Train speed optimization method, device, system, electronic device and storage medium

Abstract

The present invention relates to the technical field of train operation control, and provides a train speed optimization method, device, system, electronic device and storage medium, wherein the method comprises: obtaining a train operation schedule and the current speed position information of the train; based on the train operation schedule and the current speed position information, obtaining the first speed curve of the train in the operation range calculated by each node in the server; performing consistency voting on the first speed curve of each node, determining the second speed curve from the first speed curve based on the voting result, and sending the second speed curve to the on-board controller to control the train to run based on the second speed curve in the operation range. The train speed optimization method, device, system, electronic device and storage medium provided by the present invention can improve the flexibility of real-time optimization of train speed, and at the same time achieve the consistency of real-time optimization of train speed, thereby ensuring the safety of train operation.

Description

Technical Field

[0001] The present invention relates to the technical field of train operation control, and in particular to a train speed optimization method, device, system, electronic equipment and storage medium. Background Art

[0002] Real-time optimization and adjustment of train running speed and running time is of great significance for responding to emergencies in rail transit and improving train punctuality and user comfort.

[0003] In related technologies, the Automatic Train Supervision (ATS) system sets multiple operating levels for trains when running between stations according to the train operation plan and control objectives, and the Automatic Train Operation (ATO) system generates a recommended speed curve and stores it in the on-board equipment. During the operation of the train, the ATO system selects the corresponding inter-station operation level and its corresponding recommended speed curve according to the actual early departure time of the train, and uses the curve to control the operation of the train so that the train follows the recommended speed curve.

[0004] Since each running level has a corresponding running speed and cannot be adjusted flexibly, the running time cannot be changed flexibly. In addition, the current running level cannot be changed in real time after the train starts, which has poor flexibility. Summary of the invention

[0005] The present invention provides a train speed optimization method, device, system, electronic equipment and storage medium, which are used to solve the defect of poor flexibility in adjusting the operating speed according to the operating level in the prior art.

[0006] The present invention provides a train speed optimization method, comprising:

[0007] Get the train timetable and the current speed and position information of the train;

[0008] Based on the train operation schedule and the current speed and position information, obtaining a first speed curve of the train in the operation range calculated by each node in the server;

[0009] A consistency vote is performed on the first speed curve of each node, a second speed curve is determined from the first speed curve based on the voting result, and the second speed curve is sent to the on-board controller to control the train to operate based on the second speed curve within the operating range.

[0010] According to the train speed optimization method provided by the present invention, the first speed curve of each node is subjected to consistency voting, and the second speed curve is determined from the first speed curve based on the voting result, including:

[0011] Sending a first speed curve of any node to other nodes, where the other nodes are nodes other than the any node among the nodes;

[0012] The other nodes perform a consistent vote on the first speed curve of any node to obtain a voting result of the first speed curve of any node;

[0013] Based on the voting results of the first speed curves of the nodes, a second speed curve is determined from the first speed curves.

[0014] According to the train speed optimization method provided by the present invention, the other nodes perform a consistent vote on the first speed curve of any node to obtain the voting result of the first speed curve of any node, including:

[0015] The other nodes perform a consistent vote on the first speed curve of any node to obtain a preliminary voting result of the other nodes;

[0016] Based on the number of other nodes that have passed the preliminary voting result and the total number of other nodes, a voting result of the first speed curve of any node is determined.

[0017] According to the train speed optimization method provided by the present invention, the step of obtaining a train operation schedule includes:

[0018] Receive the initial train operation schedule and time adjustment instructions sent by the control center;

[0019] Based on the time adjustment instruction, the initial train operation timetable is adjusted to obtain the train operation timetable.

[0020] According to the train speed optimization method provided by the present invention, after sending the second speed curve to the on-board controller, the method further includes:

[0021] In the event that there is a deviation between the second speed curve and / or the train timetable and the current speed position information, a deviation correction adjustment is performed on the second speed curve based on the train timetable and the current speed position information.

[0022] According to the train speed optimization method provided by the present invention, the correction adjustment of the second speed curve based on the train operation schedule and the current speed position information includes:

[0023] generating deviation warning information based on the deviation between the second speed curve and / or the train operation schedule and the current speed position information;

[0024] Sending the deviation alarm information to a control center;

[0025] When receiving the deviation correction instruction returned by the control center, the second speed curve is corrected and adjusted based on the train operation timetable and the current speed position information.

[0026] The present invention also provides a train speed optimization device, comprising:

[0027] An information acquisition unit, used to acquire the train operation schedule and the current speed and position information of the train;

[0028] A curve calculation unit, configured to obtain, based on the train operation schedule and the current speed position information, a first speed curve of the train in the operation range calculated by each node in the server;

[0029] A consistency voting unit is used to perform consistency voting on the first speed curve of each node, determine a second speed curve from the first speed curve based on the voting result, and send the second speed curve to the on-board controller to control the train to operate based on the second speed curve within the operating range.

[0030] The present invention also provides a train speed optimization system, comprising:

[0031] The on-board controller is used to collect current speed and position information of the train, send the current speed and position information to the cloud server, and after receiving the second speed curve returned by the cloud server, control the train to run based on the second speed curve within the running range;

[0032] A control center, used to send the train timetable to the cloud server;

[0033] The cloud server is used to calculate the first speed curve of the train in the operating range at each node based on the train operation schedule and the current speed and position information, perform consistency voting on the first speed curves of each node, determine the second speed curve from the first speed curve based on the voting result, and send the second speed curve to the on-board controller.

[0034] According to the train speed optimization system provided by the present invention, the control center is also used for:

[0035] The time adjustment instruction and / or the deviation correction instruction are sent to the cloud server, so that the cloud server adjusts the initial train operation schedule based on the time adjustment instruction, and / or makes a deviation correction adjustment to the second speed curve based on the deviation correction instruction.

[0036] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the train speed optimization methods described above is implemented.

[0037] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the train speed optimization method as described in any one of the above is implemented.

[0038] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the train speed optimization method described in any one of the above is implemented.

[0039] The train speed optimization method, device, system, electronic device and storage medium provided by the present invention perform consistency voting on the first speed curve of each node, determine the second speed curve from the first speed curve based on the voting result, and send the second speed curve to the on-board controller to control the train to run based on the second speed curve within the operating range. It can realize real-time automatic optimization and adjustment of the train speed to meet the train operation schedule. Compared with adjusting the operating speed based on the operating level, it can improve the flexibility of real-time optimization of the train speed, and at the same time achieve the consistency of real-time optimization of the train speed, thereby ensuring the safety of the train operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a flow chart of the train speed optimization method provided by the present invention;

[0042] Figure 2 It is a structural schematic diagram of the train speed optimization device provided by the present invention;

[0043] Figure 3 It is a structural schematic diagram of the train speed optimization system provided by the present invention;

[0044] Figure 4 It is a schematic diagram of a train speed adjustment process in a non-emergency situation provided by the present invention;

[0045] Figure 5 It is a schematic diagram of a flow chart of real-time train speed adjustment in an emergency situation provided by the present invention;

[0046] Figure 6 It is a schematic diagram of the real-time train speed adjustment process in the manual confirmation and correction mode provided by the present invention;

[0047] Figure 7 It is a schematic diagram of the real-time train speed adjustment process in the automatic deviation correction mode provided by the present invention;

[0048] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the related art, the ATS system sets multiple operating levels for trains when running between stations according to the train operation plan and control objectives, and the ATO system generates a recommended speed curve and stores it in the on-board equipment. During the actual operation of the train, the ATO system selects the corresponding inter-station operating level and its corresponding recommended speed curve according to the actual early departure time of the train, and uses the curve to control the train operation so that the train follows the recommended speed curve. Since each operating level has a corresponding operating speed and cannot be flexibly adjusted, the operating time cannot be flexibly changed. In addition, the current operating level cannot be changed in real time after departure, and the flexibility is poor.

[0051] In view of the above problems, in order to improve the flexibility of real-time optimization and adjustment of train speed and improve the safety of train operation, the inventive concept of the present invention is: based on the train operation timetable and the current speed and position information, each node calculates the first speed curve of the train in the operating range; a consistency vote is performed on the first speed curve of each node, and a second speed curve is determined from the first speed curve based on the voting result, and the second speed curve is sent to the on-board controller to control the train to run based on the second speed curve in the operating range.

[0052] Based on the above-mentioned inventive concept, the present invention provides a train speed optimization method, device, system, electronic device and storage medium, which are applied to the real-time optimization and adjustment of train speed in train operation control technology to improve the flexibility of real-time optimization of train speed and the safety of train operation.

[0053] In the description of the embodiments of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0054] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings. Figure 1 It is a flow chart of the train speed optimization method provided by the present invention. The execution subject of each step in the method can be a train speed optimization device, or a server device, a physical host or a user equipment (User Equipment, UE) and other different types of train speed optimization devices that integrate the train speed optimization device. The train speed optimization device can be operated in a single operation mode, or it can also be operated in a device cluster mode. Among them, the train speed optimization device can be implemented in hardware or software, and the UE can specifically be a terminal device such as a smart phone, a tablet computer, a laptop computer, a PDA, a desktop computer or a personal digital assistant (PDA). Figure 1 As shown, the train speed optimization method provided by the embodiment of the present invention may include the following steps:

[0055] Step 110, obtaining the train schedule and the current speed and position information of the train.

[0056] Specifically, the train operation schedule is a time plan for train operation, which includes information such as the departure time, arrival time, passing stations, and operation time of the train. The train operation schedule may be pre-stored, or may be transmitted and received by other devices through the network, or may be downloaded from the network, which is not specifically limited in the embodiments of the present invention.

[0057] The current speed and position information of the train refers to the running speed of the train at the current moment and the position of the train. The current speed and position information can be collected in real time or periodically by on-board equipment.

[0058] In some embodiments, the ATS system of the control center sends the train schedule to the train speed optimization device, and the speed measurement and positioning module in the on-board controller collects the current speed and position information of the train in real time every cycle (for example, 200ms), and sends the current speed and position information to the train speed optimization device through the data communication module.

[0059] It should be noted that the train timetable here may be the initial train timetable sent by the ATS system, or may be obtained by adjusting the initial train timetable, and the embodiment of the present invention does not specifically limit this.

[0060] Step 120, based on the train operation schedule and the current speed and position information, obtaining the first speed curve of the train in the operation range calculated by each node in the server;

[0061] Step 130, performing consistency voting on the first speed curve of each node, determining a second speed curve from the first speed curve based on the voting result, and sending the second speed curve to the on-board controller to control the train to run based on the second speed curve within the operating range.

[0062] Specifically, in order to ensure the safety of train operation, the server of the distributed structure can be deployed on multiple nodes, each node has a data operation function, and can be used to calculate the first speed curve. After obtaining the train operation schedule and the current speed position information, the train operation schedule and the current speed position information can be sent to each node, and each node calculates the first speed curve of the train in the operation range respectively. The first speed curve can be the recommended speed curve of the train operation calculated by each node.

[0063] For the calculation of the first speed curve, in addition to considering the two influencing factors of the train schedule and the current speed and position information, it can also be determined based on other information such as the movement authority (MA), the distance between stations in the electronic map data, and the temporary speed limit of the interval. Each node can calculate the first speed curve, thereby obtaining multiple first speed curves. For example, if the train speed optimization device includes 5 nodes, 5 first speed curves can be obtained. Of course, considering that some nodes may fail, 4 or 3 first speed curves can also be obtained.

[0064] Considering that some nodes may have calculation errors, in order to further improve the safety of train operation and reduce the safety risks caused by node calculation errors, the first speed curve of each node can be obtained, and a consistency vote can be performed on the first speed curve, and the second speed curve can be determined from the first speed curve based on the voting result. It can be understood that the second speed curve determined in this way can not only meet the train operation plan, but also is obtained after all nodes have reached a consensus through consistency voting, avoiding the impact of inconsistent first speed curves on train operation. In addition, it can also improve fault tolerance, even if some nodes fail or errors occur, it can still ensure that the correct second speed curve is accepted and executed.

[0065] The consensus vote for the first speed curve can be implemented through a distributed consensus algorithm, such as Paxos, Raft, etc. Then, the second speed curve is sent to the on-board controller to control the train to run based on the second speed curve within the operating range.

[0066] It can be seen from the above description that the method provided by the embodiment of the present invention, through consistency voting on the first speed curve of each node, determines the second speed curve from the first speed curve based on the voting result, and sends the second speed curve to the on-board controller to control the train to run based on the second speed curve within the operating range. It can realize real-time automatic optimization and adjustment of the train speed to meet the train operation schedule. Compared with adjusting the operating speed based on the operating level, it can improve the flexibility of real-time optimization of the train speed, and at the same time achieve the consistency of real-time optimization of the train speed, thereby ensuring the safety of the train operation.

[0067] Based on the above embodiment, in step 130, a consistency vote is performed on the first speed curve of each node, and a second speed curve is determined from the first speed curve based on the voting result, which specifically includes:

[0068] Step 131, sending the first speed curve of any node to other nodes, where the other nodes are nodes other than the node;

[0069] Step 132, other nodes perform a consistency vote on the first speed curve of the node to obtain a voting result of the first speed curve of the node;

[0070] Step 133 : determining a second speed curve from the first speed curves based on the voting results of the first speed curves of each node.

[0071] Specifically, any node can be any node among the nodes, and the node can be automatically elected. In order to reduce the delay of final confirmation of a proposal caused by multiple nodes making proposals at the same time, a master node is elected to be responsible for related business.

[0072] The first speed curve of the node is sent to other nodes, and the other nodes perform a consensus vote on the first speed curve of the node. The voting result of the first speed curve of the node is obtained, and the voting result of the first speed curve of the node can include pass or fail. Pass means that the first speed curve of the node is recognized and accepted by the majority of other nodes, and fail means that the first speed curve of the node is not recognized and accepted by the majority of other nodes.

[0073] Consistency voting can be performed for the first speed curve of each node, with each node acting as a proposer and other nodes acting as acceptors, to obtain the voting results of the first speed curve of each node. Then, based on the voting results of the first speed curve of each node, the second speed curve is determined from the first speed curve. For example, one of the first speed curves with a passing voting result can be selected as the second speed curve.

[0074] For example, the train speed optimization device includes 5 nodes in total. After obtaining the first speed curves calculated by the 5 nodes, the first speed curves of the 5 nodes are voted for consistency, and the voting results are: (node ​​1, not passed), (node ​​2, passed), (node ​​3, not passed), (node ​​4, passed), (node ​​5, not passed). Then the first speed curve of node 2 can be used as the second speed curve, or the first speed curve of node 4 can be used as the second speed curve.

[0075] The method provided by the embodiment of the present invention can reduce the delay time of proposal confirmation caused by multiple nodes making proposals at the same time by making each node as a proposer and other nodes as acceptors, ensure the consistency of train speed optimization, improve fault tolerance and real-time performance, and improve the efficiency of train speed optimization.

[0076] Based on any of the above embodiments, other nodes perform a consistency vote on the first speed curve of the node to obtain a voting result of the first speed curve of the node, that is, step 132 specifically includes:

[0077] Step 132-1, other nodes perform a consistency vote on the first speed curve of the node to obtain a preliminary voting result of other nodes;

[0078] Step 132 - 2 , based on the number of other nodes that have passed the preliminary voting result and the total number of other nodes, determine the voting result of the first speed curve of the node.

[0079] Specifically, the voting result of the first speed curve of the node can be determined by the number of nodes that have passed the vote among other nodes. The ratio between the number of other nodes that have passed the preliminary voting result and the total number of other nodes can be calculated first. If the ratio exceeds 50%, it is considered that the first speed curve of the node is recognized by most other nodes, and the voting result of the first speed curve of the node is passed. On the contrary, if the ratio is less than 50%, it is considered that the first speed curve of the node is not recognized by most other nodes, and the voting result of the first speed curve of the node is not passed. The preliminary voting results of other nodes are obtained by the consensus voting of each other node on the first speed curve of the node.

[0080] For example, the other four nodes (node ​​1, node 3, node 4, node 5) perform a consensus vote on the first speed curve of node 2, and the preliminary voting results of the other four nodes are: (node ​​1, passed), (node ​​3, failed), (node ​​4, passed), (node ​​5, passed). The other nodes that passed the vote are nodes 1, 4 and 5, the number is 3, and the total number of other nodes is 4. At this time, it can be considered that the first speed curve of the node is recognized by most other nodes, and the voting result of the first speed curve of the node is passed.

[0081] The method provided in an embodiment of the present invention determines the voting result of the first speed curve of the node based on the number of other nodes passed by the preliminary voting result and the total number of other nodes, thereby ensuring the consistency of real-time adjustment of the train speed and improving the safety and efficiency of the train operation.

[0082] Based on any of the above embodiments, the first speed curve can be voted on for consistency, which can be achieved through the Paxos algorithm. The specific application method of the Paxos algorithm is that after all nodes calculate the first speed curve, each node is used as a proposer and other nodes are used as recipients. The proposer sends the calculation result as a proposal to each recipient, and the proposal recognized by the majority is output as the final result. This method ensures the consistency of the second speed curve and has high fault tolerance and real-time performance.

[0083] The main process is expressed in pseudo code as follows:

[0084] Proposer:

[0085]

[0086] recipient:

[0087]

[0088] Based on any of the above embodiments, obtaining the train schedule in step 110 specifically includes:

[0089] Step 111, receiving the initial train operation schedule and time adjustment instructions sent by the control center;

[0090] Step 112, based on the time adjustment instruction, adjust the initial train operation schedule to obtain the train operation schedule, and return the train operation schedule to the control center.

[0091] Specifically, in the related art, after the train arrives at the station platform and stops steadily, it receives the operation level between the next platform sent by the ATS system, which cannot be changed after departure. Therefore, the train speed cannot be adjusted in the face of emergencies. The speed of the subsequent section can only be adjusted after arriving at the next platform. For example, when a train is running in a section, an emergency situation of the preceding train causes a departure delay. The train can only run at the existing speed to the front of the station for emergency stop, wait for the preceding train to leave the station, and then start running to the platform to stop, which has high energy consumption and poor comfort.

[0092] In view of the above problems, in the embodiment of the present invention, the control center will first send the initial train operation schedule to the train speed optimization device. When an emergency occurs during the operation of the train in the section, causing the train to arrive at the next platform earlier or later than the planned time, the control center monitoring terminal discovers the emergency and sends the instruction to adjust the train to arrive at the next platform earlier or later than the planned time through the ATS system in the control center, that is, the time adjustment instruction is sent to the train speed optimization device through the data communication module.

[0093] Then, according to the time adjustment instruction sent by the ATS system, the initial train schedule is adjusted to obtain the adjusted train schedule, and the train schedule is returned to the ATS system of the control center and prompted on the monitoring terminal. On this basis, based on the train schedule and the current speed and position information, each node calculates the first speed curve of the train in the remaining operating section.

[0094] The method provided in the embodiment of the present invention adjusts the initial train operation schedule based on the time adjustment instruction to obtain the train operation schedule, which can realize more flexible and real-time optimization adjustment of the train speed in emergency situations.

[0095] Based on any of the above embodiments, after sending the second speed curve to the onboard controller in step 130, the train speed optimization method further includes:

[0096] In the case where there is a deviation between the second speed curve and / or the train operation schedule and the current speed position information, the second speed curve is corrected and adjusted based on the train operation schedule and the current speed position information.

[0097] Specifically, considering various actual situations during the operation of the train, the current speed and position information can be periodically compared with the second speed curve and / or the train operation schedule currently executed by the train. If there is a deviation between the current speed and the second speed curve, and / or a deviation between the current position and the train operation schedule, it can be considered that there is a deviation in the operation of the train.

[0098] In order to further improve the punctuality and safety of train operation, the second speed curve can be automatically corrected and adjusted based on the train schedule and current speed and position information. The specific correction and adjustment process can be based on the train schedule and current speed and position information, recalculating and obtaining the adjusted second speed curve after consistency voting, so that the train runs according to the adjusted second speed curve, thereby correcting the train.

[0099] Based on any of the above embodiments, based on the train operation schedule and the current speed position information, the second speed curve is corrected and adjusted, including:

[0100] generating deviation warning information based on the deviation between the second speed curve and / or the train operation schedule and the current speed position information;

[0101] Send deviation alarm information to the control center;

[0102] When receiving the deviation correction instruction returned by the control center, the second speed curve is corrected and adjusted based on the train operation schedule and the current speed and position information.

[0103] Specifically, in order to further improve the safety of train operation, in addition to automatic deviation correction, manual deviation correction can also be performed. When the train speed optimization device finds that there is a deviation between the second speed curve and / or the train operation schedule and the current speed position information, it does not immediately perform automatic deviation correction, but generates deviation warning information and sends the deviation warning information to the ATS system of the control center.

[0104] After the ATS system receives the deviation warning information, it can manually confirm the deviation correction and return the deviation correction instruction to the train speed optimization device. Then, based on the train operation schedule and the current speed position information, the second speed curve is corrected and adjusted.

[0105] The train speed optimization device provided by the present invention is described below. The train speed optimization device described below and the train speed optimization method described above can be referenced to each other.

[0106] Based on any of the above embodiments, Figure 2 Schematic diagram of the structure of the train speed optimization device provided by the present invention. Figure 2 As shown, the train speed optimization device includes an information acquisition unit 210, a curve calculation unit 220 and a consistency voting unit 230, wherein:

[0107] The information acquisition unit 210 is used to acquire the train operation schedule and the current speed and position information of the train;

[0108] A curve calculation unit 220, configured to obtain a first speed curve of the train in the running range calculated by each node in the server based on the train running timetable and the current speed position information;

[0109] The consistency voting unit 230 is used to perform consistency voting on the first speed curve of each node, determine the second speed curve from the first speed curve based on the voting result, and send the second speed curve to the on-board controller to control the train to operate based on the second speed curve within the operating range.

[0110] The device provided by the embodiment of the present invention performs consistency voting on the first speed curve of each node, determines the second speed curve from the first speed curve based on the voting result, and sends the second speed curve to the on-board controller to control the train to run based on the second speed curve within the operating range. It can realize real-time automatic optimization and adjustment of the train speed to meet the train operation schedule. Compared with adjusting the operating speed based on the operating level, it can improve the flexibility of real-time optimization of the train speed, and at the same time achieve the consistency of real-time optimization of the train speed, thereby ensuring the safety of the train operation.

[0111] Based on any of the above embodiments, the consistency voting unit is specifically used for:

[0112] Sending a first speed curve of any node to other nodes, where the other nodes are nodes other than the any node among the nodes;

[0113] The other nodes perform a consistent vote on the first speed curve of any node to obtain a voting result of the first speed curve of any node;

[0114] Based on the voting results of the first speed curves of the nodes, a second speed curve is determined from the first speed curves.

[0115] Based on any of the above embodiments, the consistency voting unit is specifically used for:

[0116] The other nodes perform a consistent vote on the first speed curve of any node to obtain a preliminary voting result of the other nodes;

[0117] Based on the number of other nodes that have passed the preliminary voting result and the total number of other nodes, a voting result of the first speed curve of any node is determined.

[0118] Based on any of the above embodiments, the acquiring unit is specifically used for:

[0119] Receive the initial train operation schedule and time adjustment instructions sent by the control center;

[0120] Based on the time adjustment instruction, the initial train operation timetable is adjusted to obtain the train operation timetable.

[0121] Based on any of the above embodiments, the train speed optimization device further includes a deviation correction adjustment unit, which is used to:

[0122] In the event that there is a deviation between the second speed curve and / or the train timetable and the current speed position information, a deviation correction adjustment is performed on the second speed curve based on the train timetable and the current speed position information.

[0123] Based on any of the above embodiments, the deviation correction and adjustment unit is specifically used for:

[0124] generating deviation warning information based on the deviation between the second speed curve and / or the train operation schedule and the current speed position information;

[0125] Sending the deviation alarm information to a control center;

[0126] When receiving the deviation correction instruction returned by the control center, the second speed curve is corrected and adjusted based on the train operation timetable and the current speed position information.

[0127] Based on any of the above embodiments, Figure 3 3 is a schematic diagram of the structure of the train speed optimization system provided by the present invention. The train speed optimization system includes an on-board controller 310, a control center 320 and a cloud server 330, wherein:

[0128] The onboard controller 310 is used to collect the current speed and position information of the train, send the current speed and position information to the cloud server, and after receiving the second speed curve returned by the cloud server, control the train to run based on the second speed curve within the running range;

[0129] The control center 320 is used to send the train operation schedule to the cloud server;

[0130] The cloud server 330 is used to calculate the first speed curve of the train in the operating range at each node based on the train operation schedule and the current speed and position information, perform consistency voting on the first speed curves of each node, determine the second speed curve from the first speed curve based on the voting result, and send the second speed curve to the on-board controller.

[0131] The train speed optimization system provided by the embodiment of the present invention performs consistency voting on the first speed curve of each node, determines the second speed curve from the first speed curve based on the voting result, and sends the second speed curve to the on-board controller to control the train to run based on the second speed curve within the operating range. It can realize real-time automatic optimization and adjustment of the train speed to meet the train operation schedule. Compared with adjusting the operating speed based on the operating level, it can improve the flexibility of real-time optimization of the train speed, and at the same time achieve the consistency of real-time optimization of the train speed, thereby ensuring the safety of the train operation.

[0132] Based on any of the above embodiments, the onboard controller includes a speed measurement and positioning module, a data communication module and a speed control module. The speed measurement and positioning module is responsible for collecting the train speed and position information in real time every cycle, the data communication module is responsible for sending the speed and position information to the cloud server and receiving the second speed curve data sent by the cloud server, and the speed control module controls the train speed by controlling the train traction, inertia and braking.

[0133] The control center includes the ATS system and data communication module. The ATS system monitors the train status in real time and issues control instructions such as adjusting the running time and correcting deviations. The data communication module is responsible for sending instructions to the cloud server and receiving train information and feedback information sent by the cloud server.

[0134] The cloud server includes a data acquisition module, a data storage module, a data communication module, a data calculation module and a consistency module. The data acquisition module is responsible for real-time acquisition of information such as the speed and position of the train. The data storage module is responsible for storing the collected information for subsequent calculations. The data communication module is responsible for real-time data communication with the on-board controller and the control center. The data calculation module is responsible for calculating the first speed curve of the train according to the instructions sent by the control center and the current speed and position information of the train. The consistency module uses the Paxos algorithm to perform a consistent vote on the first speed curve calculated by the calculation modules of all nodes. The proposal recognized by the majority of nodes at the same time is the final result, that is, the second speed curve is output to the outside.

[0135] Figure 4 Schematic diagram of the train speed adjustment process in the absence of an emergency provided by the present invention. Figure 4 As shown, in the absence of emergencies, the train speed adjustment process includes the following steps:

[0136] Step 410: The data communication module of the cloud server receives the train schedule sent by the ATS system and stores it in the data storage module.

[0137] In step 420, the data calculation module of each node of the cloud server determines the speed of the train running in the section and calculates the recommended speed curve of the train running, i.e., the first speed curve, based on the train running timetable retrieved from the data storage module, the distance between each station in the MA and the electronic map data, the temporary speed limit of the section, and other information.

[0138] Step 430: The consistency module uses the Paxos algorithm to perform consistency voting on the first speed curves calculated by all nodes to obtain the second speed curve.

[0139] Step 440: The cloud server sends the second speed curve to the vehicle controller through the data communication module.

[0140] Step 450: The speed control module of the onboard controller controls the operation of the train according to the received second speed curve.

[0141] Figure 5 Schematic diagram of the process of real-time adjustment of train speed under emergency conditions provided by the present invention. Figure 5 As shown in the figure, the process of real-time adjustment of train speed in emergency situations includes the following steps:

[0142] Step 510, when an emergency occurs during the operation of the train in the section, causing the train to arrive at the next platform earlier or later than the planned time, the control center monitoring terminal discovers the emergency and sends the initial train operation schedule and the instruction to adjust the train to arrive at the next platform earlier or later than the planned time to the cloud server through the ATS system through the data communication module.

[0143] Step 520: After receiving the time adjustment instruction, the cloud server adjusts the initial train timetable to obtain an adjusted train timetable.

[0144] Step 530: The data operation module of each node of the cloud server calculates the first speed curve of the train in the remaining section according to the adjusted train operation schedule and the current speed and position information of the train.

[0145] Step 540: The consistency module uses the Paxos algorithm to perform consistency voting on the first speed curves calculated by all nodes to obtain the second speed curve.

[0146] Step 550, the cloud server sends the second speed curve to the on-board controller, the cloud server stores the updated latest train schedule in the data storage module, and sends the calculation results and the latest train schedule to the ATS system of the control center and prompts it on the monitoring terminal.

[0147] Step 560: After the data communication module of the onboard controller receives the second speed curve sent by the cloud server, the speed control module controls the train operation according to the latest second speed curve.

[0148] During the operation of the train, the cloud server collects the real-time speed and position information of the train, and compares it with the currently executed second speed curve and train operation schedule through the data operation module. If the current operation of the train is found to be deviated from the second speed curve and the train operation schedule, the cloud server will correct the deviation, which is divided into manual confirmation correction and automatic correction.

[0149] Figure 6 This is a schematic diagram of the real-time train speed adjustment process in the manual confirmation correction mode provided by the present invention. Figure 6As shown in the figure, in the manual confirmation correction mode, the real-time train speed adjustment process includes the following steps:

[0150] Step 610: After discovering the deviation, the cloud server will send the deviation alarm information to the ATS system of the control center through the data communication module.

[0151] Step 620, after manual confirmation of the deviation, the ATS system sends a correction instruction to the cloud server.

[0152] Step 630: After receiving the deviation correction instruction sent by the ATS system, each node of the cloud server calculates the first speed curve.

[0153] Step 640: The consistency module uses the Paxos algorithm to perform consistency voting on the first speed curves calculated by all nodes to obtain the second speed curve.

[0154] Step 650: The cloud server sends the second speed curve to the vehicle controller through the data communication module and saves it in the data storage module.

[0155] Step 660: The data communication module of the onboard controller receives the latest second speed curve sent by the cloud server, and the speed control module controls the train operation according to the latest second speed curve.

[0156] Figure 7 Schematic diagram of the real-time adjustment process of train speed in the automatic deviation correction mode provided by the present invention. Figure 7 As shown in the figure, in the automatic deviation correction mode, the real-time train speed adjustment process includes the following steps:

[0157] Step 710: The cloud server finds a deviation. The cloud server compares the real-time speed and position information of the train with the currently executed second speed curve and the train operation schedule to detect whether there is a deviation between the current operation of the train and the second speed curve or the train operation schedule.

[0158] Step 720, after the cloud server finds the deviation, the data operation module of each node will automatically calculate the latest recommended speed curve, that is, the first speed curve, based on the current speed and position of the train and the train schedule.

[0159] Step 730: The consistency module uses the Paxos algorithm to perform consistency voting on the first speed curves calculated by all nodes to obtain the latest second speed curve.

[0160] Step 740, the cloud server sends the latest second speed curve to the vehicle controller through the data communication module, and sends the correction result to the ATS system of the control center and displays it on the monitoring terminal, and saves it in the data storage module.

[0161] Step 750: The data communication module of the onboard controller receives the latest second speed curve sent by the cloud server, and the speed control module controls the train operation according to the latest second speed curve.

[0162] The system provided by the embodiment of the present invention achieves consistency in train speed adjustment by applying the Paxos algorithm, effectively reducing errors and risks, and improving the safety and efficiency of train operation. The method for adjusting the train speed in real time gives full play to the advantages of the Paxos algorithm in ensuring data consistency, and can quickly make appropriate speed adjustment plans in various emergencies to ensure the normal operation of the train.

[0163] By deploying the Paxos algorithm on multiple nodes of the cloud server, data consistency is achieved during the real-time adjustment of train speed, avoiding system failures caused by single point failures. At the same time, by electing a master node to be responsible for related services, the number of nodes making proposals at the same time is reduced, reducing the delay in confirming a proposal. On this basis, the combination of manual confirmation and automatic correction modes provides a more flexible and reliable solution for train speed adjustment.

[0164] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the train speed optimization method, which includes:

[0165] Get the train timetable and the current speed and position information of the train;

[0166] Based on the train operation schedule and the current speed and position information, obtaining a first speed curve of the train in the operation range calculated by each node in the server;

[0167] A consistency vote is performed on the first speed curve of each node, a second speed curve is determined from the first speed curve based on the voting result, and the second speed curve is sent to the on-board controller to control the train to operate based on the second speed curve within the operating range.

[0168] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0169] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the train speed optimization method provided by the above methods, the method comprising:

[0170] Get the train timetable and the current speed and position information of the train;

[0171] Based on the train operation schedule and the current speed and position information, obtaining a first speed curve of the train in the operation range calculated by each node in the server;

[0172] A consistency vote is performed on the first speed curve of each node, a second speed curve is determined from the first speed curve based on the voting result, and the second speed curve is sent to the on-board controller to control the train to operate based on the second speed curve within the operating range.

[0173] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the train speed optimization method provided by the above methods is implemented, and the method includes:

[0174] Get the train timetable and the current speed and position information of the train;

[0175] Based on the train operation schedule and the current speed and position information, obtaining a first speed curve of the train in the operation range calculated by each node in the server;

[0176] A consistency vote is performed on the first speed curve of each node, a second speed curve is determined from the first speed curve based on the voting result, and the second speed curve is sent to the on-board controller to control the train to operate based on the second speed curve within the operating range.

[0177] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0178] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train speed optimization method, characterized in that: include: Get the train timetable and the current speed and position information of the train; Based on the train operation schedule and the current speed and position information, obtaining a first speed curve of the train in the operation range calculated by each node in the server; Performing a consistency vote on the first speed curves of each node, determining a second speed curve from the first speed curve based on the voting result, and sending the second speed curve to an onboard controller to control the train to run based on the second speed curve within the running range; The performing consistency voting on the first speed curves of each node and determining the second speed curve from the first speed curve based on the voting result includes: Sending a first speed curve of any node to other nodes, where the other nodes are nodes other than the any node among the nodes; The other nodes perform a consistent vote on the first speed curve of any node to obtain a voting result of the first speed curve of any node; the voting result includes pass or fail, where pass means that the first speed curve of the node is recognized and accepted by the majority of other nodes, and fail means that the first speed curve of the node is not recognized and accepted by the majority of other nodes; Based on the voting results of the first speed curves of the nodes, a second speed curve is determined from the first speed curves.

2. The train speed optimization method according to claim 1, characterized in that: The other nodes perform a consistent vote on the first speed curve of any node to obtain a voting result of the first speed curve of any node, including: The other nodes perform a consistent vote on the first speed curve of any node to obtain a preliminary voting result of the other nodes; Based on the number of other nodes that have passed the preliminary voting result and the total number of other nodes, a voting result of the first speed curve of any node is determined.

3. The train speed optimization method according to any one of claims 1 to 2, characterized in that: The obtaining of the train operation schedule comprises: Receive the initial train operation schedule and time adjustment instructions sent by the control center; Based on the time adjustment instruction, the initial train operation timetable is adjusted to obtain the train operation timetable, and the train operation timetable is returned to the control center.

4. The train speed optimization method according to any one of claims 1 to 2, characterized in that: After sending the second speed curve to the vehicle-mounted controller, the method further includes: In the event that there is a deviation between the second speed curve and / or the train timetable and the current speed position information, a deviation correction adjustment is performed on the second speed curve based on the train timetable and the current speed position information.

5. The train speed optimization method according to claim 4, characterized in that: The correcting and adjusting the second speed curve based on the train operation schedule and the current speed position information includes: generating deviation warning information based on the deviation between the second speed curve and / or the train operation schedule and the current speed position information; Sending the deviation alarm information to a control center; When receiving the deviation correction instruction returned by the control center, the second speed curve is corrected and adjusted based on the train operation timetable and the current speed position information.

6. A train speed optimization device, characterized in that: include: An information acquisition unit, used to acquire the train operation schedule and the current speed and position information of the train; A curve calculation unit, configured to obtain, based on the train operation schedule and the current speed position information, a first speed curve of the train in the operation range calculated by each node in the server; a consistency voting unit, configured to perform consistency voting on the first speed curve of each node, determine a second speed curve from the first speed curve based on the voting result, and send the second speed curve to the onboard controller to control the train to run based on the second speed curve within the running range; The consistency voting unit is specifically used for: Sending a first speed curve of any node to other nodes, where the other nodes are nodes other than the any node among the nodes; The other nodes perform a consistent vote on the first speed curve of any node to obtain a voting result of the first speed curve of any node; the voting result includes pass or fail, where pass means that the first speed curve of the node is recognized and accepted by the majority of other nodes, and fail means that the first speed curve of the node is not recognized and accepted by the majority of other nodes; Based on the voting results of the first speed curves of the nodes, a second speed curve is determined from the first speed curves.

7. A train speed optimization system, characterized in that: include: The on-board controller is used to collect current speed and position information of the train, send the current speed and position information to the cloud server, and after receiving the second speed curve returned by the cloud server, control the train to run based on the second speed curve within the running range; A control center, used to send the train timetable to the cloud server; a cloud server, configured to perform consistency voting on the first speed curves of the train in the running range respectively calculated by each node based on the train running timetable and the current speed position information, determine a second speed curve from the first speed curve based on the voting result, and send the second speed curve to the on-board controller; The cloud server is specifically used for: Sending a first speed curve of any node to other nodes, where the other nodes are nodes other than the any node among the nodes; The other nodes perform a consistent vote on the first speed curve of any node to obtain a voting result of the first speed curve of any node; the voting result includes pass or fail, where pass means that the first speed curve of the node is recognized and accepted by the majority of other nodes, and fail means that the first speed curve of the node is not recognized and accepted by the majority of other nodes; Based on the voting results of the first speed curves of the nodes, a second speed curve is determined from the first speed curves.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the train speed optimization method as described in any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the train speed optimization method according to any one of claims 1 to 5 is implemented.

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