Train location tracking methods and devices, electronic equipment, and storage media

Abstract

This invention discloses a method, apparatus, electronic device, and storage medium for tracking train positions. The method includes: collecting equipment status information of a physical section via trackside equipment; immediately determining if there is a communication anomaly between the LC (Train Control Center) and the Automatic Train Protection (ATP) device of the target train, and recording the last position reported by the ATP device before the first instance; calculating the farthest running position of the target train based on the last position; calculating the running trajectory of the target train using the farthest running position; and tracking the target train's position based on the running trajectory. This invention solves the technical problem in related technologies where train positions cannot be tracked when there is a communication anomaly between the LC and the train's ATP device. Knowing the train's running position allows for the topological reconstruction of the train's preceding and following positions, facilitating the tracking of subsequent trains and improving operational efficiency and intervals.

Description

Technical Field

[0001] This invention relates to the field of rail transportation, and more specifically, to a method and apparatus for tracking train location, electronic equipment, and storage medium. Background Technology

[0002] In related technologies, urban rail transit has become the main mode of transportation for the general public. Its basic task is to transport passengers safely, on time, and efficiently. The safety, punctuality, and efficiency of rail transit operation have gradually become one of the topics of concern for operation managers and the general public.

[0003] During operation, if a train has a large positioning error, resulting in inaccurate location and loss of position; or if the BTM malfunctions and cannot receive position information from the transponder, resulting in the loss of two transponders and loss of position, the train ATP (Automatic Train Protection) will output emergency braking, forcing the train to stop and guide it to the safe side.

[0004] During FAO (Fully Automatic Operation) system operation, if a train's position is lost and the system enters the degraded RSRM (Low Speed ​​Recovery) train control mode, the ground system ZC (Area Controller) will use a non-communication car continuous occupation method for train tracking. The drawback of this technology is that, due to the non-communication car continuous occupation method, train tracking can only track one train at a time. When multiple trains are in the same axle counting section or adjacent sections, and are both non-communication cars or RSRM trains, effective tracking and differentiation are impossible, leading to RSRM control failure or train tracking failure.

[0005] No effective solutions have yet been found to address the aforementioned problems in the relevant technologies. Summary of the Invention

[0006] This invention provides a train position tracking method, apparatus, electronic device, and storage medium. According to one aspect of this application, a train position tracking method is provided, applied in a line controller (LC). The method includes: determining, at a first time, that a communication anomaly exists between the LC and the Automatic Train Protection (ATP) device of a target train; recording the last position reported by the ATP device before the first time; calculating the farthest operating position of the target train based on the last position; calculating the operating trajectory of the target train using the farthest operating position; and tracking the position of the target train based on the operating trajectory.

[0007] Furthermore, calculating the farthest operating position of the target train based on the last position includes: taking the first time as the starting time, before determining the second time of communication interruption between the LC and the target train, calculating the cumulative duration t of the communication anomaly of the target train, and obtaining the last speed v of the target train at the last position; using the cumulative duration t and the last speed v to calculate the maximum speed of the target train; calculating the farthest operating distance of the target train based on the maximum speed; after reaching the second time, calculating the braking distance of the target train based on the maximum speed; and using the farthest operating distance, the braking distance, and the last position to calculate the farthest operating position of the target train.

[0008] Furthermore, calculating the farthest operating distance of the target train based on the maximum speed includes: determining whether the maximum speed is greater than the maximum speed limit of the target train; if the maximum speed is greater than the maximum speed limit of the target train, calculating the farthest operating distance S of the target train according to the following formula: S = vt1 + 1 / 2at1 2 +Vt2; The maximum speed is less than or equal to the maximum speed limit of the target train, and the farthest running distance S of the target train is calculated according to the following formula: S=vt+1 / 2at 2 Where t1 is the time when the target train reaches the maximum speed limit, t2 = t - t1, and V is the maximum speed limit.

[0009] Furthermore, calculating the cumulative duration t of the target train communication anomaly includes: recording the number n of the current communication anomalies between the LC and the ATP device; and calculating the cumulative duration t of the target train communication anomaly using the following formula: t = n * Tc; where Tc is the operating cycle time of the LC, and n is the number of cycles.

[0010] Furthermore, calculating the trajectory of the target train using the farthest operating position includes: determining whether the farthest operating position is valid; if the farthest operating position is valid, determining that the target train enters the low-speed recovery RSRM mode, and acquiring the operating speed V1 of the target train in real time according to the cycle; calculating the cycle distance S of the current cycle using the following formula: S = ((V1 + V2) * t) / 2; where V1 is the speed of the current cycle, V2 is the speed of the previous cycle, and t is the cycle duration; updating the real-time position of the target train in the current cycle based on the farthest operating position and the cycle distance; and calculating and updating the real-time position of the target train according to each cycle to form the trajectory of the target train.

[0011] Furthermore, determining whether the farthest operating position is valid includes: locating the target axle counting section where the farthest operating position is located; obtaining the first occupancy status of the trackside equipment in the target axle counting section; if the occupancy status of the trackside equipment in the target axle counting section is occupied, determining that the target train has entered the target axle counting section; if the occupancy status of the trackside equipment in the target axle counting section is unoccupied, obtaining the second occupancy status of the preceding adjacent axle counting section of the target axle counting section; if the second occupancy status is unoccupied, determining that the farthest operating position is valid.

[0012] Furthermore, after determining whether the farthest running position is valid, the method further includes: if the farthest running position is invalid, locating the target axle counting section where the farthest running position is located; updating the farthest running position using the starting position of the target axle counting section, and determining that the target train is a non-communication train.

[0013] According to another aspect of the embodiments of this application, a train position tracking device is also provided, applied in a line controller (LC). The device includes: a recording module, configured to determine at a first time that there is a communication anomaly between the LC and the Automatic Train Protection (ATP) device of the target train, and record the last position reported by the ATP device before the first time; a first calculation module, configured to calculate the farthest running position of the target train based on the last position; a second calculation module, configured to calculate the running trajectory of the target train using the farthest running position; and a tracking module, configured to track the position of the target train according to the running trajectory.

[0014] Furthermore, the first calculation module includes: a processing unit, configured to calculate the cumulative duration t of the communication anomaly of the target train, taking the first time as the starting time, and before determining the second time of communication interruption between the LC and the target train, and obtain the final speed v of the target train at the last position; a first calculation unit, configured to calculate the maximum speed of the target train using the cumulative duration t and the final speed v; a second calculation unit, configured to calculate the farthest running distance of the target train based on the maximum speed; a third calculation unit, configured to calculate the braking distance of the target train based on the maximum speed after reaching the second time; and a fourth calculation unit, configured to calculate the farthest running position of the target train using the farthest running distance, the braking distance, and the last position.

[0015] Furthermore, the second calculation unit includes: a judgment subunit, used to judge whether the maximum speed is greater than the maximum speed limit of the target train; and a calculation subunit, used to calculate the farthest running distance S of the target train according to the following formula if the maximum speed is greater than the maximum speed limit of the target train: S = vt1 + 1 / 2at1 2+Vt2; The maximum speed is less than or equal to the maximum speed limit of the target train, and the farthest running distance S of the target train is calculated according to the following formula: S=vt+1 / 2at 2 Where t1 is the time when the target train reaches the maximum speed limit, t2 = t - t1, and V is the maximum speed limit.

[0016] Furthermore, the processing unit includes: a recording subunit for recording the number n of cycles in which the LC currently communicates abnormally with the ATP device; and a calculation subunit for calculating the cumulative duration t of the target train's communication abnormality using the following formula: t = n * Tc; where Tc is the LC's operating cycle time and n is the number of cycles.

[0017] Furthermore, the second calculation module includes: a judgment unit, used to judge whether the farthest running position is valid; a first determination unit, used to determine that the target train enters the low-speed recovery RSRM mode if the farthest running position is valid, and to obtain the running speed V1 of the target train in real time according to the cycle; a calculation unit, used to calculate the cycle distance S of the current cycle using the following formula: S=((V1+V2)*t) / 2; where V1 is the speed of the current cycle, V2 is the speed of the previous cycle, and t is the cycle duration; an update unit, used to update the real-time position of the target train in the current cycle based on the farthest running position and the cycle distance; and a generation unit, used to calculate and update the real-time position of the target train according to each cycle to form the running trajectory of the target train.

[0018] Furthermore, the determination unit includes: a positioning subunit, used to locate the target axle counting section where the farthest running position is located; an acquisition subunit, used to acquire the first occupancy status of the trackside equipment in the target axle counting section; a processing subunit, used to determine that the target train has entered the target axle counting section if the occupancy status of the trackside equipment in the target axle counting section is occupied; and to acquire the second occupancy status of the preceding adjacent axle counting section if the occupancy status of the trackside equipment in the target axle counting section is unoccupied; and a determination subunit, used to determine that the farthest running position is valid if the second occupancy status is unoccupied.

[0019] Furthermore, the second calculation module also includes: a positioning unit, used to locate the target axle counting section where the farthest running position is located if the farthest running position is invalid after the judgment unit determines whether the farthest running position is valid; and a second determining unit, used to update the farthest running position using the starting position of the target axle counting section, and determine that the target train is a non-communication train.

[0020] According to another aspect of the embodiments of this application, a storage medium is also provided, the storage medium including a stored program that executes the above steps when the program is run.

[0021] According to another aspect of the embodiments of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the programs stored in the memory.

[0022] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the above-described method.

[0023] This invention enables real-time and effective tracking of a train's position during communication anomalies between the LC and the ATP (Automatic Train Protection) device of the target train. It first identifies communication anomalies between the LC and the target train, and records the last reported position of the ATP device. Based on the last position, the farthest operating position of the target train is calculated. The train's trajectory is then calculated using the farthest operating position and its effective status during communication anomalies. This solves the technical problem in related technologies where the LC cannot track the train's position when communication between it and the ATP device is abnormal. Knowing the train's position allows for the reconstruction of the train's preceding and following positions, facilitating the tracking of subsequent trains and improving operational efficiency and intervals. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a hardware structure block diagram of an LC device according to an embodiment of the present invention;

[0026] Figure 2 This is a flowchart of a train position tracking method according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram showing the occupancy of the axle counting section at the farthest running position of the train in this embodiment of the invention;

[0028] Figure 4 This is a schematic diagram showing the vacancy of the axle counting section at the farthest running position of the train in this embodiment of the invention;

[0029] Figure 5This is a flowchart of the train tracking process in RSRM mode of the line controller in an embodiment of the present invention;

[0030] Figure 6 This is a structural block diagram of a train position tracking device according to an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present application can be combined with each other.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] The method embodiment provided in Embodiment 1 of this application can be executed in a computing device such as a track controller or an LC device. Taking its operation on an LC device as an example, Figure 1 This is a hardware structure block diagram of an LC device according to an embodiment of the present invention. Figure 1 As shown, an LC device may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the LC device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the LC device described above. For example, the LC device may also include components that are larger than... Figure 1The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0035] The memory 104 can be used to store LC device programs, such as application software programs and modules, like the LC device program corresponding to a train position tracking method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the LC device program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the LC device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0036] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the LC device. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0037] This embodiment provides a method for tracking train location. Figure 2 This is a flowchart of a train position tracking method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0038] Step S202: Determine the communication anomaly between the LC and the target train's Automatic Train Protection (ATP) device as soon as possible, and record the last position reported by the ATP device before the first time.

[0039] The solution in this embodiment can be applied to rail transit scenarios such as subway stations, trains, high-speed trains, and bullet trains. It can be a CBTC (Communication Based Train Control) system or a non-CBTC system. The CBTC system is a continuous automatic train control system built through active train positioning technology that does not rely on trackside train occupancy detection equipment, continuous vehicle-to-ground two-way data communication technology, and onboard and ground processors capable of performing safety functions.

[0040] In the network architecture of this embodiment, there are LC (Line Controller), ATP (Automatic Train Protection) equipment, and trackside equipment. The LC is responsible for calculating the movement authorization (MA) for the communication trains within its control range based on the position information reported by the communication trains, the routes arranged by the interlocking system, and the track occupancy / vacancy information provided by the trackside equipment, ensuring the safe operation of the communication trains within its control area. The ATP (Automatic Train Protection) equipment is an onboard subsystem that directly ensures train safety, providing comprehensive protection for train safety. The ATP equipment is installed at the front and rear of each train, achieving autonomous positioning through speed sensors, speed radar, and odometers. It uses transponders to correct the train's position and speed information, obtains the train's movement authorization (MA) through wireless communication (or variable data transponders), calculates and generates the train's control speed curve, and protects the train's position and speed to ensure safe operation.

[0041] In this embodiment, when a train loses its position on the track in FAM mode, the onboard equipment ATP immediately applies emergency braking and disconnects communication with the ground equipment LC system. Simultaneously, it requests the ATS to enter RSRM mode for train control. The dispatcher confirms this RSRM mode entry with the onboard equipment ATP via the ATS system. Upon receiving confirmation, the onboard equipment ATP requests RSRM mode authorization from the ground line controller system. Within the section, the train operates fully automatically. If the train's positioning error is large, leading to inaccurate positioning and loss of position; or if a BTM malfunction prevents the train from receiving transponder position information, resulting in the loss of two consecutive transponders and thus position loss, the train ATP outputs emergency braking, forcing the train to stop. Then, the onboard equipment ATP disconnects communication with the ground equipment LC system.

[0042] Step S204: Calculate the farthest running position of the target train based on the last position;

[0043] Step S206: Calculate the trajectory of the target train using the farthest operating position;

[0044] Step S208: Track the position of the target train based on its running trajectory.

[0045] By calculating the current train's position information in each cycle and forming its running trajectory, the logical segment and axle counting segment currently occupied by the train can be further determined. This allows for more effective identification of the train's current position status and more efficient train tracking. It also distinguishes between the tracking methods of trains in RSRM mode and those in non-communication mode, and further identifies the position and topological relationship of the train ahead in this RSRM mode control system.

[0046] Through the above steps, the communication anomaly between the LC and the Automatic Train Protection (ATP) device of the target train is determined in the first instance, and the last position reported by the ATP device before the first instance is recorded; the farthest running position of the target train is calculated based on the last position; the running trajectory of the target train is calculated using the farthest running position; and the target train is tracked according to the running trajectory. By using the farthest running position of the train when communication is abnormal and its effective status to calculate the train's running trajectory, real-time and effective tracking of the train's position is achieved when communication is abnormal or interrupted. This solves the technical problem in related technologies where the train's position cannot be tracked when communication between the LC and the train's ATP device is abnormal. Knowing the train's running position allows for the topology analysis of the train's preceding and following relationships, which can be used for tracking subsequent trains, improving operational efficiency and intervals.

[0047] In this embodiment, calculating the farthest running position of the target train based on its last position includes:

[0048] S11, taking the first time as the starting time, before determining the second time of communication interruption between LC and the target train, calculate the cumulative duration t of the target train's communication anomaly and obtain the final speed v of the target train at its final position;

[0049] Optionally, the time interval between the first and second time points is 6 seconds. That is, if communication is not restored within 6 seconds after the communication failure, the communication is considered interrupted.

[0050] In one example, calculating the cumulative duration t of the target train communication anomaly includes: recording the number n of the current communication anomalies between the LC and the ATP device; and calculating the cumulative duration t of the target train communication anomaly using the following formula: t = n * Tc; where Tc is the operating cycle time of the LC and n is the number of cycles.

[0051] Calculate the current communication anomaly time between the LC system and the ATP system. Based on the number of cycles with current communication anomalies with ATP, calculate the communication anomaly data according to the formula above. For example, if no location information is received from ATP for 3 cycles, Tc = 400ms, which is 0.4s, meaning the communication anomaly time is 1.2s.

[0052] S12, calculate the maximum speed of the target train using the cumulative duration t and the final speed v;

[0053] In one example, the maximum speed is V1 = v + at, where a is the maximum acceleration, which is a fixed value preset based on the train's maximum acceleration and the track gradient, such as a = 145 cm / s². 2 ;

[0054] S13, calculate the farthest running distance of the target train based on the maximum speed;

[0055] In one example, calculating the farthest travel distance of a target train based on its maximum speed includes: determining whether the maximum speed is greater than the target train's maximum speed limit; if the maximum speed is greater than the target train's maximum speed limit, calculating the target train's farthest travel distance S using the following formula: S = vt1 + 1 / 2at1 2 +Vt2; If the maximum speed is less than or equal to the target train's maximum speed limit, calculate the target train's furthest running distance S using the following formula: S=vt+1 / 2at 2 Where t1 is the time it takes for the target train to reach the maximum speed limit, t2 = t - t1, and V is the maximum speed limit.

[0056] Based on the current speed *v*, and the maximum acceleration *a*, calculate the maximum speed *V1* that the train can accelerate to using the formula. Compare this calculated speed *V1* with the maximum speed limit on the track (*V*: tentatively 80 km / h, converted to 2222 cm / s), because the train cannot exceed the maximum speed limit even with continuous acceleration. Based on the comparison of *V1* and *V*, if *V1* is less than or equal to *V*, then according to the formula (*S = vt + 1 / 2at*), the maximum speed *V1* that the train can accelerate to is calculated. 2 Calculate the maximum distance that can be traveled. If V1 is greater than V, first calculate t1 and t2, that is, calculate t1 using formula 2. Therefore, t2 = t - t1; that is, according to the formula (S = vt1 + 1 / 2at1) 2 +Vt2) calculates the farthest distance that can be traveled at present;

[0057] S14, after reaching the second time, calculate the braking distance of the target train based on the maximum speed;

[0058] Optionally, the braking distance X = V² / (2a1), where X is the emergency braking distance of the train, V is the maximum speed of the train during emergency braking, and a1 is the emergency braking acceleration of the train, a set value such as 100 cm / s². 2 .

[0059] S15 uses the farthest running distance, braking distance, and final position to calculate the farthest running position of the target train.

[0060] When the train's ATP system and LC system detect a communication interruption, they immediately apply emergency braking to force the train to stop. Even while the train is stopping, it continues to move. Therefore, the LC system needs to calculate the distance the train travels during emergency braking when the abnormal communication with the ATP system is detected and the communication interruption is accumulated.

[0061] The maximum train speed V1 is calculated using a formula after a communication interruption (e.g., the interruption time is 6 seconds). If the speed exceeds V, the current speed is V; if it is less than or equal to V, the current speed is V1. The emergency braking distance X is calculated using a formula, and finally, the train's maximum effective running distance L1 = L + S + X is obtained, where L is the last recorded position.

[0062] In one embodiment of this example, calculating the trajectory of the target train using the farthest operating position includes: determining whether the farthest operating position is valid; if the farthest operating position is valid, determining that the target train enters the low-speed recovery RSRM mode, and acquiring the target train's operating speed V1 in real time according to the cycle; calculating the cycle distance S of the current cycle using the following formula: S = ((V1 + V2) * t) / 2; where V1 is the speed of the current cycle, V2 is the speed of the previous cycle, and t is the cycle duration (a set value, such as 400ms); updating the real-time position of the target train in the current cycle based on the farthest operating position and the cycle distance; and calculating and updating the real-time position of the target train according to each cycle to form the trajectory of the target train.

[0063] In this embodiment, determining whether the farthest running position is valid includes: locating the target axle counting section where the farthest running position is located; obtaining the first occupancy status of the trackside equipment in the target axle counting section; if the occupancy status of the trackside equipment in the target axle counting section is occupied, determining that the target train has entered the target axle counting section; if the occupancy status of the trackside equipment in the target axle counting section is unoccupied, obtaining the second occupancy status of the preceding adjacent axle counting section of the target axle counting section; if the second occupancy status is unoccupied, determining that the farthest running position is valid.

[0064] The calculated furthest running position L1 of the target train needs further evaluation. This calculation is based on the furthest distance the train can travel, but in reality, it doesn't travel that far. Therefore, the trackside occupancy status needs to be considered. If the trackside status of the axle counting section at point L1 is "occupied," it is considered that the train has entered that axle counting section. Figure 3 This is a schematic diagram of the occupancy of the axle counting section at the farthest running position of the train in this embodiment of the invention. L1 = L + S + X, where L is the last recorded position, S is the farthest running distance, and X is the braking distance. If the trackside status of the axle counting section at point L1 is idle, it is considered that the train has not entered the axle counting section, that is, the farthest place the train can run is the beginning of the axle counting section, and the beginning of the axle counting section is updated to position L1. Figure 4 This is a schematic diagram showing the vacancy of the axle counting section at the farthest running position of the train in this embodiment of the invention.

[0065] While waiting to enter RSRM mode, if the axle counting section ahead of the L1 position is occupied, the train is considered unable to enter RSRM mode for train control. In this case, the calculated L1 position is unavailable, the train is in operation, and the currently recorded L and calculated L1 position need to be cleared. Simultaneously, train tracking is performed as if the train were not in communication mode. If the axle counting section ahead of the L1 position is free, the train is in an emergency braking state and its position remains unchanged, meaning it continues to wait to enter RSRM mode for train control; in this case, the calculated L1 position is valid.

[0066] In another implementation scenario of this embodiment, after determining whether the farthest running position is valid, the method further includes: if the farthest running position is invalid, locating the target axle counting section where the farthest running position is located; updating the farthest running position using the starting position of the target axle counting section, and determining that the target train is a non-communication train.

[0067] After the target train requests to enter RSRM mode for train control via the ATP device, the LC system calculates the current position L1 of the train. After the train starts moving, it reports no position and the current train speed v to the LC. Each cycle, the system calculates the distance S traveled by the current train based on the speed, calculates the latest current position L1 of the train, and updates it, thus forming the train's trajectory.

[0068] If the LC system and ATP are communicating normally, the current train position L1 is calculated and updated every cycle using the formula (S=((V1+V2)*t) / 2); if no data or direction of the train is received, it is determined that there is a communication anomaly with the ATP system, i.e., the formula (S=vt+1 / 2at) is used. 2 Calculate the current position L1, representing the furthest distance the train can travel. The calculated current position L1 needs further analysis of the trackside occupancy status to determine if the train has entered the axle counting section. If the trackside status of the axle counting section at point L1 is occupied, the train is considered to have entered the axle counting section, and the position L1 is the current position of the train, recorded as L position. If the trackside status of the axle counting section at point L1 is free, the train is considered not to have entered the axle counting section, meaning the furthest point the train can travel is the beginning of the axle counting section, recorded as L position. When the status of the axle counting section changes from free to occupied, the train is considered to have begun entering the axle counting section, and the train's L position is recorded as the beginning of the axle counting section plus 3.14m (the distance from the first wheelset to the front of the train). Based on this, according to the formula (S = vt + 1 / 2at)... 2 Alternatively, the formula (S=((V1+V2)*t) / 2) can be used to calculate the farthest position of the train, and the position L is recorded.

[0069] Figure 5This is a flowchart of the train tracking process in RSRM mode of the line controller in this embodiment of the invention, including: the train ATP system loses its position and disconnects from the LC system; the LC system determines that the communication is abnormal and calculates the farthest running position of the train; the LC system determines that the communication is interrupted and calculates the emergency braking distance of the train; the LC system determines whether the train has entered a non-communication car or is waiting to enter RSRM mode for train control; the LC system calculates the position information of the train based on the speed sent by the train; and the LC system performs train tracking based on the calculated position.

[0070] In this embodiment, when a communication anomaly occurs between the LC system and the ATP system, the method for the LC to calculate the farthest possible position of the train provides an effective train position for subsequent RSRM mode train control. This distinguishes RSRM mode train control from non-communication train tracking methods, improving system availability. When a train enters RSRM mode train control, based on the calculated train position, speed, and trackside status, a precise method for calculating the farthest possible position of the current train is used. This precise position allows for more accurate train tracking in RSRM mode.

[0071] This embodiment differs from RSRM mode train control and non-communication train tracking modes, providing more refined and precise train tracking. By accurately tracking RSRM mode trains, the train's position is known, allowing for the reconstruction of the train's preceding and following positions, thus improving operational efficiency and intervals for subsequent train tracking. Based on the specifically calculated position, it solves the safety issue of the preceding train needing to enter RSRM mode control when positions are lost simultaneously in the same or adjacent axle counting sections.

[0072] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0073] Example 2

[0074] This embodiment also provides a train position tracking device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0075] Figure 6 This is a structural block diagram of a train position tracking device according to an embodiment of the present invention, such as... Figure 6 As shown, the device is applied in a line controller (LC) and includes:

[0076] The recording module 60 is used to determine the communication anomaly between the LC and the Automatic Train Protection (ATP) device of the target train at the first time, and record the last position reported by the ATP device before the first time.

[0077] The first calculation module 62 is used to calculate the farthest running position of the target train based on the last position;

[0078] The second calculation module 64 is used to calculate the running trajectory of the target train using the farthest running position;

[0079] The tracking module 66 is used to track the position of the target train according to the running trajectory.

[0080] Optionally, the first calculation module includes: a processing unit, configured to calculate the cumulative duration t of the communication anomaly of the target train, starting from the first time, and before determining the second time of communication interruption between the LC and the target train, and obtain the final speed v of the target train at the last position; a first calculation unit, configured to calculate the maximum speed of the target train using the cumulative duration t and the final speed v; a second calculation unit, configured to calculate the farthest running distance of the target train based on the maximum speed; a third calculation unit, configured to calculate the braking distance of the target train based on the maximum speed after reaching the second time; and a fourth calculation unit, configured to calculate the farthest running position of the target train using the farthest running distance, the braking distance, and the last position.

[0081] Optionally, the second calculation unit includes: a judgment subunit, used to judge whether the maximum speed is greater than the maximum speed limit of the target train; and a calculation subunit, used to calculate the farthest running distance S of the target train according to the following formula if the maximum speed is greater than the maximum speed limit of the target train: S = vt1 + 1 / 2at1 2+Vt2; The maximum speed is less than or equal to the maximum speed limit of the target train, and the farthest running distance S of the target train is calculated according to the following formula: S=vt+1 / 2at 2 Where t1 is the time when the target train reaches the maximum speed limit, t2 = t - t1, and V is the maximum speed limit.

[0082] Optionally, the processing unit includes: a recording subunit for recording the number n of cycles in which the LC currently communicates abnormally with the ATP device; and a calculation subunit for calculating the cumulative duration t of the target train's communication abnormality using the following formula: t = n * Tc; where Tc is the operating cycle time of the LC and n is the number of cycles.

[0083] Optionally, the second calculation module includes: a judgment unit, used to judge whether the farthest running position is valid; a first determination unit, used to determine that the target train enters the low-speed recovery RSRM mode if the farthest running position is valid, and to obtain the running speed V1 of the target train in real time according to the cycle; a calculation unit, used to calculate the cycle distance S of the current cycle using the following formula: S=((V1+V2)*t) / 2; where V1 is the speed of the current cycle, V2 is the speed of the previous cycle, and t is the cycle duration; an update unit, used to update the real-time position of the target train in the current cycle based on the farthest running position and the cycle distance; and a generation unit, used to calculate and update the real-time position of the target train according to each cycle to form the running trajectory of the target train.

[0084] Furthermore, the determination unit includes: a positioning subunit, used to locate the target axle counting section where the farthest running position is located; an acquisition subunit, used to acquire the first occupancy status of the trackside equipment in the target axle counting section; a processing subunit, used to determine that the target train has entered the target axle counting section if the occupancy status of the trackside equipment in the target axle counting section is occupied; and to acquire the second occupancy status of the preceding adjacent axle counting section if the occupancy status of the trackside equipment in the target axle counting section is unoccupied; and a determination subunit, used to determine that the farthest running position is valid if the second occupancy status is unoccupied.

[0085] Optionally, the second calculation module further includes: a positioning unit, configured to locate the target axle counting section where the farthest running position is located if the farthest running position is invalid after the judgment unit determines whether the farthest running position is valid; and a second determining unit, configured to update the farthest running position using the starting position of the target axle counting section, and determine that the target train is a non-communication train.

[0086] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0087] Example 3

[0088] Embodiments of the present invention also provide a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0089] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0090] S1, determine the communication anomaly between the LC and the target train's Automatic Train Protection (ATP) device at the first moment, and record the last position reported by the ATP device before the first moment.

[0091] S2, Calculate the farthest running position of the target train based on the last position;

[0092] S3, calculate the trajectory of the target train using the farthest operating position;

[0093] S4, Track the location of the target train based on the running trajectory.

[0094] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0095] Embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0096] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0097] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0098] S1, determine the communication anomaly between the LC and the target train's Automatic Train Protection (ATP) device at the first moment, and record the last position reported by the ATP device before the first moment.

[0099] S2, Calculate the farthest running position of the target train based on the last position;

[0100] S3, calculate the trajectory of the target train using the farthest operating position;

[0101] S4, Track the location of the target train based on the running trajectory.

[0102] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0103] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

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

[0105] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of 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 displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0106] 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.

[0107] Furthermore, the functional units in the various embodiments of this application 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.

[0108] 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 technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0109] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method of tracking the position of a train, characterized by, The method comprises the following steps of: determining that communication between a line controller LC and a train automatic protection ATP device of a target train is abnormal at a first time, recording a last position reported by the ATP device before the first time; calculating a farthest running position of the target train based on the last position; calculating a running track of the target train based on the farthest running position; tracking a position of the target train according to the running track; calculating a farthest running position of the target train based on the last position comprises: determining whether the farthest running position is valid; if the farthest running position is valid, determining that the target train enters a low-speed recovery RSRM mode, and acquiring a running speed V1 of the target train in real time according to a period; calculating a period distance S of a current period by using the following formula: S = ((V1 + V2) * t) / 2; wherein V1 is a speed of the current period, V2 is a speed of a previous period, and t is a period length; updating a real-time position of the target train in the current period based on the farthest running position and the period distance; updating the real-time position of the target train according to a calculation of each period to form the running track of the target train; determining whether the farthest running position is valid comprises: locating a target axle section where the farthest running position is located; acquiring a first occupation state of a trackside device of the target axle section; if the occupation state of the trackside device of the target axle section is an occupied state, determining that the target train enters the target axle section; if the occupation state of the trackside device of the target axle section is an unoccupied state, acquiring a second occupation state of a previous adjacent axle section of the target axle section; if the second occupation state is an unoccupied state, determining that the farthest running position is valid.

2. The method of claim 1, wherein, calculating a farthest running position of the target train based on the last position comprises: calculating a cumulative duration t of communication abnormality of the target train before a second time when communication between the LC and the target train is interrupted, starting from the first time, acquiring a last speed v of the target train at the last position; calculating a maximum speed of the target train by using the cumulative duration t and the last speed v; calculating a farthest running distance of the target train according to the maximum speed; calculating a braking distance of the target train according to the maximum speed after the second time is reached; calculating the farthest running position of the target train by using the farthest running distance, the braking distance, and the last position.

3. The method of claim 2, wherein, calculating a farthest running distance of the target train according to the maximum speed comprises: determining whether the maximum speed is greater than a maximum speed limit of the target train; If the maximum speed is greater than the highest speed limit of the target train, the farthest running distance S of the target train is calculated according to the following formula: S = vt1 + 1 / 2at1 2 + Vt2; If the maximum speed is less than or equal to the highest speed limit of the target train, the farthest running distance S of the target train is calculated according to the following formula: S = vt + 1 / 2at 2 ; wherein t1 is a time when the target train reaches the maximum speed limit, t2 = t-t1, and V is the maximum speed limit.

4. The method of claim 2, wherein, calculating a cumulative duration t of communication abnormality of the target train comprises: recording a period number n of communication abnormality of the LC and the ATP device; calculating the cumulative duration t of communication abnormality of the target train by using the following formula: t = n * Tc; wherein Tc is a running period time of the LC, and n is the period number.

5. The method of claim 1, wherein, After judging whether the farthest running position is valid, the method further comprises: If the farthest running position is invalid, locating a target axle counting section where the farthest running position is located; Updating the farthest running position with a start position of the target axle counting section, and determining that the target train is a non-communication train.

6. A train position tracking apparatus characterized by comprising: The device comprises: A recording module configured to record a last position reported by an ATP device of the target train before a first time when communication between the LC and the ATP device is abnormal; A first calculating module configured to calculate a farthest running position of the target train based on the last position; A second calculating module configured to calculate a running track of the target train based on the farthest running position, wherein calculating the running track of the target train based on the farthest running position comprises: Judging whether the farthest running position is valid; If the farthest running position is valid, determining that the target train enters an RSRM mode, and acquiring a running speed V1 of the target train in real time according to a period; Calculating a period distance S of a current period by using the following formula: S = ((V1 + V2) * t) / 2; wherein V1 is a speed of the current period, V2 is a speed of a previous period, and t is a period length; Updating a real-time position of the target train in the current period based on the farthest running position and the period distance; Updating the real-time position of the target train according to a calculation of each period to form the running track of the target train; Judging whether the farthest running position is valid comprises: Locating a target axle counting section where the farthest running position is located; Obtaining a first occupation state of a trackside device of the target axle counting section; If the occupation state of the trackside device of the target axle counting section is an occupied state, determining that the target train enters the target axle counting section; if the occupation state of the trackside device of the target axle counting section is an unoccupied state, obtaining a second occupation state of a previous adjacent axle counting section of the target axle counting section; If the second occupation state is an unoccupied state, determining that the farthest running position is valid; A tracking module configured to track a position of the target train according to the running track.

7. An electronic device, comprising: The device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; wherein: The memory is configured to store a computer program; The processor is configured to execute steps of the method in any one of claims 1 to 5 by running the program stored in the memory.

8. A storage medium, characterized by The storage medium comprises a stored program, wherein the program executes steps of the method in any one of claims 1 to 5 when running. The storage medium comprises a stored program, wherein the program executes steps of the method in any one of claims 1 to 5 when running.

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