Train control method, device, equipment and system

Abstract

The train control method, device, equipment and system provided by the embodiments of the present application relate to the field of urban rail transit control technology. The method comprises: sending at least two running section status requests to the train operation supervision equipment, the running section status request includes the identification of the section to be identified, and the section to be identified is the section where the axle counting device collects the result of being occupied; receiving the running section status response corresponding to each running section status request sent by the train operation supervision equipment, the running section status response is used to indicate whether there is a permanent occupation fault in the axle counting device; based on the running section status response corresponding to two consecutive running section status requests, controlling the train to run in the section to be identified, which can avoid the problem of low operating efficiency of the entire urban rail transit signal system caused by occupation due to axle counting fault to a certain extent, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

Description

Technical Field

[0001] The present application relates to the field of urban rail transit control technology, and in particular to a train control method, device, equipment and system. Background Art

[0002] The main line of the urban rail transit signal system widely uses the axle counting system as a detection and judgment device for train occupation sections. Among them, axle counting fault occupation is a common fault in the axle counting system. Among them, axle counting fault occupation refers to the situation where there is actually no train in the section used for train operation, but the axle counting system believes that there is a train in this section.

[0003] If the line controller (Zone Controller, ZC) used to control the operation of trains cannot efficiently and accurately identify the axle counter fault occupancy, the movement authorization of the train approaching this section will be retracted by one section, and the train running closely behind this train will be forced to slow down, thereby reducing the operating efficiency of the entire urban rail transit signal system. Summary of the invention

[0004] The present application provides a train control method, device, equipment and system, which can improve the accuracy of the expression amount of determined molecular features in cells.

[0005] In a first aspect, the present application provides a train control method, which is applied to a train control device. The train control method may include:

[0006] Sending at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section that the axle counting device collects as occupied;

[0007] receiving an operating section status response corresponding to each operating section status request sent by the train operation supervision device, wherein the operating section status response is used to indicate whether the axle counting device has a permanent occupancy fault;

[0008] Based on the running section status responses corresponding to two consecutive running section status requests, the train is controlled to run in the section to be identified.

[0009] According to a train control method provided by the present application, the operating section status response corresponding to two consecutive operating section status requests is used to control the train to run in the section to be identified, including:

[0010] In the case that two consecutive running section status responses are inconsistent, determining whether the latter running section status response of the two consecutive running section status responses and the next running section status response of the latter running section status response are consistent; in the case that the latter running section status response is inconsistent with the next running section status response, repeatedly performing the above operation until the two consecutive running section status responses are consistent, or the time length between the current time and the time length when the running section status request is first sent reaches a preset time length;

[0011] When the two consecutive running section state responses are consistent, based on the two consecutive running section state responses, controlling the train to run in the to-be-identified section;

[0012] When the preset time is reached, the train is controlled to run to the starting position of the previous section of the section to be identified based on the automatic driving strategy, and runs through the section to be identified from the starting position of the previous section based on the manual driving strategy.

[0013] According to a train control method provided by the present application, the operating section status response corresponding to the two consecutive operating section status requests is used to control the train to operate in the section to be identified, including:

[0014] Determining a corresponding control strategy based on the two consecutive operating section state responses, wherein the control strategy includes an automatic driving strategy, or the control strategy includes an automatic driving strategy and a manual driving strategy;

[0015] The train is controlled to run in the section to be identified based on the control strategy.

[0016] According to a train control method provided by the present application, the determining of a corresponding control strategy based on the two consecutive running section state responses includes:

[0017] In the case where the two consecutive operating section status responses are used to indicate that the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy;

[0018] In a case where the two consecutive operating section status responses are used to indicate that it is uncertain whether the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy and a manual driving strategy.

[0019] According to a train control method provided by the present application, controlling the train to run in the to-be-identified section based on the control strategy includes:

[0020] In the case where the control strategy includes an automatic driving strategy, the train is controlled to run through the to-be-identified section based on the automatic driving strategy.

[0021] According to a train control method provided by the present application, controlling the train to run in the to-be-identified section based on the control strategy includes:

[0022] In the case where the control strategy includes an automatic driving strategy and a manual driving strategy, determining a target position from a previous section of the section to be identified; wherein a distance between the target position and a starting position of the section to be identified is greater than a preset safety distance;

[0023] The train is controlled to run to the target position based on an automatic driving strategy, and to run from the target position through the section to be identified based on a manual driving strategy.

[0024] In a second aspect, the present application further provides a train control device, which is applied to a train control device, and the device comprises:

[0025] A sending unit, used for sending at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section whose collection result of the axle counting device is occupied;

[0026] a receiving unit, used for receiving an operating section status response corresponding to each operating section status request sent by the train operation supervision device, wherein the operating section status response is used for indicating whether the axle counting device has a permanent occupancy fault;

[0027] The control unit is used to control the train to run in the section to be identified based on the running section status responses corresponding to two consecutive running section status requests.

[0028] According to a train control device provided by the present application, the control unit is used to control the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests, including:

[0029] In the case that two consecutive running section status responses are inconsistent, determining whether the latter running section status response of the two consecutive running section status responses and the next running section status response of the latter running section status response are consistent; in the case that the latter running section status response is inconsistent with the next running section status response, repeatedly performing the above operation until the two consecutive running section status responses are consistent, or the time length between the current time and the time length when the running section status request is first sent reaches a preset time length;

[0030] When the two consecutive running section state responses are consistent, based on the two consecutive running section state responses, controlling the train to run in the to-be-identified section;

[0031] When the preset time is reached, the train is controlled to run to the starting position of the previous section of the section to be identified based on the automatic driving strategy, and runs through the section to be identified from the starting position of the previous section based on the manual driving strategy.

[0032] According to a train control device provided by the present application, the control unit is used to control the train to run in the to-be-identified section based on the running section status responses corresponding to the two consecutive running section status requests, including:

[0033] Determining a corresponding control strategy based on the two consecutive operating section state responses, wherein the control strategy includes an automatic driving strategy, or the control strategy includes an automatic driving strategy and a manual driving strategy;

[0034] The train is controlled to run in the section to be identified based on the control strategy.

[0035] According to a train control device provided by the present application, the control unit is used to determine a corresponding control strategy based on the two consecutive running section state responses, including:

[0036] In the case where the two consecutive operating section status responses are used to indicate that the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy;

[0037] In a case where the two consecutive operating section status responses are used to indicate that it is uncertain whether the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy and a manual driving strategy.

[0038] According to a train control device provided by the present application, the control unit is used to control the train to run in the to-be-identified section based on the control strategy, including:

[0039] In the case where the control strategy includes an automatic driving strategy, the train is controlled to run through the to-be-identified section based on the automatic driving strategy.

[0040] According to a train control device provided by the present application, the control unit is used to control the train to run in the to-be-identified section based on the control strategy, including:

[0041] In the case where the control strategy includes an automatic driving strategy and a manual driving strategy, determining a target position from a previous section of the section to be identified; wherein a distance between the target position and a starting position of the section to be identified is greater than a preset safety distance;

[0042] The train is controlled to run to the target position based on an automatic driving strategy, and to run from the target position through the section to be identified based on a manual driving strategy.

[0043] The present application also provides a train control device, including 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 control method described in any one of the above is implemented.

[0044] The present application also provides a train control system, including a train control device and a train operation supervision device;

[0045] The train control device is used to send at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section where the axle counting device collects a result indicating that the section is occupied;

[0046] The train operation supervision device is used to send an operation section status response corresponding to each operation section status request to the train control device, and the operation section status response is used to indicate whether the axle counting device has a permanent occupation fault;

[0047] The train control device is used to control the train to run in the section to be identified based on the running section status responses corresponding to two consecutive running section status requests.

[0048] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the train control methods described above.

[0049] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the train control method as described in any one of the above is implemented.

[0050] The train control method, apparatus, equipment and system provided in the embodiments of the present application can first send at least two running section status requests to the train operation supervision equipment when controlling the train operation, the running section status request including the identification of the section to be identified, the section to be identified is the section whose axle counting device collects the result of being occupied; and receive the running section status response corresponding to each running section status request sent by the train operation supervision equipment, the running section status response is used to indicate whether there is a permanent occupancy fault in the axle counting device; then based on the running section status responses corresponding to two consecutive running section status requests, control the train to run in the section to be identified, so that the running section status responses corresponding to two consecutive running section status requests are combined to jointly control the train operation, which can avoid the problem of low operating efficiency of the entire urban rail transit signal system due to occupation by axle counting faults to a certain extent, thereby effectively improving the operating efficiency of the entire urban rail transit signal system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A train control schematic diagram provided by the prior art;

[0053] Figure 2 A schematic diagram of communication between a ZC and an ATS system provided in an embodiment of the present application;

[0054] Figure 3 A flow chart of a train control method provided in an embodiment of the present application;

[0055] Figure 4 A flow chart of controlling a train to run in a to-be-identified section based on an operation section status response corresponding to two consecutive operation section status requests provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of passing through section D based on an autonomous driving strategy provided in an embodiment of the present application;

[0057] Figure 6 A schematic diagram of passing section D based on an automatic driving strategy and a manual driving strategy provided in an embodiment of the present application;

[0058] Figure 7 A schematic diagram of the structure of a train control device provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the physical structure of a train control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] In the embodiments of the present application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0062] The technical solution provided in the embodiment of the present application can be applied to train control scenarios. Taking the urban rail transit control scenario as an example, at present, the main line of the urban rail transit signal system widely uses the axle counting system as a detection and judgment device for the train occupied section. Among them, the axle counting fault occupancy refers to the situation where there is actually no train in the section used for train operation, but the axle counting system believes that there is a train in the section. Always Report Blocking (ARB) is a failure mode of the axle counting system.

[0063] If the line controller (Zone Controller, ZC) used to control the operation of trains, that is, the train control equipment, cannot efficiently and accurately identify the axle counter fault occupancy, the movement authorization of the train approaching this section will be retracted by one section, and the train running closely behind this train will be forced to slow down, thereby reducing the operating efficiency of the entire urban rail transit signal system.

[0064] Among them, ZC mainly calculates and sends mobile authorization (MA) for trains within its control range based on the position information reported by the train, the route arranged by the interlocking, and the track occupancy information or idle information provided by the trackside equipment to ensure the safe operation of the trains in its control section.

[0065] For examples, see Figure 1 As shown, Figure 1A train control schematic diagram provided for the prior art, assuming that the train running sections include sections A, B, C, D and E. Among them, section D is the section where the axle counting equipment collects the result of being occupied. If ZC cannot efficiently and accurately identify the axle counting fault occupation, it will send a movement authorization to the train approaching section D, and the movement authorization can only go to the starting position of the previous section adjacent to section D (i.e., section C), that is, starting from the starting position of section C, the driver needs to actively downgrade the operation and control the train to run through section D based on the automatic driving strategy, which will cause the train's movement authorization to retract one section C. If the length of section C is long, it will greatly reduce the operating efficiency of the entire urban rail transit signal system.

[0066] In order to improve the operational efficiency of the entire urban rail transit signal system, the embodiment of the present application provides a train control method, which can interact with the Automatic Train Supervision (ATS) system without adding any hardware facilities and equipment. When the ZC logic cannot determine the section permanent report blocking (ARB) state, the ARB state of the section is determined by interactive response with the ATS system, thereby controlling the train operation. The specific process includes:

[0067] ZC sends two running section status requests to the ATS system, and receives the running section status responses corresponding to each running section status request sent by the train operation supervision equipment. The running section status response is used to indicate whether there is a permanent occupation fault in the axle counting equipment; for examples, see Figure 2 As shown, Figure 2 A schematic diagram of a ZC and ATS system communication provided in an embodiment of the present application, after receiving two consecutive running section status responses, the train is controlled to run in the to-be-identified section based on the running section status responses corresponding to the two consecutive running section status requests. In this way, the running of the train is jointly controlled in combination with the running section status responses corresponding to the two consecutive running section status requests, which can avoid the problem of low operating efficiency of the entire urban rail transit signal system caused by axle counting failure occupation to a certain extent, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0068] Among them, the ATS system is used to automatically set routes for train operations, direct train operations, and implement train operation management according to the train timetable.

[0069] It is understandable that after ZC sends the running segment status request to the ATS system, if it receives a message from the ATS system prohibiting the determination of the ARB status of the segment, it will no longer send the running segment status request to the ATS system. This application is a series of control operations performed when the ATS system allows the determination of the ARB status of the segment.

[0070] The train control method provided by the present application will be described in detail below through the following specific embodiments. It is understandable that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0071] Figure 3 The flow chart of a train control method provided in the embodiment of the present application is applied to a train control device. The train control method can be executed by software and / or hardware devices. For example, please refer to Figure 3 As shown, the train control method may include:

[0072] S301. Send at least two running section status requests to a train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section whose collection result of an axle counting device is occupied.

[0073] For example, in an embodiment of the present application, the operating section status request may also include other information, such as the train information of the section before and after the section to be identified, that is, the train information of the two sections adjacent to the section to be identified, which can be set according to actual needs.

[0074] In order to accurately control the operation of trains and thus improve the operational efficiency of the entire urban rail transit signal system, in an embodiment of the present application, at least two operating section status requests can be sent to the train operation supervision device, and based on two consecutive operating section status responses, the train can be controlled to run in the section to be identified.

[0075] For example, in an embodiment of the present application, when at least two running section status requests are sent to a train operation supervision device, for the second running section status request, after the first running section status request is sent to the train operation supervision device and the first running section status response sent by the train operation supervision device is not received, the second running section status request can be sent to the train operation supervision device; or after the first running section status request is sent to the train operation supervision device and the first running section status response sent by the train operation supervision device is received, the second running section status request can be sent to the train operation supervision device again. Please refer to the above Figure 2 As shown, in this way, the train can be controlled to run in the section to be identified based on two consecutive running section status responses.

[0076] For the third operating section status request, or the operating section status request after the third time, the operating section status request can be sent to the train operation supervision equipment when the previous operating section status response is received, or the operating section status request can be sent to the train operation supervision equipment when two consecutive operating section status responses are inconsistent. The specific settings can be made according to actual needs.

[0077] S302. Receive an operating section status response corresponding to each operating section status request sent by the train operation supervision device, where the operating section status response is used to indicate whether the axle counting device has a permanent occupancy fault.

[0078] Wherein, whether the axle counting device has a permanent occupied fault includes whether the axle counting device has a permanent occupied fault, or it is uncertain whether the axle counting device has a permanent occupied fault. In the case where the running section status response indicates that the axle counting device has a permanent occupied fault, it means that the occupied state of the to-be-identified section is caused by the permanent occupied fault of the axle counting device, and there is actually no train in the section.

[0079] After receiving the running section status request sent by the train control device, the train operation supervision device can determine whether the section to be identified is actually occupied, and send a corresponding running section status response to the train control device, so that the train control device executes the following S303 based on the continuous running section status response:

[0080] S303. Based on the running section status responses corresponding to two consecutive running section status requests, control the train to run in the section to be identified.

[0081] The term “twice in a row” refers to operation section status responses corresponding to any two consecutive operation section status requests among at least two operation section status requests.

[0082] It can be seen that in the embodiment of the present application, when controlling the operation of a train, at least two operating section status requests can be sent to the train operation supervision device first, the operating section status request includes the identification of the section to be identified, and the section to be identified is the section whose axle counting device collects the result of being occupied; and receives the operating section status response corresponding to each operating section status request sent by the train operation supervision device, the operating section status response is used to indicate whether there is a permanent occupancy fault in the axle counting device; and then based on the operating section status response corresponding to two consecutive operating section status requests, the train is controlled to run in the section to be identified. In this way, the train operation is jointly controlled in combination with the operating section status responses corresponding to two consecutive operating section status requests, which can avoid the problem of low operating efficiency of the entire urban rail transit signal system due to occupation by axle counting faults to a certain extent, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0083] Based on the above Figure 3 In order to facilitate understanding of how to control the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests in the above embodiment, the following will be described. Figure 4 The illustrated embodiments are described in detail.

[0084] Figure 4 A flow chart of controlling a train to run in a to-be-identified section based on an operation section status response corresponding to two consecutive operation section status requests provided in an embodiment of the present application, the method may include:

[0085] S401, determining whether two consecutive running section status responses are consistent.

[0086] For example, when two consecutive running section status responses are consistent, the following S402 can be executed; when two consecutive running section status responses are inconsistent, the following S403-S405 can be executed.

[0087] S402. When two consecutive running section status responses are consistent, the train is controlled to run in the section to be identified based on the two consecutive running section status responses.

[0088] For example, in an embodiment of the present application, based on two consecutive running section status responses, when controlling the train to run in the section to be identified, the corresponding control strategy can be determined based on the two consecutive running section status responses; wherein the control strategy includes an automatic driving strategy, or the control strategy includes an automatic driving strategy and a manual driving strategy; and the train is controlled to run in the section to be identified based on the control strategy.

[0089] For example, in an embodiment of the present application, when determining the corresponding control strategy based on two consecutive running section status responses, when two consecutive running section status responses are used to indicate that there is a permanent occupancy fault in the axle counting device, it means that the occupied state of the section to be identified is caused by the permanent occupancy fault in the axle counting device, and there is actually no train in the section. In this case, the control strategy includes an automatic driving strategy; when two consecutive running section status responses are used to indicate that it is uncertain whether there is a permanent occupancy fault in the axle counting device, in order to safely pass the section to be identified, the control strategy includes an automatic driving strategy and a manual driving strategy.

[0090] After determining the corresponding control strategy based on two consecutive running section state responses, the train can be controlled to run in the section to be identified based on the control strategy. For example, in an embodiment of the present application, controlling the train to run in the section to be identified based on the control strategy may include at least the following two possible implementation methods:

[0091] In one possible implementation, the control strategy includes an automatic driving strategy, and the train is controlled to run in the section to be identified based on the automatic driving strategy.

[0092] If the control strategy includes an automatic driving strategy, the train control device can send a movement authorization to the train to control the train to pass through the section to be identified based on the automatic driving strategy through the movement authorization. This can effectively solve the problem of the section to be identified being occupied due to an axle counting failure, resulting in the train needing to slow down to pass through the section to be identified, thereby improving the operating efficiency of the train in the section to be identified, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0093] For example, combined with the above Figure 1 In the scenario shown in FIG. 1 , if the corresponding control strategy is determined to include an automatic driving strategy based on two consecutive running section status responses, a movement authorization may be sent to the train to control the train to pass through section D based on the automatic driving strategy through the movement authorization. For example, see Figure 5 As shown, Figure 5 A schematic diagram of passing section D based on an automatic driving strategy is provided in an embodiment of the present application. This can effectively solve the problem that section D is occupied due to an axle counter failure, causing the train to slow down to pass sections C and D, thereby improving the operating efficiency of the train in sections C and D, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0094] In another possible implementation, the control strategy includes an automatic driving strategy and a manual driving strategy, and the train is controlled to operate in the section to be identified based on the automatic driving strategy and the manual driving strategy.

[0095] If the control strategy includes an automatic driving strategy and a manual driving strategy, the target position can be determined from the previous section of the section to be identified; wherein the distance between the target position and the starting position of the section to be identified is greater than a preset safety distance; and the train is controlled to run to the target position based on the automatic driving strategy, and to run from the target position through the section to be identified based on the manual driving strategy.

[0096] Among them, the value of the preset safety distance can be set according to actual needs. In the embodiment of the present application, the specific value of the preset safety distance is not further restricted in the embodiment of the present application.

[0097] It can be understood that in the embodiment of the present application, when the control strategy includes an automatic driving strategy and a manual driving strategy, it indicates that it is uncertain whether the axle counting device has a permanent occupancy fault. In order to allow the train to safely pass through the section to be identified, the train is controlled to decelerate in advance before the train runs to the section to be identified. However, unlike the prior art, the train is no longer controlled to decelerate at the starting position of the previous time period, but it is sufficient as long as there is a safe distance between the starting position of the section to be identified. That is to say, in the embodiment of the present application, the distance between the target position and the starting position of the section to be identified is less than the distance between the starting position of the previous section of the section to be identified and the starting position of the section to be identified. In this way, the automatic driving time of the train can be controlled to be extended, thereby improving the operation efficiency of the train.

[0098] For example, combined with the above Figure 1 In the scenario shown, if the corresponding control strategy is determined to include the automatic driving strategy and the manual driving strategy based on two consecutive running section status responses, a movement authorization can be sent to the train to control the train to pass the target position of section C based on the automatic driving strategy through the movement authorization, and to run from the target position of section C based on the manual driving strategy through section D. For an example, see Figure 6 As shown, Figure 6 A schematic diagram of passing section D based on an automatic driving strategy and a manual driving strategy is provided in an embodiment of the present application. This can effectively solve the problem that section D is occupied due to an axle counter failure, causing the train to slow down to pass section C, thereby improving the operating efficiency of the train in section C, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0099] Combined with the relevant description in S402 above, when two consecutive running section status responses are consistent, the train operation can be controlled directly based on the two consecutive running section status responses. This can avoid the problem of low operating efficiency of the entire urban rail transit signal system due to axle counting failure to a certain extent, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0100] It can be understood that when two consecutive running section status responses are consistent, there is no need to send the running section status request to the train operation supervision device again, but the train operation is directly controlled based on the two consecutive running section status responses.

[0101] On the contrary, when two consecutive running section status responses are inconsistent, it is necessary to send the running section status request to the train operation supervision device again, that is, execute the following S403-S405:

[0102] S403. When two consecutive running section status responses are inconsistent, determine whether the latter running section status response and the next running section status response of the latter running section status response are consistent; when the latter running section status response is inconsistent with the next running section status response, repeat the above operation until the two consecutive running section status responses are consistent, or the duration between the current time and the first sending time of the running section status request reaches a preset duration.

[0103] The value of the preset duration can be set according to actual needs. For example, in the embodiment of the present application, the value of the preset duration can be 2 seconds, or 3 seconds, etc., which can be set according to actual needs.

[0104] In the case that two consecutive running section status responses are inconsistent, assuming that the first running section status response is that there is a permanent occupancy fault in the axle counting device, and the second running section status response is that there is no permanent occupancy fault in the axle counting device, and the preset duration is 2 seconds, taking the case that two consecutive running section status responses are inconsistent, and sending an running section status request to the train operation supervision device again as an example, the train control device can send an running section status request to the train operation supervision device for the third time, and receive the third running section status response sent by the train operation supervision device.

[0105] If the third running section status response is that there is no permanent occupancy fault in the axle counting device, which is the same as the second running section status response, then the sending of the running section status request to the train operation supervision device can be stopped, and based on the running section status response that there is no permanent occupancy fault in the axle counting device, the train is controlled to run in the section to be identified; on the contrary, if the third running section status response is that there is a permanent occupancy fault in the axle counting device, which is different from the second running section status response, the above operation is repeated until the next running section status response is consistent with the previous running section status response, or the time between the current time and the first sending time of the running section status request reaches 2 seconds, then the sending of the running section status request to the train operation supervision device is stopped.

[0106] S404. When two consecutive running section status responses are consistent, the train is controlled to run in the section to be identified based on the two consecutive running section status responses.

[0107] It should be noted that in S404, the specific implementation of controlling the train to run in the section to be identified based on two consecutive running section status responses is similar to the specific implementation of controlling the train to run in the section to be identified based on two consecutive running section status responses in the above S402. For details, please refer to the relevant description in the above S402, and the embodiments of the present application will not be repeated here.

[0108] S405. When the preset time is reached, the train is controlled to run to the starting position of the previous section of the section to be identified based on the automatic driving strategy, and runs from the starting position through the section to be identified based on the manual driving strategy.

[0109] For example, combined with the above Figure 1 In the scenario shown, a movement authorization can be sent to the train to control the train to run to the starting position of section C based on the automatic driving strategy through the movement authorization, and to control the train to pass through the starting position of section C based on the automatic driving strategy through the movement authorization, and then run from the starting position of section C through section D based on the manual driving strategy.

[0110] Combined with the relevant descriptions in S403-S405 above, when two consecutive running section status responses are inconsistent, it can be determined whether the latter running section status response and the next running section status response of the latter running section status response are consistent; when the latter running section status response is inconsistent with the next running section status response, the above operations are repeated until the two consecutive running section status responses are consistent, or the time length between the current moment and the first sending moment of the running section status request reaches the preset time length. When the two consecutive running section status responses are consistent, the train is controlled to run in the section to be identified based on the two consecutive running section status responses. This can avoid the problem of low operating efficiency of the entire urban rail transit signal system due to axle counting failure to a certain extent, thereby effectively improving the operating efficiency of the entire urban rail transit signal system.

[0111] The train control device provided in the present application is described below. The train control device described below and the train control method described above can be referenced to each other.

[0112] Figure 7 A schematic diagram of the structure of a train control device provided in an embodiment of the present application is applied to a train control device. For example, see Figure 7 As shown, the train control device 70 may include:

[0113] The sending unit 701 is used to send at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section whose collection result of the axle counting device is occupied;

[0114] A receiving unit 702 is used to receive an operating section status response corresponding to each operating section status request sent by the train operation supervision device, wherein the operating section status response is used to indicate whether the axle counting device has a permanent occupation fault;

[0115] The control unit 703 is used to control the train to run in the section to be identified based on the running section status responses corresponding to two consecutive running section status requests.

[0116] For example, in an embodiment of the present application, the control unit 703 is used to control the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests, including:

[0117] In the case that two consecutive running section status responses are inconsistent, determining whether the latter running section status response of the two consecutive running section status responses and the next running section status response of the latter running section status response are consistent; in the case that the latter running section status response and the next running section status response are inconsistent, repeatedly performing the above operation until the two consecutive running section status responses are consistent, or the time length between the current time and the time length when the running section status request is first sent reaches a preset time length;

[0118] In the case that the two consecutive running section status responses are consistent, the train is controlled to run in the to-be-identified section based on the two consecutive running section status responses.

[0119] For example, in an embodiment of the present application, the control unit 703 is used to control the train to run in the to-be-identified section based on the running section status responses corresponding to the two consecutive running section status requests, including:

[0120] Determining a corresponding control strategy based on the two consecutive operating section state responses, wherein the control strategy includes an automatic driving strategy, or the control strategy includes an automatic driving strategy and a manual driving strategy;

[0121] The train is controlled to run in the section to be identified based on the control strategy.

[0122] For example, in the embodiment of the present application, the control unit 703 is used to determine the corresponding control strategy based on the two consecutive operation section state responses, including:

[0123] In the case where the two consecutive operating section status responses are used to indicate that the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy;

[0124] In a case where the two consecutive operating section status responses are used to indicate that it is uncertain whether the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy and a manual driving strategy.

[0125] For example, in an embodiment of the present application, the control unit 703 is used to control the train to run in the to-be-identified section based on the control strategy, including:

[0126] In the case where the control strategy includes an automatic driving strategy, the train is controlled to run through the to-be-identified section based on the automatic driving strategy.

[0127] For example, in an embodiment of the present application, the control unit 703 is used to control the train to run in the to-be-identified section based on the control strategy, including:

[0128] In the case where the control strategy includes an automatic driving strategy and a manual driving strategy, determining a target position from a previous section of the section to be identified; wherein a distance between the target position and a starting position of the section to be identified is greater than a preset safety distance;

[0129] The train is controlled to run to the target position based on an automatic driving strategy, and to run from the target position through the section to be identified based on a manual driving strategy.

[0130] The train control device 70 provided in the embodiment of the present application can execute the technical solution of the train control method in any of the above-mentioned embodiments. Its implementation principle and beneficial effects are similar to those of the train control method. Please refer to the implementation principle and beneficial effects of the train control method, and no further details will be given here.

[0131] An embodiment of the present application also provides a train control system, which may include a train control device and a train operation supervision device.

[0132] The train control device is used to send at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section where the axle counting device collects a result indicating that the section is occupied;

[0133] The train operation supervision device is used to send an operation section status response corresponding to each operation section status request to the train control device, and the operation section status response is used to indicate whether the axle counting device has a permanent occupation fault;

[0134] The train control device is used to control the train to run in the section to be identified based on the running section status responses corresponding to two consecutive running section status requests.

[0135] The train control system provided in the embodiments of the present application can execute the technical solution of the train control method in any of the above embodiments. Its implementation principle and beneficial effects are similar to those of the train control method. Please refer to the implementation principle and beneficial effects of the train control method, and no further details will be given here.

[0136] Figure 8 A schematic diagram of the physical structure of a train control device provided in an embodiment of the present application, such as Figure 8 As shown, the train control 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 control method, which includes: sending at least two running section status requests to the train operation supervision device, wherein the running section status request includes the identification of the section to be identified, and the section to be identified is the section where the axle counting device collects the result that it is occupied; receiving the running section status response corresponding to each running section status request sent by the train operation supervision device, wherein the running section status response is used to indicate whether the axle counting device has a permanent occupation fault; and controlling the train to run in the section to be identified based on the running section status responses corresponding to two consecutive running section status requests.

[0137] 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 this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable 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 application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0138] On the other hand, the present application also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the train control method provided by the above methods, and the method includes: sending at least two running section status requests to a train operation supervision device, the running section status request includes an identifier of a section to be identified, and the section to be identified is a section whose axle counting device collects results as occupied; receiving an running section status response corresponding to each of the running section status requests sent by the train operation supervision device, and the running section status response is used to indicate whether the axle counting device has a permanent occupancy fault; based on the running section status responses corresponding to two consecutive running section status requests, controlling the train to run in the section to be identified.

[0139] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the train control method provided by the above-mentioned methods, the method comprising: sending at least two running section status requests to a train operation supervision device, the running section status request including an identifier of a section to be identified, the section to be identified being a section whose axle counting device collects results of being occupied; receiving a running section status response corresponding to each of the running section status requests sent by the train operation supervision device, the running section status response being used to indicate whether the axle counting device has a permanent occupancy fault; and controlling the train to operate in the section to be identified based on the running section status responses corresponding to two consecutive running section status requests.

[0140] 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.

[0141] 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.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 application.

Claims

1. A train control method, characterized in that: Applied to train control equipment, the method comprises: Sending at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section that the axle counting device collects as occupied; receiving an operating section status response corresponding to each operating section status request sent by the train operation supervision device, wherein the operating section status response is used to indicate whether the axle counting device has a permanent occupancy fault; Based on the running section status responses corresponding to two consecutive running section status requests, controlling the train to run in the section to be identified; Wherein, the controlling the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests comprises: In the case that two consecutive running section status responses are inconsistent, determining whether the latter running section status response of the two consecutive running section status responses and the next running section status response of the latter running section status response are consistent; in the case that the latter running section status response is inconsistent with the next running section status response, repeatedly performing the above operation until the two consecutive running section status responses are consistent, or the time length between the current time and the time length when the running section status request is first sent reaches a preset time length; When the two consecutive running section state responses are consistent, based on the two consecutive running section state responses, controlling the train to run in the to-be-identified section; When the preset time is reached, the train is controlled to run to the starting position of the previous section of the section to be identified based on the automatic driving strategy, and runs through the section to be identified from the starting position of the previous section based on the manual driving strategy.

2. The method according to claim 1, characterized in that The controlling the train to run in the to-be-identified section based on the running section status responses corresponding to the two consecutive running section status requests comprises: Determining a corresponding control strategy based on the two consecutive operating section state responses, wherein the control strategy includes an automatic driving strategy, or the control strategy includes an automatic driving strategy and a manual driving strategy; The train is controlled to run in the section to be identified based on the control strategy.

3. The method according to claim 2, characterized in that The determining of the corresponding control strategy based on the two consecutive operation section state responses includes: In the case where the two consecutive operating section status responses are used to indicate that the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy; In a case where the two consecutive operating section status responses are used to indicate that it is uncertain whether the axle counting device has a permanent occupancy fault, the control strategy includes an automatic driving strategy and a manual driving strategy.

4. The method according to claim 2, characterized in that: The controlling the train to run in the to-be-identified section based on the control strategy includes: In the case where the control strategy includes an automatic driving strategy, the train is controlled to run through the to-be-identified section based on the automatic driving strategy.

5. The method according to claim 2, characterized in that: The controlling the train to run in the to-be-identified section based on the control strategy includes: In the case where the control strategy includes an automatic driving strategy and a manual driving strategy, determining a target position from a previous section of the section to be identified; wherein a distance between the target position and a starting position of the section to be identified is greater than a preset safety distance; The train is controlled to run to the target position based on an automatic driving strategy, and to run from the target position through the section to be identified based on a manual driving strategy.

6. A train control device, characterized in that: Applied to train control equipment, the device comprises: A sending unit, used for sending at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section whose collection result of the axle counting device is occupied; a receiving unit, used for receiving an operating section status response corresponding to each operating section status request sent by the train operation supervision device, wherein the operating section status response is used for indicating whether the axle counting device has a permanent occupancy fault; A control unit, configured to control the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests; The control unit is used to control the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests, including: In the case that two consecutive running section status responses are inconsistent, determining whether the latter running section status response of the two consecutive running section status responses and the next running section status response of the latter running section status response are consistent; in the case that the latter running section status response and the next running section status response are inconsistent, repeatedly performing the above operation until the two consecutive running section status responses are consistent, or the time length between the current time and the time length when the running section status request is first sent reaches a preset time length; When the two consecutive running section state responses are consistent, based on the two consecutive running section state responses, controlling the train to run in the to-be-identified section; When the preset time is reached, the train is controlled to run to the starting position of the previous section of the section to be identified based on the automatic driving strategy, and runs through the section to be identified from the starting position of the previous section based on the manual driving strategy.

7. A train control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the train control method according to any one of claims 1 to 5 is implemented.

8. A train control system, characterized in that: Including train control equipment and train operation supervision equipment; The train control device is used to send at least two running section status requests to the train operation supervision device, wherein the running section status request includes an identifier of a section to be identified, and the section to be identified is a section where the axle counting device collects a result indicating that the section is occupied; The train operation supervision device is used to send an operation section status response corresponding to each operation section status request to the train control device, and the operation section status response is used to indicate whether the axle counting device has a permanent occupation fault; The train control device is used to control the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests; Wherein, the controlling the train to run in the to-be-identified section based on the running section status responses corresponding to two consecutive running section status requests comprises: In the case that two consecutive running section status responses are inconsistent, determining whether the latter running section status response of the two consecutive running section status responses and the next running section status response of the latter running section status response are consistent; in the case that the latter running section status response is inconsistent with the next running section status response, repeatedly performing the above operation until the two consecutive running section status responses are consistent, or the time length between the current time and the time length when the running section status request is first sent reaches a preset time length; When the two consecutive running section state responses are consistent, based on the two consecutive running section state responses, controlling the train to run in the to-be-identified section; When the preset time is reached, the train is controlled to run to the starting position of the previous section of the section to be identified based on the automatic driving strategy, and runs through the section to be identified from the starting position of the previous section based on the manual driving strategy.

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 control method according to any one of claims 1 to 5 is implemented.

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