle platform.

[0077] Step 406A: When it is determined that the preferred direction of the creep is the rear direction, determine whether there are other trains entering the station on the other side of the platform during the train creep according to the train operation plan information.

[0078] For example, due to Figure 4-1 The preferred direction for the creeping movement of a medium-sized train is the rear direction. Figure 4-2 The preferred direction for the right-hand train to creep along is the rear of the train. Therefore, it is necessary to use train operation plan information to determine whether there are other trains entering the station when the train creeps to the platform.

[0079] Step 407A: If it is determined that no other trains are entering the station, the train is controlled to creep towards the rear of the train until it reaches the other platform; if it is determined that other trains are entering the station, the train is controlled to creep towards the front of the train until it reaches the other platform.

[0080] Optionally, after step S402, the above-described automatic train creep method further includes:

[0081] Step 403B: When it is determined that there is a turnout in the current operating section of the train, determine whether the train has a turnout passing plan based on the train operation plan information.

[0082] For example, such as Figure 4-3 As shown and Figure 4-4 As shown, train operation plan information is obtained respectively, and it is checked whether the operation plan information contains a turnout crossing plan.

[0083] Step S404B: When it is determined that the train is scheduled to pass a turnout, determine whether the train has already passed the turnout based on the train's current running position; if the train has already passed the turnout or is on the turnout, control the train to creep forward.

[0084] For example, such as Figure 4-3 and Figure 4-4 As shown, both diagrams show trains with planned turnouts, but by comparing the train's current position with the turnout position, it can be determined that... Figure 4-3 The train is currently at the switch. Figure 4-4 The train in the middle has not yet passed the switch, therefore control Figure 4-3 The train crawled forward.

[0085] In step S405B, if it is determined that the train has not yet passed the turnout, then based on the current running position of the train, calculate the distances to the platform in the rear direction, the platform in the forward direction of the turnout, and the platform in the reverse direction of the turnout, respectively. Combined with the preset train traction extreme position, calculate the time for the train to creep towards the platform in the rear direction, the platform in the forward direction of the turnout, and the platform in the reverse direction of the turnout, respectively, and select the shortest time.

[0086] like Figure 4-4 As shown, according to step S404B, it can be determined that the train has not yet passed the turnout. Therefore, the platform where the train arrives at the rear is the lower left platform, the platform where the train arrives at the front is the upper right platform, and the platform where the train arrives at the front is the lower right platform. The distances to these three platforms can be calculated respectively.

[0087] In this step, the preset train traction extreme position is used to determine the train's traction force, which can obtain the train speed corresponding to the traction force. Based on the ratio of each distance to the train speed, the time for the train to creep towards the platform in the rear direction, the time for the train to creep towards the platform in the forward direction of the turnout, and the time for the train to creep towards the platform in the reverse direction of the turnout can be calculated respectively.

[0088] Step 406B: Take the platform direction with the shortest time as the preferred creeping direction. According to the train operation plan information, determine whether other trains will enter the station during the period when the train creeps to the destination platform in the preferred creeping direction. If it is determined that no other trains will enter the station, control the train to creep in the preferred creeping direction until it reaches the destination platform.

[0089] Optionally, after step S405B, the above-mentioned automatic train creep method further includes:

[0090] Step S406C: The platform direction with the shortest time is selected as the preferred direction of creep. Based on the train operation plan information, it is determined whether other trains enter the station during the period when the train creeps to the destination platform in the preferred direction of creep. If it is determined that other trains enter the station, the platform direction with the second shortest time is selected as the first alternative direction from the time when the train creeps towards the platform in the rear direction, the time when it creeps towards the platform in the forward direction of the turnout, and the time when it creeps towards the platform in the reverse direction of the turnout.

[0091] For example, such as Figure 4-4 As shown, according to steps 405B and 406B, the upper right station position direction is determined as the preferred direction for creeping. However, by checking the train operation plan information, it is confirmed that other trains enter the station during the period when the train creeps to the destination platform in the upper right station position direction. Therefore, the lower right platform direction with the calculated second shortest creeping time is taken as the first alternative direction.

[0092] Step S407C: Based on the train operation plan information, determine whether any other trains will enter the station during the period when the train is crawling towards the destination platform in the first alternative direction. If it is determined that no other trains will enter the station, control the train to crawl towards the first alternative direction until it reaches the destination platform.

[0093] Optionally, after step S406C, the above-mentioned automatic train creep method further includes:

[0094] Step S407D: Based on the train operation plan information, determine whether other trains enter the station during the period when the train is crawling to the destination platform in the first alternative direction. If it is determined that other trains enter the station during the period when the train is crawling to the destination platform in the first alternative direction, select the platform with the longest crawling time as the second alternative direction from the following: the time when the train crawls towards the platform in the rear direction, the time when it crawls towards the platform in the correct position of the turnout in the front direction, and the time when it crawls towards the platform in the opposite position of the turnout in the front direction.

[0095] For example, such as Figure 4-4 As shown, after selecting the lower right platform direction as the first alternative direction according to step S406C, by comparing the train operation plan information, it is confirmed that other trains enter the station during the period when the train crawls to the lower right platform. Then, the last platform, namely the lower left platform direction, is selected as the second alternative direction.

[0096] S408D: Based on the train operation plan information, determine whether any other trains enter the station during the period when the train is crawling towards the destination platform in the second alternative direction. If it is determined that no other trains enter the station, control the train to crawl in the second alternative direction until it reaches the destination platform.

[0097] The automatic train creep method in this embodiment determines the train's operating status. When the train is in a special third-class operating state (non-platform section, between platforms, or with or without a turnout), it calculates the creep time to each selected platform based on the train's position, distance from both sides of the platform, and the train's traction extreme position. The shortest creep time is selected as the preferred creep direction. Depending on whether the preferred creep direction is the front or rear of the train, the train is controlled to creep towards the destination platform, achieving high-speed forward and backward creep, shortening the creep time, and thus effectively reducing the processing time for resolving communication faults between the train's VOBC system and TCMS system.

[0098] Figure 5 This is a schematic diagram of the structure of a vehicle-mounted control system according to an embodiment of the present invention. Figure 5 As shown, the vehicle control system of this embodiment includes: at least one processor ( Figure 5 Only one is shown in the diagram), a memory, and a computer program stored in the memory and executable on at least one processor, which, when executed by the processor, implements the steps in any of the above embodiments of the automatic train creep method.

[0099] This computer device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 5This is merely an example of an in-vehicle control system and does not constitute a limitation on in-vehicle control systems. In-vehicle control systems may include more or fewer components than shown in the figure, or combinations of certain components, or different components, such as network interfaces, displays, and input devices.

[0100] The processor referred to can be a CPU, but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0101] The memory includes readable storage media, internal memory, etc., wherein the internal memory can be the RAM of a computer device (i.e., the aforementioned vehicle control system), providing an environment for the operation of the operating system and computer-readable instructions stored in the readable storage media. The readable storage media can be the hard drive of the computer device, or in some embodiments, it can be an external storage device of the computer device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, or a Flash Card. Furthermore, the memory can include both internal storage units and external storage devices of the computer device. The memory is used to store the operating system, applications, a bootloader, data, and other programs, such as the program code of a computer program. The memory can also be used to temporarily store data that has been output or will be output.

[0102] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0103] The present invention can implement all or part of the processes in the methods of the above embodiments, or it can be accomplished by a computer program product. When the computer program product is run on a computer device, the computer device executes the steps in the above method embodiments.

[0104] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0105] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0106] In the embodiments provided by this invention, it should be understood that the disclosed computer devices and methods can be implemented in other ways. For example, the computer device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0107] The units described as separate components may or may not be physically separate. 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 to achieve the purpose of this embodiment according to actual needs.

[0108] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for automatic train creeping, characterized in that, The automatic train creeping method includes: Determine the train's current location; When it is determined that the train is located in the platform section, receive the front and rear images of the train in operation; Based on the images of the front and rear of the train, determine whether the train's direction of travel is consistent with the direction of entering the platform; When the train's direction of travel is the same as the direction of entering the platform, the train is controlled to creep forward until it reaches the platform; when the train's direction of travel is opposite to the direction of entering the platform, the train is controlled to creep backward until it reaches the platform. Based on the images of the front and rear of the train, determine whether the train's direction of travel is consistent with the direction of entering the platform, including: The front and rear images of the train are input into the trained train direction recognition network. When the train direction recognition network extracts the platform feature map from the front image but cannot extract the platform feature map from the rear image, it outputs that the train's forward direction is consistent with the direction of entering the platform. The front image is obtained by an image acquisition device set at the front of the train, and the rear image is obtained by an image acquisition device set at the rear of the train. If the train direction recognition network cannot extract the platform feature map from the front image but extracts the platform feature map from the rear image, it outputs that the train's forward direction is opposite to the direction of entering the platform.

2. The automatic train creeping method according to claim 1, characterized in that, The automatic train creeping method also includes: When it is determined that the train is located in a non-platform section and between the platform and the switching track or turnaround track, the train's front and rear images are received while it is in operation. Based on the images of the front and rear of the train, determine whether the train's direction of travel is consistent with the direction of entering the platform; When the train's direction of travel is the same as the direction of entering the platform, the train is controlled to creep forward until it reaches the platform; when the train's direction of travel is opposite to the direction of entering the platform, the train is controlled to creep backward until it reaches the platform.

3. The automatic train creeping method according to claim 1, characterized in that, The automatic train creeping method also includes: When it is determined that the train is located in a non-platform section and between at least two platforms, the presence of a turnout in the current operating section is determined based on the train's current operating position and the turnout information of the current operating section. When it is determined that there are no switches in the current operating section of the train, the distances of the train from the two platforms are determined according to the current operating position of the train and the positions of the two platforms. Combined with the preset train traction extreme position, the time for the train to move forward to reach one platform and the time for moving backward to reach the other platform are calculated, and the shorter time is selected. The direction of the platform on one side of the shorter time is taken as the preferred direction of the train's creep, and it is determined whether the preferred direction of creep is the direction of the front or the direction of the rear of the train. When it is determined that the preferred direction of the creep is the direction of the train head, the train is controlled to creep in the direction of the train head until the train reaches a platform on one side. When it is determined that the preferred direction of the creep is the rear of the train, the train operation plan information is used to determine whether other trains are entering the station on the other side of the platform during the train creep. If it is determined that no other trains are entering the station, the train is controlled to creep towards the rear of the train until it reaches the platform on the other side; if it is determined that other trains are entering the station, the train is controlled to creep towards the front of the train until it reaches the platform on that side.

4. The automatic train creeping method according to claim 3, characterized in that, The automatic train creeping method also includes: When it is determined that there is a turnout in the current operating section of the train, it is determined whether the train has a plan to pass through the turnout based on the train operation plan information; When it is determined that the train is scheduled to pass a turnout, it is determined whether the train has already passed the turnout based on the train's current running position; if the train has already passed the turnout or is on the turnout, the train is controlled to creep forward. If the train has not yet passed the turnout, based on the train's current running position, calculate the distances to the platform in the rear direction, the platform in the forward direction of the turnout, and the platform in the reverse direction of the turnout. Combined with the preset train traction extreme position, calculate the time for the train to creep towards the platform in the rear direction, the platform in the forward direction of the turnout, and the platform in the reverse direction of the turnout, and select the shortest time. The platform direction with the shortest travel time is taken as the preferred direction of creep. Based on the train operation plan information, it is determined whether other trains will enter the station during the period when the train creeps to the destination platform in the preferred direction of creep. If it is determined that no other trains will enter the station, the train is controlled to creep in the preferred direction of creep until it reaches the destination platform.

5. The automatic train creeping method according to claim 4, characterized in that, The automatic train creeping method also includes: If it is determined that another train is entering the station, the platform direction with the shortest time is selected as the first alternative direction from the time the train moves towards the platform in the direction of the rear of the train, the time it moves towards the platform in the direction of the turnout in the direction of the front of the train, and the time it moves towards the platform in the direction of the turnout in the direction of the front of the train. Based on the train operation plan information, it is determined whether other trains enter the station during the period when the train is crawling to the destination platform in the first alternative direction. If it is determined that no other trains enter the station, the train is controlled to crawl in the first alternative direction until it reaches the destination platform.

6. The automatic train creeping method according to claim 5, characterized in that, The automatic train creeping method also includes: If it is determined that other trains enter the station during the period when the train is crawling to the destination platform in the first alternative direction, the platform with the longest crawling time is selected as the second alternative direction from the time when the train crawls to the platform in the rear direction, the time when it crawls to the platform in the correct position of the turnout in the front direction, and the time when it crawls to the platform in the opposite position of the turnout in the front direction. Based on the train operation plan information, it is determined whether other trains enter the station during the period when the train is crawling to the destination platform in the second alternative direction. If it is determined that no other trains enter the station, the train is controlled to crawl in the second alternative direction until it reaches the destination platform.

7. The automatic train creeping method according to claim 1, characterized in that, The automatic train creeping method also includes: When it is determined that the train is located in a non-platform section and between each platform and the switching track or turnaround track, determine whether there is a turnout in the current operating section of the train; When it is determined that there is a turnout in the current operating section of the train, the distance of the train from each platform is determined according to the current operating position of the train and the position of each platform. Combined with the preset train traction extreme position, the time for the train to creep to each platform is calculated, and the shortest time is selected. The platform direction with the shortest time is taken as the preferred direction of train creep, and it is determined whether the preferred direction of creep is the direction of the front or the direction of the rear of the train. When it is determined that the preferred direction of the creep is the direction of the train head, the train is controlled to creep in the direction of the train head until the train reaches the platform in the direction of the train head. When it is determined that the preferred direction of the creep is the rear of the train, the train operation plan information is used to determine whether other trains will enter the station at other platforms during the train creep period. If it is determined that no other trains are entering the station, the train is controlled to creep towards the rear of the train until it reaches the platform in that direction; if it is determined that other trains are entering the station, the train is controlled to creep towards the platform selected for the next shortest time until it reaches the platform.

8. A vehicle-mounted control system, characterized in that, The on-board control system includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the automatic train creep method as described in any one of claims 1 to 7.

9. A train automatic creep control system, characterized in that, The system includes: Onboard control system and train traction controller; the train traction controller is connected to the onboard control system; The on-board control system is used to determine the train creep direction according to the automatic train creep method according to any one of claims 1 to 7, control the train traction controller, and control the train to run to the destination platform according to the creep direction.

10. The train automatic creep control system according to claim 9, characterized in that, Also includes: An automatic train monitoring system is connected to the onboard control system. When an operational malfunction occurs in the train, the onboard control system sends a request to the automatic train monitoring system to switch to a creep driving mode. After receiving the request, the automatic train monitoring system controls the train to enter the creep driving mode and sends train timetable data and turnout data to the onboard control system.

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