Control method of vehicle, vehicle-mounted controller, system, storage medium, and vehicle

Abstract

The present disclosure relates to a vehicle control method, a vehicle-mounted controller, a system, a storage medium and a vehicle, which, in the case of abnormal communication between the vehicle and a ground resource manager, determines a vehicle state of the vehicle in response to a first mobile authorization instruction sent by an ATS, acquires position information of the vehicle and a target distance between the vehicle and a target object in front of the vehicle in the case that the vehicle state is a stop state, sends a vehicle control instruction message to the ATS, and controls the vehicle to travel in response to feedback of the ATS according to the vehicle control instruction message. In this way, the vehicle-mounted controller can acquire the vehicle control instruction message and send the vehicle control instruction message to the ATS, and the ATS can provide more detailed information to a dispatcher according to the vehicle control instruction message, so that the dispatcher can control the vehicle more accurately.

Description

Technical Field

[0001] This disclosure relates to the field of rail transit technology, specifically to a vehicle control method, on-board controller, system, storage medium, and vehicle. Background Technology

[0002] In TACS (Train Autonomous Circumambulate System), which is based on vehicle-to-vehicle communication, if the communication between the onboard controller and the ground resource manager is abnormal when the train is running fully autonomously, the train will be unable to obtain the status information of trackside resources (such as switches or platforms) (such as the locking status of switches) from the ground resource manager. At this time, when the train travels near a switch or platform, it will stop running because it cannot obtain the status information of the switch or platform. It will wait for the dispatcher to issue a movement authorization command through ATS (Automatic Train Supervision) to instruct the vehicle to advance a specified distance, thereby controlling the vehicle to travel at the specified distance.

[0003] In related technologies, the ATS displays the vehicle's operating routes and train numbers to the dispatcher. The dispatcher can then issue movement authorization instructions through the ATS based on the displayed routes and train numbers. However, issuing movement authorization instructions based on the displayed routes and train numbers cannot accurately control the vehicle's movement and may lead to collisions or interference with other vehicles. Therefore, issuing movement authorization instructions through the aforementioned technologies cannot accurately control the vehicle. Summary of the Invention

[0004] In order to solve the above problems, the purpose of this disclosure is to provide a vehicle control method, an on-board controller, a system, a storage medium, and a vehicle.

[0005] To achieve the above objectives, in a first aspect, this disclosure provides a vehicle control method applied to an on-board controller, the method comprising:

[0006] In the event of a communication failure with the ground resource manager, a first movement authorization instruction is sent in response to the ATS; the first movement authorization instruction instructs the vehicle to travel a first specified distance.

[0007] Determine the vehicle status, which includes: stopped state and moving state;

[0008] When the vehicle is in a stopped state, obtain the vehicle's position information and the target distance between the vehicle and the target object in front of the vehicle;

[0009] Send a vehicle control instruction message to the ATS; the vehicle control instruction message includes the vehicle's location information and the target distance;

[0010] In response to feedback from the ATS based on the vehicle control instruction message, the ATS controls the vehicle to move.

[0011] Optionally, the method further includes:

[0012] In the event of a communication failure with the ground resource manager, an error notification message is sent to the ATS; the error notification message is used to instruct the ATS to send the first mobility authorization instruction to the vehicle controller.

[0013] Optionally, the step of controlling the vehicle's movement in response to feedback from the ATS based on the vehicle control instruction message includes:

[0014] In response to receiving a second mobility authorization command from the ATS, the system controls the vehicle to travel at the target distance indicated by the vehicle control instruction message; the second mobility authorization command is triggered after the dispatcher performs a confirmation operation on the vehicle control instruction message; or...

[0015] In response to receiving a third mobility authorization instruction sent by the ATS, the system controls the vehicle to travel at a second specified distance indicated by the third mobility authorization instruction; the third mobility authorization instruction is an instruction triggered by the dispatcher performing an update operation on the target distance in the vehicle control instruction message, and the update operation is used to update the target distance to the second specified distance.

[0016] Optionally, the step of controlling the vehicle's movement in response to feedback from the ATS based on the vehicle control instruction message includes:

[0017] If no feedback is received from the ATS after a preset time period, the vehicle is controlled to stop.

[0018] Optionally, the target object includes a turnout or a platform. If the target object is a turnout, the target distance is the distance between the vehicle and the turnout control area; if the target object is a platform, the target distance is the distance between the vehicle and the end of the platform.

[0019] Optionally, the target object includes a turnout, and the method further includes:

[0020] A turnout status notification message is sent to the ATS, which is used to prompt the ATS to switch the turnout status to the locked state.

[0021] Optionally, the method further includes:

[0022] When the vehicle is in a driving state, obtain the safe driving distance;

[0023] The target driving distance is determined from the safe driving distance and the first specified distance;

[0024] Control the vehicle to travel the target distance.

[0025] Optionally, determining the target driving distance from the safe driving distance and the first specified distance includes:

[0026] The minimum distance between the safe driving distance and the first specified distance shall be taken as the target driving distance.

[0027] Secondly, this disclosure provides a vehicle control method applied to an ATS, the method comprising:

[0028] In the event of a communication failure between the vehicle controller and the ground resource manager, a first movement authorization command is sent to the vehicle controller; the first movement authorization command is used to instruct the vehicle to travel a first specified distance.

[0029] The system receives a vehicle control instruction message sent by the vehicle controller; the vehicle control instruction message is sent by the vehicle controller when it determines that the vehicle status is stopped according to the first movement authorization instruction; the vehicle control instruction message includes the vehicle's location information and the target distance of the target object in front of the vehicle; the vehicle status includes: stopped state and moving state;

[0030] In response to the dispatcher's control operation on the vehicle control instruction message, the vehicle is controlled to move via the on-board controller.

[0031] Optionally, the method further includes:

[0032] Obtain the abnormal notification message sent by the vehicle controller; the abnormal notification message is sent by the vehicle controller when there is a communication abnormality between the vehicle controller and the ground resource manager;

[0033] Sending the first mobility authorization command to the vehicle controller includes:

[0034] The first mobility authorization command is sent to the vehicle controller according to the abnormality notification message.

[0035] Optionally, in response to a dispatcher's control operation on the vehicle control instruction message, controlling the vehicle's movement via the onboard controller includes:

[0036] The process of obtaining the control operation triggered by the dispatcher based on the displayed control prompt message, and controlling the vehicle's movement through the vehicle controller according to the control operation, includes:

[0037] If the control operation is a confirmation operation by the dispatcher of the vehicle control instruction message, a second movement authorization command is sent to the vehicle controller. This second movement authorization command instructs the vehicle controller to control the vehicle to travel the target distance indicated by the vehicle control instruction message; or...

[0038] In the case where the control operation is the dispatcher's update operation on the target distance in the vehicle control instruction message, a third movement authorization instruction is sent to the vehicle controller. The third movement authorization instruction is used to instruct the vehicle controller to control the vehicle to travel at a second specified distance indicated by the third movement authorization instruction. The update operation is used to update the target distance to the second specified distance.

[0039] Optionally, the target object includes a turnout, and the method further includes:

[0040] Receive the turnout status prompt message sent by the vehicle controller;

[0041] In response to the locking operation triggered by the dispatcher based on the turnout status prompt message, the state of the turnout is switched to the locked state.

[0042] Thirdly, this disclosure provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method described above.

[0043] Fourthly, this disclosure provides an on-board controller, including:

[0044] A memory on which computer programs are stored;

[0045] A processor is configured to execute the computer program in the memory to implement the steps of the vehicle control method disclosed in the first aspect above.

[0046] Fifthly, this disclosure provides an automatic train monitoring system, comprising:

[0047] A memory on which computer programs are stored;

[0048] A processor is configured to execute the computer program in the memory to implement the steps of the vehicle control method disclosed in the second aspect above.

[0049] Sixthly, this disclosure provides a vehicle including the aforementioned on-board controller.

[0050] Through the above technical solution, in the event of a communication anomaly with the ground resource manager, the system responds to a first movement authorization command sent by the ATS. This first movement authorization command instructs the vehicle to travel at a first specified distance. The system determines the vehicle's status, including both a stopped state and a moving state. If the vehicle is stopped, the system acquires the vehicle's location information and the target distance between the vehicle and a target object ahead. A vehicle control instruction message is sent to the ATS, including the vehicle's location information and the target distance. In response to feedback from the ATS based on the vehicle control instruction message, the system controls the vehicle to move. In this way, the onboard controller can acquire the vehicle control instruction message and send it to the ATS. The ATS then provides the dispatcher with more detailed information based on the vehicle control instruction message, enabling the dispatcher to control the vehicle more accurately.

[0051] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0052] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0053] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0054] Figure 2 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment.

[0055] Figure 3 This is a flowchart illustrating yet another vehicle control method according to an exemplary embodiment.

[0056] Figure 4 This is a structural block diagram of a vehicle control device according to an exemplary embodiment.

[0057] Figure 5 This is a structural block diagram of another vehicle control device according to an exemplary embodiment.

[0058] Figure 6 This is a block diagram of an on-board controller according to an exemplary embodiment.

[0059] Figure 7 This is a block diagram of an automatic train monitoring system according to an exemplary embodiment.

[0060] Figure 8This is a block diagram of a vehicle apparatus according to an exemplary embodiment. Detailed Implementation

[0061] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0062] In related technologies, when a vehicle is operating fully autonomously, if the communication between the onboard controller and the ground resource manager is abnormal (e.g., the ground resource manager malfunctions), the vehicle cannot obtain the status of trackside resources. For example, these trackside resources may include switches, platforms, or trackside equipment (such as current collection devices or car washes). In this case, the vehicle continues to travel under the control of the onboard controller in conjunction with the positioning and sensing system. If the positioning and sensing system detects a target object ahead (such as the aforementioned trackside resources), the onboard controller will brake the vehicle until it comes to a complete stop because the vehicle cannot obtain the status of the trackside resources. In the stopped state, the vehicle waits for the dispatcher to issue a movement authorization instruction through the ATS, and then controls the vehicle to travel according to the movement authorization instruction.

[0063] The ATS (Automatic Transportation System) displays the vehicle's operating route and train number to the dispatcher. The dispatcher can then determine the vehicle's location on the route based on the train number and the distance it needs to travel. This distance is then sent as a movement authorization command to the vehicle's onboard controller, which in turn controls the vehicle to travel that distance. However, dispatchers can only rely on experience to determine the distance based on the operating route and train number, which often leads to inaccuracies and can cause collisions or interference with other vehicles.

[0064] It should be noted that the aforementioned vehicles may be autonomous trains, and the aforementioned dispatchers may be train dispatchers.

[0065] To control vehicles more accurately, dispatchers can contact on-site staff near the vehicle's stopping location to determine the vehicle's travel distance.

[0066] However, the inventors discovered that since on-site staff mostly rely on experience to judge the vehicle's travel distance, the reported vehicle travel distance may be inaccurate. Furthermore, contacting on-site staff would increase additional manpower and communication costs, resulting in low efficiency in vehicle control.

[0067] To address the aforementioned issues, this disclosure provides a vehicle control method, an on-board controller, a system, a storage medium, and a vehicle. The method acquires the vehicle's location information and the target distance between the vehicle and a target object in front of it through the on-board controller, and sends this information to an ATS (Automatic Vehicle Switch). This allows the ATS to provide the dispatcher with more detailed information, enabling more accurate vehicle control. Furthermore, it eliminates the need to contact on-site personnel, thereby reducing labor and communication costs and improving vehicle control efficiency.

[0068] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, applied to an on-board controller, including the following steps.

[0069] Step S101: In the event of a communication failure with the ground resource manager, in response to the first movement authorization command sent by the ATS, determine the vehicle status, which includes: stopped status and moving status.

[0070] The first movement authorization instruction is used to instruct the vehicle to travel a first specified distance.

[0071] In some embodiments, in the event of a communication failure with the ground resource manager, an abnormality notification message is sent to the ATS; the abnormality notification message is used to instruct the ATS to send the first mobility authorization instruction to the vehicle controller.

[0072] In the event of a communication failure with the ground resource manager, the vehicle can send an error notification message to the ATS via the onboard controller. Upon receiving the error notification message, the ATS can display it to alert the dispatcher that a communication failure has occurred between the onboard controller and the ground resource manager. At this point, the dispatcher can determine a first specified distance and send a movement authorization command to the onboard controller via the ATS based on that first specified distance.

[0073] For example, the ATS may include a display screen on which the abnormality notification message may be displayed, such as the words "Train Communication Abnormality", thereby alerting the dispatcher that a communication abnormality has occurred between the onboard controller and the ground resource manager.

[0074] In addition, ATS can also show dispatchers the vehicle number and route, and dispatchers can determine the first designated distance based on the vehicle number and route.

[0075] It should be noted that, as mentioned above, in the event of a communication failure with the ground resource manager, the onboard controller, in conjunction with the positioning and perception system, can control the vehicle to continue driving until the positioning and perception system detects a target object ahead (such as the aforementioned trackside resource). At this point, the onboard controller will control the vehicle to brake until it comes to a complete stop. This positioning and perception system can include lidar, millimeter-wave radar, cameras, or sensors, etc. Therefore, in this step, upon receiving a movement authorization command from the ATS, if the vehicle is in motion, it indicates that the vehicle is still moving and has not yet detected a target object ahead; if the vehicle is stopped, it indicates that the vehicle has detected a target object ahead through the positioning and perception system.

[0076] Step S102: When the vehicle is in a stopped state, obtain the vehicle's location information and the target distance between the vehicle and the target object in front of the vehicle.

[0077] In some embodiments, the vehicle controller can obtain the target distance of a target object ahead through a positioning and sensing system. For example, the target object may be a turnout or a platform.

[0078] It should be noted that when the target object is a turnout, the target distance can be the distance between the vehicle and the turnout control area; when the target object is a platform, the target distance can be the distance between the vehicle and the end of the platform.

[0079] Step S103: Send a vehicle control instruction message to the ATS.

[0080] The vehicle control instruction message includes the vehicle's location information and the distance to the target.

[0081] For example, the control instruction message can be displayed in the ATS as a control prompt window, which can display the message "500 meters from the platform ahead, continue driving?" or "600 meters from the turnout ahead, continue driving?"

[0082] Step S104: In response to the feedback from the ATS based on the vehicle control instruction message, control the vehicle to drive.

[0083] By adopting the above scheme, the vehicle's location information and the target distance between the vehicle and the target object in front of the vehicle are obtained through the vehicle controller, and the obtained information is sent to the ATS so that the ATS can provide more detailed information to the dispatcher, making the dispatcher's control of the vehicle more accurate. Moreover, there is no need to contact on-site personnel, thereby solving the problems of labor costs and communication costs and improving the efficiency of vehicle control.

[0084] When the target object is a turnout, the accurate control of vehicle movement in this embodiment can prevent vehicles from colliding with the turnout or affecting other vehicles, thus improving the safety of vehicle movement. When the target object is a platform, the accurate control of vehicle movement in this embodiment can prevent situations where vehicles are under- or over-marked after entering and stopping at the station, or where the vehicle doors and platform doors are not aligned.

[0085] In some embodiments, controlling the vehicle's movement based on the ATS's response to the vehicle control instruction message may include any of the following three implementation methods:

[0086] Method 1: In response to receiving the second movement authorization command sent by the ATS, control the vehicle to travel at the target distance indicated by the vehicle control instruction message.

[0087] The second movement authorization instruction is triggered after the dispatcher confirms the control instruction message.

[0088] For example, the aforementioned control instruction message can be displayed as a control prompt window in the ATS. This control prompt window can display "500 meters from the next platform, continue driving?" as an example. The control prompt window can also display two control buttons, "Yes" and "No". When the "Yes" control button is triggered, it is determined that the dispatcher performs a confirmation operation on the displayed control prompt message, thereby triggering the first vehicle control command.

[0089] Method 2: If no feedback is received from the ATS after a preset time period, the vehicle will be kept in a stopped state.

[0090] For example, continuing with the control prompt window mentioned above, the control prompt window can display "500 meters from the platform ahead, do you want to continue?" as an example. When the "No" control button among the two control buttons "Yes" and "No" displayed in the control prompt window is triggered, the ATS will not send a second movement authorization command to the vehicle controller.

[0091] Method 3: In response to receiving a third movement authorization command sent by the ATS, control the vehicle to travel at a second specified distance indicated by the third movement authorization command.

[0092] The third movement authorization instruction is triggered by the dispatcher after performing an update operation on the target distance in the control instruction message. This update operation is used to update the target distance to the second specified distance. In this way, when the dispatcher determines that the target distance indicated in the control instruction message is unsuitable, they can change the target distance, thereby facilitating dispatcher operations and improving the dispatcher's experience.

[0093] For example, continuing with the control prompt window mentioned above, the control prompt window can display "500 meters from the next platform, continue driving?" as an example. The control prompt window can also include a "modify" button. The dispatcher can modify the target distance by triggering the "modify" button. For example, the 500 meters in "500 meters from the next platform" can be modified to 400 meters, thereby triggering the third movement authorization command.

[0094] It should be noted that when the target object includes a turnout, a turnout status notification message can also be sent to the ATS. This message prompts the ATS to switch the turnout's status to the locked state. This allows the dispatcher to promptly switch the turnout's status to the locked state, facilitating vehicle passage.

[0095] In other embodiments, when the vehicle is in a driving state, a safe driving distance is obtained; a target driving distance is determined from the safe driving distance and the first specified distance; and the vehicle is controlled to drive according to the target driving distance.

[0096] The safe driving distance can be the maximum sensing distance of the vehicle's positioning and sensing system. For example, if the safe driving distance is 150 meters and the first specified distance is 200 meters, then 150 meters can be used as the target driving distance. In this way, using the minimum distance as the target driving distance can ensure the safety of vehicle driving.

[0097] Figure 2 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment, applied to an ATS, including the following steps.

[0098] Step S201: In the event of communication failure between the vehicle controller and the ground resource manager, send a first movement authorization command to the vehicle controller.

[0099] Specifically, the ATS acquires an anomaly notification message sent by the vehicle controller; the anomaly notification message is sent by the vehicle controller when there is a communication anomaly with the ground resource manager; and, based on the anomaly notification message, sends the first movement authorization instruction to the vehicle controller; the first movement authorization instruction is used to instruct the vehicle to travel at a first specified distance.

[0100] Step S202: Receive the vehicle control instruction message sent by the vehicle controller.

[0101] The vehicle control instruction message is sent by the vehicle controller when it determines that the vehicle is in a stopped state based on the first movement authorization instruction; the vehicle control instruction message includes the vehicle's location information and the target distance of the target object in front of the vehicle; the vehicle state includes: stopped state and moving state.

[0102] Step S203: In response to the dispatcher's control operation on the vehicle control instruction message, control the vehicle's movement through the on-board controller.

[0103] In some embodiments, when the control operation is a confirmation operation by the dispatcher of the vehicle control instruction message, a second movement authorization instruction is sent to the on-board controller, the second movement authorization instruction instructing the on-board controller to control the vehicle to travel at the target distance indicated by the vehicle control instruction message; or...

[0104] In the case where the control operation is an update operation by the dispatcher on the target distance in the vehicle control instruction message, a third movement authorization instruction is sent to the vehicle controller. The third movement authorization instruction is used to instruct the vehicle controller to control the vehicle to travel at a second specified distance indicated by the third movement authorization instruction. The update operation is used to update the target distance to the second specified distance.

[0105] In some embodiments, the target object may include a turnout or a platform. If the target object includes a turnout, the method further includes: receiving a turnout status prompt message sent by the on-board controller; and switching the state of the turnout to a locked state in response to a locking operation triggered by the dispatcher based on the turnout status prompt message.

[0106] It should be noted that the implementation methods of each step in the above embodiments can refer to the foregoing. Figure 1 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0107] By adopting the above scheme, the vehicle's location information and the target distance between the vehicle and the target object in front of the vehicle are obtained through the vehicle controller, and the obtained information is sent to the ATS so that the ATS can provide more detailed information to the dispatcher, making the dispatcher's control of the vehicle more accurate. Moreover, there is no need to contact on-site personnel, thereby solving the problems of labor costs and communication costs and improving the efficiency of vehicle control.

[0108] Figure 3 A flowchart of another vehicle control method provided as an exemplary embodiment of this disclosure, such as Figure 3 As shown, the vehicle in this embodiment can be an autonomous train, and the method includes:

[0109] S301. If the vehicle's onboard controller determines that there is an abnormality in the communication with the ground resource manager, it sends an abnormality notification message to the ATS.

[0110] S302, ATS responds to receiving an abnormal notification message from the vehicle controller by sending a movement authorization command to the vehicle controller.

[0111] The movement authorization instruction is used to instruct the vehicle to travel a first specified distance.

[0112] S303. Upon receiving the mobility authorization instruction, the vehicle controller determines the vehicle status.

[0113] The vehicle status includes both stopped and moving states.

[0114] It should be noted that, in the event of a communication failure with the ground resource manager, the onboard controller, in conjunction with the positioning and perception system, can control the vehicle to continue driving until the positioning and perception system detects a target object ahead (such as the aforementioned trackside resource). At this point, the onboard controller will control the vehicle to brake until it comes to a complete stop. Therefore, when the positioning and perception system detects a target object ahead, the vehicle is in a stopped state; when the positioning and perception system does not detect a target object ahead, the vehicle is in a moving state.

[0115] If the vehicle is in a stopped state, proceed with steps S304 to S306.

[0116] If the vehicle is in a driving state, proceed with steps S307 to S309.

[0117] S304, The vehicle controller uses the vehicle's location information and the target distance between the vehicle and the target object in front of the vehicle.

[0118] S305, the on-board controller sends a vehicle control instruction message to the ATS.

[0119] The vehicle control instruction message includes the vehicle's location information and the distance to the target.

[0120] S306. The on-board controller controls the vehicle's movement based on the ATS's feedback of the control instruction message.

[0121] S307, the vehicle controller obtains the safe driving distance.

[0122] S308, The vehicle controller takes the minimum distance between the safe driving distance and the first specified distance as the target driving distance.

[0123] S309. The on-board controller controls the vehicle to travel according to the target distance.

[0124] It should be noted that the implementation of each step in the above embodiments can be referred to the relevant descriptions in the foregoing embodiments, and will not be repeated here.

[0125] By adopting the above scheme, the vehicle's location information and the target distance between the vehicle and the target object in front of the vehicle are obtained through the vehicle controller, and the obtained information is sent to the ATS so that the ATS can provide more detailed information to the dispatcher, making the dispatcher's control of the vehicle more accurate. Moreover, there is no need to contact on-site personnel, thereby solving the problems of labor costs and communication costs and improving the efficiency of vehicle control.

[0126] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0127] Figure 4 This is a structural block diagram of a vehicle control device according to an exemplary embodiment, wherein the vehicle control device 400 includes a determining module 401, an acquiring module 402, a sending module 403, and a control module 404.

[0128] The determination module 401 is configured to, in the event of a communication failure with the ground resource manager, respond to a first movement authorization instruction sent by the ATS; the first movement authorization instruction is used to instruct the vehicle to travel at a first specified distance; and determine the vehicle status, which includes: a stopped state and a moving state.

[0129] The acquisition module 402 is used to acquire the vehicle's position information and the target distance between the vehicle and the target object in front of the vehicle when the vehicle is in a stopped state.

[0130] The sending module 403 is used to send a vehicle control instruction message to the ATS; the vehicle control instruction message includes the vehicle's location information and the target distance.

[0131] The control module 404 is used to control the vehicle's movement in response to feedback from the ATS based on the vehicle control instruction message.

[0132] Optionally, the device further includes:

[0133] The sending module is also used to send an anomaly notification message to the ATS in the event of an anomaly in communication with the ground resource manager; the anomaly notification message is used to instruct the ATS to send the first mobility authorization instruction to the vehicle controller.

[0134] Optionally, the device further includes:

[0135] The control module is also configured to, in response to receiving a second mobility authorization command sent by the ATS, control the vehicle to travel according to the target distance indicated by the vehicle control instruction message; the second mobility authorization command is an instruction triggered after the dispatcher performs a confirmation operation on the vehicle control instruction message; or,

[0136] In response to receiving a third mobility authorization instruction sent by the ATS, the system controls the vehicle to travel at a second specified distance indicated by the third mobility authorization instruction; the third mobility authorization instruction is an instruction triggered by the dispatcher after performing an update operation on the target distance in the vehicle control instruction message, and the update operation is used to update the target distance to the second specified distance.

[0137] Optionally, the device further includes:

[0138] The control module is also used to control the vehicle to a stopped state if no feedback is received from the ATS after a preset time period has elapsed.

[0139] Optionally, the target object type includes a turnout or a platform. If the target object type is a turnout, the target distance is the distance between the vehicle and the turnout control area; if the target object type is a platform, the target distance is the distance between the vehicle and the end of the platform.

[0140] Optionally, the target object includes a turnout, and the device further includes:

[0141] The sending module is also used to send a turnout status prompt message to the ATS, which prompts the ATS to switch the turnout status to the locked state.

[0142] Optionally, the device further includes:

[0143] The acquisition module is also used to acquire the safe driving distance when the vehicle is in the driving state.

[0144] The distance determination module is used to determine the target driving distance from the safe driving distance and the first specified distance;

[0145] The control module is also used to control the vehicle to travel the target distance.

[0146] Optionally, the device further includes:

[0147] The distance determination module is also used to take the minimum distance between the safe driving distance and the first specified distance as the target driving distance.

[0148] Figure 5 This is a structural block diagram of another vehicle control device according to an exemplary embodiment, wherein the vehicle control device 500 includes an instruction sending module 501, a receiving module 502, and a control operation acquisition module 503.

[0149] The instruction sending module 501 is used to send a first movement authorization instruction to the vehicle controller in the event of a communication failure between the vehicle controller and the ground resource manager; the first movement authorization instruction is used to instruct the vehicle to travel at a first specified distance;

[0150] The receiving module 502 is used to receive a vehicle control instruction message sent by the vehicle controller; the vehicle control instruction message is a message sent by the vehicle controller when it determines that the vehicle status is a stopped state according to the first movement authorization instruction; the vehicle control instruction message includes the vehicle's position information and the target distance of the target object in front of the vehicle; the vehicle status includes: stopped state and moving state;

[0151] The control operation acquisition module 503 is used to control the vehicle's movement in response to the dispatcher's control instruction message for the vehicle, through the on-board controller.

[0152] Optionally, the device further includes:

[0153] The message acquisition module is used to acquire the abnormal notification message sent by the vehicle controller; the abnormal notification message is sent by the vehicle controller when there is a communication failure between the vehicle controller and the ground resource manager.

[0154] The instruction sending module is also used to send the first mobility authorization instruction to the vehicle controller based on the abnormal notification message.

[0155] Optionally, the device further includes:

[0156] The control operation acquisition module is further configured to, when the control operation is a confirmation operation by the dispatcher of the vehicle control instruction message, send a second movement authorization instruction to the on-board controller, the second movement authorization instruction being used to instruct the on-board controller to control the vehicle to travel at the target distance indicated by the vehicle control instruction message; or...

[0157] In the case where the control operation is an update operation by the dispatcher on the target distance in the vehicle control instruction message, a third movement authorization instruction is sent to the vehicle controller. The third movement authorization instruction is used to instruct the vehicle controller to control the vehicle to travel at a second specified distance indicated by the third movement authorization instruction. The update operation is used to update the target distance to the second specified distance.

[0158] Optionally, the target object includes a turnout, and the device further includes:

[0159] The receiving module is used to receive the turnout status prompt message sent by the vehicle controller;

[0160] The control operation acquisition module is also used to switch the state of the turnout to the locked state in response to the locking operation triggered by the dispatcher based on the turnout status prompt message.

[0161] Figure 6 This is a block diagram illustrating an in-vehicle controller 600 according to an exemplary embodiment. (See diagram for example.) Figure 6 As shown, the vehicle controller 600 may include a processor 601 and a memory 602. The vehicle controller 600 may also include one or more of a multimedia component 603, an input / output interface 604, and a communication component 605.

[0162] The processor 601 controls the overall operation of the vehicle controller 600 to complete all or part of the steps in the vehicle control method described above. The memory 602 stores various types of data to support the operation of the vehicle controller 600. This data may include, for example, instructions for any application or method operating on the vehicle controller 600, and application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 602 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 602 or transmitted via communication component 605. The audio component also includes at least one speaker for outputting audio signals. Input / output interface 604 provides an interface between processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 605 is used for wired or wireless communication between the vehicle controller 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, 5G, etc., or one or more combinations thereof, is not limited here. Therefore, the corresponding communication component 605 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0163] In an exemplary embodiment, the vehicle controller 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the vehicle control method described above.

[0164] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the computer-readable storage medium may be the memory 602 including program instructions, which may be executed by the processor 601 of the vehicle controller 600 to complete the vehicle control method described above.

[0165] Figure 7 An automatic train monitoring system 700 is illustrated according to an exemplary embodiment. For example, the automatic train monitoring system 700 is provided as a server. (Refer to...) Figure 7 The automatic train monitoring system 700 includes a processor 722, which may be one or more, and a memory 732 for storing computer programs executable by the processor 722. The computer programs stored in the memory 732 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 722 may be configured to execute the computer program to perform the aforementioned vehicle control methods.

[0166] Additionally, the Automatic Train Monitoring System 700 may also include a power supply component 727 and a communication component 750. The power supply component 727 can be configured to perform power management for the Automatic Train Monitoring System 700, and the communication component 750 can be configured to enable communication for the Automatic Train Monitoring System 700, such as wired or wireless communication. Furthermore, the Automatic Train Monitoring System 700 may also include an input / output interface 758. The Automatic Train Monitoring System 700 can operate on an operating system, such as Windows Server, stored in memory 732. TM Mac OS X TM Unix TM Linux TM etc.

[0167] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the non-transitory computer-readable storage medium may be the memory 732 including program instructions, which may be executed by the processor 722 of the automatic train monitoring system 700 to complete the vehicle control method described above.

[0168] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle control method when executed by the programmable device.

[0169] Figure 8 This is a block diagram of a vehicle apparatus according to an exemplary embodiment, wherein the vehicle 800 includes an on-board controller 600.

[0170] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0171] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0172] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for controlling a vehicle, characterized in that, Applied to an in-vehicle controller, the method includes: In the event of a communication failure with the ground resource manager, the vehicle responds to a first movement authorization command sent by the Automatic Train Control System (ATS); the first movement authorization command instructs the vehicle to travel a first specified distance. Determine the vehicle status, which includes: stopped state and moving state; When the vehicle is in a stopped state, the location information of the vehicle and the target distance between the vehicle and the target object in front of the vehicle are obtained through the positioning and sensing system. Send a vehicle control instruction message to the ATS; the vehicle control instruction message includes the vehicle's location information and the target distance; In response to feedback from the ATS based on the vehicle control instruction message, the ATS controls the vehicle to move. The step of controlling the vehicle's movement in response to feedback from the ATS based on the vehicle control instruction message includes: In response to receiving a second mobility authorization command from the ATS, the system controls the vehicle to travel at the target distance indicated by the vehicle control instruction message; the second mobility authorization command is triggered after the dispatcher performs a confirmation operation on the vehicle control instruction message; or... In response to receiving a third mobility authorization instruction sent by the ATS, the system controls the vehicle to travel at a second specified distance indicated by the third mobility authorization instruction; the third mobility authorization instruction is an instruction triggered by the dispatcher performing an update operation on the target distance in the vehicle control instruction message, and the update operation is used to update the target distance to the second specified distance.

2. The method according to claim 1, characterized in that, The method further includes: In the event of a communication failure with the ground resource manager, an error notification message is sent to the ATS; the error notification message is used to instruct the ATS to send the first mobility authorization instruction to the vehicle controller.

3. The method according to claim 1, characterized in that, The step of controlling the vehicle's movement in response to feedback from the ATS based on the vehicle control instruction message includes: If no feedback is received from the ATS after a preset time period, the vehicle is controlled to stop.

4. The method according to claim 1, characterized in that, The target object includes a turnout or a platform. When the target object is a turnout, the target distance is the distance between the vehicle and the turnout control area. When the target object is a platform, the target distance is the distance between the vehicle and the end of the platform.

5. The method according to claim 4, characterized in that, The target object includes a turnout, and the method further includes: A turnout status notification message is sent to the ATS, which is used to prompt the ATS to switch the turnout status to the locked state.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the vehicle is in a driving state, obtain the safe driving distance; The target driving distance is determined from the safe driving distance and the first specified distance; Control the vehicle to travel the target distance.

7. The method according to claim 6, characterized in that, Determining the target driving distance from the safe driving distance and the first specified distance includes: The minimum distance between the safe driving distance and the first specified distance shall be taken as the target driving distance.

8. A method for controlling a vehicle, characterized in that, The method, applied to an Automatic Train Monitoring System (ATS), includes: In the event of a communication failure between the vehicle controller and the ground resource manager, a first movement authorization command is sent to the vehicle controller; the first movement authorization command is used to instruct the vehicle to travel a first specified distance. The system receives a vehicle control instruction message sent by the vehicle controller. The vehicle control instruction message is sent by the vehicle controller when it determines that the vehicle status is stopped based on the first movement authorization instruction. The vehicle control instruction message includes the vehicle's location information and the target distance of the target object in front of the vehicle. The vehicle's location information and the target distance are obtained through a positioning and sensing system. The vehicle status includes: stopped state and moving state. In response to the dispatcher's control operation on the vehicle control instruction message, the vehicle is controlled to move via the on-board controller; In response to the dispatcher's control operation on the vehicle control instruction message, the vehicle is controlled to move via the onboard controller, including: If the control operation is a confirmation operation by the dispatcher of the vehicle control instruction message, a second movement authorization command is sent to the vehicle controller. This second movement authorization command instructs the vehicle controller to control the vehicle to travel the target distance indicated by the vehicle control instruction message; or... In the case where the control operation is the dispatcher's update operation on the target distance in the vehicle control instruction message, a third movement authorization instruction is sent to the vehicle controller. The third movement authorization instruction is used to instruct the vehicle controller to control the vehicle to travel at a second specified distance indicated by the third movement authorization instruction. The update operation is used to update the target distance to the second specified distance.

9. The method according to claim 8, characterized in that, The method further includes: Obtain the abnormal notification message sent by the vehicle controller; the abnormal notification message is sent by the vehicle controller when there is a communication abnormality between the vehicle controller and the ground resource manager; Sending the first mobility authorization command to the vehicle controller includes: The first mobility authorization command is sent to the vehicle controller according to the abnormality notification message.

10. The method according to any one of claims 8-9, characterized in that, The target object includes a turnout, and the method further includes: Receive the turnout status prompt message sent by the vehicle controller; In response to the locking operation triggered by the dispatcher based on the turnout status prompt message, the state of the turnout is switched to the locked state.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-7; or, when executed by a processor, the program implements the steps of the method according to any one of claims 8-10.

12. A vehicle-mounted controller, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-7.

13. A train automatic monitoring system, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 8-10.

14. A vehicle, characterized in that, Includes the vehicle controller as described in claim 12.

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