Vehicle door opening method, railway vehicle, computer device and readable storage medium

Abstract

The application relates to an intelligent traffic technology, in particular to a vehicle door opening method, a rail vehicle, a computer device and a readable storage medium. The vehicle door opening method comprises the following steps: determining that a boarding platform is located at a target side of a train, the target side is a left side or a right side of the train, and the train comprises at least two vehicle doors at the target side; if a track section where the train is parked has the boarding platform, determining a to-be-opened vehicle door corresponding to the boarding platform from the at least two vehicle doors; unlocking the to-be-opened vehicle door and isolating the remaining vehicle doors of the train. By using the above vehicle door opening method, the opening of a specific vehicle door can be intelligently controlled.

Description

Technical Field

[0001] This application relates to an intelligent transportation technology, and more particularly to a door opening method, a rail vehicle, a computer device, and a readable storage medium. Background Technology

[0002] With the development of intelligent transportation technology, fully automated rail transit systems are also widely used. In traditional fully automated rail transit systems, before the rail vehicle is awakened, the driver boards the boarding stairs or platform, manually inserts the key to enter the carriage, and then awakens the vehicle for subsequent fully automated departure operations. After the vehicle returns to the depot and goes into hibernation mode, the driver manually opens the doors and disembarks through the boarding platform. These fully automated rail transit systems require manual opening of specific doors in designated areas, making it difficult to intelligently control the opening of specific doors. Summary of the Invention

[0003] Therefore, it is necessary to provide a door opening method, a rail vehicle, a computer device, and a readable storage medium that can intelligently control the opening of specific doors, in order to address the aforementioned technical problems.

[0004] In a first aspect, this application provides a method for opening a vehicle door, the method comprising:

[0005] The boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train includes at least two doors on the target side.

[0006] If the track section where the train is stopped has the boarding platform, then the door to be opened corresponding to the boarding platform is determined from the at least two doors;

[0007] Unlock the door to be opened and isolate the other doors of the train.

[0008] In one embodiment, the boarding platform is located in a non-train platform area.

[0009] In one embodiment, if the track section where the train is stopped has the boarding platform, determining the door to be opened corresponding to the boarding platform from the at least two doors includes:

[0010] If the train stops within the first track section where the boarding platform is located, the door to be opened corresponding to the boarding platform is determined from the at least two doors.

[0011] In one embodiment, the method further includes:

[0012] Obtain the real-time location of the train;

[0013] If the real-time location is within the first track section where the boarding platform is located, then the train is controlled to stop.

[0014] In one embodiment, obtaining the real-time location of the train includes:

[0015] The initial position, direction of travel, and real-time cumulative travel distance of the train are obtained, wherein the cumulative travel distance refers to the actual distance traveled by the train relative to the initial position;

[0016] The real-time position of the train is obtained based on the initial position, the direction of travel, and the real-time cumulative travel distance.

[0017] In one embodiment, obtaining the train's real-time cumulative running distance includes:

[0018] Obtain the actual distance between the previous transponder and the current transponder that the train has passed;

[0019] Obtain the measured distance between the previous transponder and the current transponder as measured by the train measurement unit;

[0020] The real-time cumulative running distance of the train is obtained based on the actual distance, the measured distance, and the cumulative running distance when the train passed the previous transponder.

[0021] In one embodiment, obtaining the true distance between the previous transponder passed by the train and the current transponder includes:

[0022] The train receives a first transponder signal when it passes the previous transponder, and receives a second transponder signal when it passes the current transponder in real time. The first transponder signal contains the first positioning information of the train, and the second transponder signal contains the second positioning information of the train.

[0023] Based on the first positioning information and the second positioning information, the actual distance between the previous transponder and the current transponder is obtained.

[0024] In one embodiment, obtaining the measurement distance between the previous transponder and the current transponder as measured by the train measurement unit includes:

[0025] The measured distance between the previous transponder and the current transponder is obtained based on the cumulative measured distance when the train passes the current transponder and the cumulative running distance when it passes the previous transponder.

[0026] The cumulative measurement distance refers to the distance traveled by the train relative to its initial position, as measured by the train measurement unit.

[0027] In one embodiment, obtaining the real-time cumulative running distance of the train based on the actual distance, the measured distance, and the cumulative running distance when the train passed the previous transponder includes:

[0028] The ranging error is obtained based on the actual distance and the measured distance;

[0029] If the ranging error does not exceed the error range, the measured distance is corrected based on the actual distance;

[0030] The real-time cumulative running distance of the train is obtained based on the corrected measured distance and the cumulative running distance when the train passes the previous transponder.

[0031] In one embodiment, the method further includes:

[0032] Obtain the location information of the boarding platform;

[0033] Based on the location information of the boarding platform and the electronic track map, the first track segment in which the boarding platform is located is determined. The electronic track map includes multiple track segments formed by dividing the train track according to location, and the first track segment is one of the multiple track segments.

[0034] In one embodiment, determining the door to be opened corresponding to the boarding platform from the at least two doors includes:

[0035] Determine the location of the train's stopping point within the first track section where the boarding platform is located;

[0036] Based on the location of the parking point, determine the offset of each of the at least two doors on the target side relative to the boarding platform;

[0037] Based on the offset of each door relative to the boarding platform, the door to be opened corresponding to the boarding platform is determined from the at least two doors.

[0038] In one embodiment, determining the stopping point location of the train within the first track section where the boarding platform is located includes:

[0039] Based on the electronic track map, obtain the location of at least one of the parking points within the first track section where the boarding platform is located;

[0040] Based on the direction of train operation, the first distance between each of the parking points and the starting point of the first track section is obtained, where the starting point refers to the position of the first track section that the train first enters when running in the direction of operation.

[0041] Based on the train speed when the train reaches the starting point, obtain the second distance traveled by the train from deceleration to a stop;

[0042] If there exists a first distance that is equal to the second distance, then the stopping point location corresponding to the train is determined to be the stopping point location corresponding to the first distance that is equal to the second distance.

[0043] In one embodiment, determining the door to be opened corresponding to the boarding platform from the at least two doors based on the offset of each door relative to the boarding platform includes:

[0044] If any of the offsets of the various doors relative to the boarding platform falls within a first threshold, then the door whose offset falls within the first threshold is determined to be the door to be opened; and / or

[0045] If the offset is not within the first threshold, then the door closest to the train cab among the at least two doors is determined to be the door to be opened.

[0046] In one embodiment, unlocking the door to be opened and isolating the remaining doors of the train includes:

[0047] Obtain the door identifier of the door to be opened;

[0048] Send a door opening command to the control system to instruct the control system to unlock the door corresponding to the door identifier and isolate the remaining doors of the train according to the door opening command.

[0049] In one embodiment, the method further includes:

[0050] Based on the train's stop duration and / or a remotely issued door closing command, a door closing command is sent to the control system to instruct the control system to close the door corresponding to the door identifier according to the door closing command.

[0051] Secondly, this application also provides a rail vehicle, the rail vehicle comprising:

[0052] A signal system for performing the steps of the method as shown in the first aspect and any embodiment of the first aspect;

[0053] The control system is communicatively connected to the signal system and is used to receive a door opening command sent by the signal system, so as to unlock the door corresponding to the door identifier and isolate the other doors of the train according to the door opening command, and / or receive a door closing command sent by the signal system, so as to close the door corresponding to the door identifier according to the door closing command.

[0054] Thirdly, this application also provides a computer device, including: a memory and a processor, wherein the memory stores program instructions; when the program instructions are executed by the processor, the processor performs the method as shown in the first aspect and any embodiment of the first aspect.

[0055] Fourthly, this application also provides a computer-readable storage medium storing a computer program; when the computer program is run on one or more processors, it performs the method as shown in the first aspect and any embodiment of the first aspect.

[0056] The door opening method provided in the first aspect above determines that the boarding platform for train passengers to board or alight is located on the target side of the train, which is either the left or right side of the train, and the train includes at least two doors on the target side. Furthermore, if the track section where the train is stopped has a boarding platform, the door to be opened corresponding to the boarding platform is determined from the at least two doors. Further, the door to be opened is unlocked, and the remaining doors of the train are isolated. Using the above door opening method, when the boarding platform is determined to be located on the target side of the train, and the track section where the train is stopped has a boarding platform, the specific door corresponding to the boarding platform that needs to be opened can be intelligently determined, and this specific door can be intelligently unlocked while the remaining doors are isolated. Unlike traditional technologies that require manual opening of specific doors in designated areas, the above door opening method achieves fully automated control of specific door opening.

[0057] It is understood that the rail vehicle provided in the second aspect, the computer equipment provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are all used to perform the method shown in the first aspect or any embodiment of the first aspect of this application. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding methods, and will not be repeated here. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0059] Figure 1 One of the schematic flowcharts of the door opening method provided in the embodiments of this application;

[0060] Figure 2A second schematic flowchart illustrating the door opening method provided in this application embodiment;

[0061] Figure 3 A schematic diagram illustrating the process of obtaining the real-time location of a train as provided in an embodiment of this application;

[0062] Figure 4 A schematic diagram illustrating the process of obtaining the real-time cumulative running distance of a train, provided in an embodiment of this application;

[0063] Figure 5 A schematic diagram illustrating the process of obtaining the actual distance between the previous transponder and the current transponder passed by the train, provided in an embodiment of this application;

[0064] Figure 6 A flowchart illustrating the process of obtaining the real-time cumulative running distance of a train based on the actual distance, the measured distance, and the cumulative running distance when the train passes the previous transponder, provided for embodiments of this application;

[0065] Figure 7 The third schematic flowchart of the door opening method provided in the embodiments of this application;

[0066] Figure 8 A schematic diagram illustrating the process of determining the door to be opened from at least two doors corresponding to the boarding platform, provided for an embodiment of this application;

[0067] Figure 9 A flowchart illustrating the process of determining the stopping point location of a train within the first track section where the boarding platform is located, as provided in this embodiment of the application.

[0068] Figure 10 A schematic diagram illustrating the process of unlocking the door to be opened and isolating the other doors of the train, as provided in an embodiment of this application.

[0069] Figure 11 The fourth schematic flowchart of the door opening method provided in the embodiments of this application;

[0070] Figure 12 Fifth flowchart illustrating the door opening method provided in this application embodiment;

[0071] Figure 13 This is a schematic diagram of the structure of a rail vehicle provided in an embodiment of this application;

[0072] Figure 14 This is a schematic diagram of the structure of the door opening device provided in the embodiments of this application;

[0073] Figure 15 A schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0074] To facilitate understanding of the embodiments of this application, a more comprehensive description of the embodiments of this application will be provided below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of the embodiments of this application. However, the embodiments of this application can be implemented in many different forms and are not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the embodiments of this application more thorough and complete.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of this application belong. The terminology used herein in the description of embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of this application.

[0076] When used, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “comprising / including” specifies the presence of the stated feature, whole, step, operation, part, or combination thereof, but does not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, parts, or combinations thereof.

[0077] This application embodiment considers the intelligent application of boarding platforms in fully automated rail transit systems, and provides a door opening method based on a fully automated rail transit signaling system to achieve intelligent control of specific door opening by the signaling system (onboard controller). It should be noted that this application embodiment can be applied, but is not limited to, scenarios where train drivers board or alight in specific boarding platform areas, and can also be applied to scenarios such as passengers boarding or alighting in specific boarding platform areas. This application embodiment only uses driver boarding or alighting as an example for discussion. The "train" mentioned in this application embodiment can refer to all rail transit vehicles that can achieve intelligent opening of specific doors using this door opening method, including but not limited to trains, subways, and light rail. The meanings of the English abbreviations appearing in this application embodiment are explained as follows:

[0078] VOBC: Vehicle On-board Controller;

[0079] TCMS: Train Control and Management System;

[0080] ATS: Automatic Train Supervision;

[0081] GPS: Global Positioning System.

[0082] like Figure 1 As shown, the door opening method provided in this application embodiment includes the following steps S101 to S103.

[0083] S101, Determine that the boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train includes at least two doors on the target side. The boarding platform refers to the platform used by the train's crew to board or disembark.

[0084] Specifically, boarding platforms can be set up according to actual needs, including but not limited to beside the tracks in the train platform area. After determining the location of the boarding platform based on actual needs, the location information contained in the electronic track map can be used to determine whether the boarding platform is located on the left or right side of the train, and thus determine whether the left or right side door of the train needs to be opened.

[0085] S102, if the track section where the train is stopped has a boarding platform, then determine the door to be opened corresponding to the boarding platform from at least two doors.

[0086] S103, unlock the door to be opened and isolate the remaining doors of the train.

[0087] Specifically, once it is determined that the boarding platform is located on the target side of the train, and there is a boarding platform within the track section where the train is stopped, VOBC can intelligently determine the specific door corresponding to the boarding platform that needs to be opened, and intelligently unlock this specific door while keeping the other doors isolated. Then, the door to be opened is controlled to open, while the other doors are isolated using an isolation mode.

[0088] Traditional fully automated rail transit systems require manual opening of specific doors in designated areas. Based on this, implementing a traditional rail transit system presents at least the following drawbacks, besides the difficulty in achieving intelligent control of specific door openings: manual door opening poses certain safety hazards. For example, when there is a significant distance between the boarding platform and the train, the driver risks stepping into an empty space while opening the door; if the boarding platform is located outside the train platform area, the driver also faces the risk of falling while opening the door.

[0089] Unlike traditional fully automated rail transit systems, the door opening method provided in this embodiment offers several advantages. Firstly, it allows for door opening wherever a boarding platform is available, regardless of the train's location on the track. This provides customized boarding options, not limited to designated areas like the start and end points of the track. The Vehicle Controller Hub (VOBC) intelligently determines and unlocks specific doors, opening them without manual intervention. Secondly, after the train stops, the VOBC continuously monitors and unlocks the door to be opened, isolating other doors. This process requires no manual intervention; once the door is open, the driver can simply board or alight, reducing the risk of accidental falls. The intelligent VOBC control of the door's unlocking and opening, while keeping other doors closed, also mitigates the risk of falls from elevated or non-platform areas, reducing overall train safety. In addition, by adopting the door opening method in this embodiment, the VOBC intelligent unlocking of the door to be opened can reduce the frequency of use of the emergency unlocking device of the train door, which is conducive to extending the service life of the device.

[0090] In one embodiment, the boarding platform in step S101 is located in a non-train platform area.

[0091] In this embodiment, the boarding platform refers to a platform set up in a non-train platform area for train drivers and passengers to board or alight. For example, in newly built lines, temporary ladder platforms for drivers to board and alight are not formally included in the VOBC's control scope, as are temporary boarding platforms set up for maintenance track storage lines. Since traditional train-to-ground door isolation strategies cannot be directly implemented in non-train platform areas without platform doors, this embodiment adds a link between the boarding platform and a specific train door in this situation. By unlocking the specific door to open it, not only can the opening of the specific door be intelligently controlled in non-train platform areas, but it also helps to avoid the risk of personnel falling when the boarding platform is set up in elevated or other non-train platform areas.

[0092] In one embodiment, step S102 above, if the track section where the train is located when it stops has a boarding platform, then determining the door to be opened corresponding to the boarding platform from at least two doors includes the step of: if the train stops in the first track section where the boarding platform is located, then determining the door to be opened corresponding to the boarding platform from at least two doors.

[0093] Specifically, the first track section is one of multiple track sections formed by dividing the train track. Given that the location of the boarding platform and its location within the first track section are known based on actual needs, the train stops within the first track section, ensuring that the boarding platform is present within the track section where the train stops. Furthermore, once the boarding platform is determined to be located on the target side of the train, the VOBC can intelligently determine the specific door corresponding to the boarding platform that needs to be opened, and intelligently unlock this specific door while isolating the other doors.

[0094] In this embodiment, specific doors can be opened within the first track section where any boarding platform is located, based on actual needs. Besides intelligently controlling the opening of specific doors, it also provides users with more customized boarding functions, offering parking and boarding services based on the user's current or desired boarding platform location. Furthermore, when additional or fewer boarding platforms are added to the train line, only the data of the corresponding first track section where the boarding platform is located needs to be added or deleted from the boarding platform list. This facilitates the updating and maintenance of rail transit system data, reduces the workload of data configuration, burning, and debugging, and helps minimize the impact of rail transit system upgrades on normal line operation.

[0095] like Figure 2 As shown, in one embodiment, the door opening method includes the following steps S201 to S205, wherein steps S201, S204, and S205 correspond one-to-one with steps S101 and S103 in the aforementioned embodiments: if the train stops in the first track section where the boarding platform is located, then determine the door to be opened corresponding to the boarding platform from at least two doors. The discussion of steps S201, S204, and S205 in this embodiment can be referred to the aforementioned embodiments, and will not be repeated here.

[0096] S201 specifies that the boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train has at least two doors on the target side. The boarding platform refers to the platform used by the train's crew to board or disembark.

[0097] S202, obtain the real-time location of the train.

[0098] Specifically, the real-time location of the train on the electronic track map is obtained through the real-time positioning function.

[0099] S203: If the real-time location is within the first track section where the boarding platform is located, the train will be stopped.

[0100] Specifically, the train's ATS (Automatic Track System) sends a unique destination code to the VOBC (Vehicle Traffic Controller) for the first track section where the boarding platform is located. The VOBC then uses this destination code to determine the first track section in the electronic track map. Furthermore, based on the VOBC's relative positioning technology, the train's real-time location on the electronic track map is determined, and it is continuously checked whether the train's current location matches the first track section where the boarding platform is located. If the train's current location matches the first track section, it indicates that the train has entered the first track section, and the train is stopped.

[0101] S204 If the train stops in the first track section where the boarding platform is located, the door to be opened corresponding to the boarding platform shall be determined from at least two doors.

[0102] S205, unlock the door to be opened and isolate the remaining doors of the train.

[0103] In this embodiment, based on the relative positioning technology of VOBC, it is determined in real time whether the track section where the train is located is the first track section where the boarding platform is located, which is conducive to intelligent and precise control of the train stopping in the first track section.

[0104] like Figure 3 As shown, in one embodiment, step S202, obtaining the real-time location of the train, includes the following steps S301 to S302.

[0105] S301, obtain the initial position, direction of travel, and real-time cumulative travel distance of the train. The cumulative travel distance refers to the actual distance traveled by the train relative to its initial position.

[0106] Specifically, multiple transponders are installed along the train track, each corresponding to a specific kilometer marker on the electronic track map. When a train passes a transponder, it receives a signal from that transponder. Based on this signal, the train's current location information can be determined, including the kilometer marker. Therefore, when a train passes two consecutive valid transponders, its position and direction of travel can be determined, completing the train positioning initialization.

[0107] S302 obtains the real-time position of the train based on its initial position, direction of travel, and real-time cumulative travel distance.

[0108] In this embodiment, after the train completes its positioning initialization, VOBC can dynamically calculate and update the train's real-time position on the electronic track map based on the train's initial position, direction of travel, and real-time cumulative travel distance, so as to provide effective and accurate data for real-time determination of whether the train has entered the first track section where the boarding platform is located.

[0109] like Figure 4 As shown, in one embodiment, the step S301 above, obtaining the real-time cumulative running distance of the train includes the following steps S401 to S403.

[0110] S401, obtain the actual distance between the previous transponder passed by the train and the current transponder.

[0111] like Figure 5 As shown, in one embodiment, step S401, obtaining the true distance between the previous transponder passed by the train and the current transponder, includes the following steps S501 to S502.

[0112] S501 receives the first transponder signal when the train passes the previous transponder and receives the second transponder signal when the train passes the current transponder in real time. The first transponder signal contains the first positioning information of the train and the second transponder signal contains the second positioning information of the train.

[0113] S502, based on the first positioning information and the second positioning information, obtain the true distance between the previous transponder and the current transponder.

[0114] Specifically, the first positioning information is the kilometer marker value corresponding to the previous transponder the train passed, and the second positioning information is the kilometer marker value corresponding to the current transponder the train is passing in real time. Based on the kilometer marker values ​​corresponding to the two transponders, the true distance between the two transponders can be obtained.

[0115] S402, obtain the measurement distance between the previous transponder and the current transponder as measured by the train measurement unit.

[0116] In one embodiment, step S402 above, obtaining the measurement distance between the previous transponder and the current transponder measured by the train measurement unit, includes the following steps:

[0117] The measured distance between the previous and current transponders is obtained by combining the cumulative distance traveled by the train when passing the current transponder with the cumulative distance traveled when passing the previous transponder. The cumulative measured distance refers to the distance traveled by the train relative to its initial position, as measured by the train measurement unit.

[0118] Specifically, the train measurement unit measures the distance the train has traveled relative to its initial position in real time, i.e., the cumulative measurement distance. The measurement distance between the two transponders can be obtained by subtracting the cumulative distance the train traveled when passing the previous transponder from the cumulative measurement distance measured when the train passes the current transponder.

[0119] S403 obtains the real-time cumulative running distance of the train based on the actual distance, the measured distance, and the cumulative running distance when the train passes the previous transponder.

[0120] like Figure 6 As shown, in one embodiment, step S403 above, which obtains the real-time cumulative running distance of the train based on the actual distance, the measured distance, and the cumulative running distance when the train passes the previous transponder, includes the following steps S601 to S603.

[0121] S601 obtains the ranging error based on the actual distance and the measured distance.

[0122] Among them, the distance measurement error refers to the error in the measured distance between the two transponders measured by the train measurement unit.

[0123] S602, if the distance measurement error does not exceed the error range, then the measured distance is corrected according to the actual distance.

[0124] Specifically, the rail transit system sets an allowable error range based on actual needs. If the ranging error does not exceed the error range, the measured distance is corrected based on the actual distance to reduce the error in the data measured by the train's measuring unit and improve the reliability and accuracy of the real-time measurement data. It is important to note that if the ranging error exceeds the error range, it indicates that the data measured by the train's measuring unit is invalid, and the train has lost its own positioning. In this case, timely intervention is necessary to restore the train's positioning function to normal.

[0125] S603 obtains the real-time cumulative running distance of the train based on the corrected measured distance and the cumulative running distance when the train passes the previous transponder.

[0126] Specifically, after correcting the measured distance, the real-time cumulative running distance of the train can be obtained based on more accurate distance data and the cumulative running distance when the train passes the previous transponder.

[0127] It should be noted that in practice, VOBC will take into account errors such as transponder installation error, speed sensor pulse acquisition error, and distance accumulation error, and dynamically calculate the train's safety envelope in real time.

[0128] In this embodiment, by acquiring the train's real-time cumulative running distance, the train's real-time position on the electronic track map can be dynamically calculated and updated, providing effective and accurate data for determining whether the train has entered the first track section where the boarding platform is located. Furthermore, the method of acquiring cumulative running distance to locate the train in this embodiment can promptly avoid inaccurate train positioning caused by weak or blocked GPS signals.

[0129] like Figure 7 As shown, in one embodiment, the door opening method includes the following steps S701 to S705, wherein steps S701, S704, and S705 correspond one-to-one with steps S101 and S103 in the aforementioned embodiments: if the train stops in the first track section where the boarding platform is located, then determine the door to be opened corresponding to the boarding platform from at least two doors. The discussion of steps S701, S704, and S705 in this embodiment can be referred to the aforementioned embodiments, and will not be repeated here.

[0130] S701 specifies that the boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train includes at least two doors on the target side. The boarding platform refers to a platform for train crew and passengers to board or disembark.

[0131] S702, obtain the location information of the boarding platform.

[0132] S703, based on the location information of the boarding platform and the electronic track map, determines the first track section where the boarding platform is located. The electronic track map contains multiple track sections formed by dividing the train track according to location, and the first track section is one of the multiple track sections.

[0133] Specifically, the location information of the boarding platform is mapped to track segments in the electronic track map to determine the first track segment to which the boarding platform belongs. After VOBC determines the first track segment where the boarding platform is located, it adds the data of the first track segment to the boarding platform list. Then, this first track segment is configured in the boarding platform list for reference in subsequent steps. Understandably, if the first track segment already exists in the boarding platform list, it does not need to be added and data configuration can be performed directly.

[0134] S704 If the train stops in the first track section where the boarding platform is located, the door to be opened corresponding to the boarding platform shall be determined from at least two doors.

[0135] S705, unlock the door to be opened and isolate the rest of the train doors.

[0136] In this embodiment, accurately determining the first track section where the boarding platform is located is beneficial for more precise control of train stopping, and in turn, it is beneficial for realizing intelligent control of specific doors opening in the specific area of ​​the boarding platform.

[0137] like Figure 8As shown, in one embodiment, the above step: if the train stops in the first track section where the boarding platform is located, then determining the door to be opened corresponding to the boarding platform from at least two doors, the process of determining the door to be opened corresponding to the boarding platform from at least two doors includes the following steps S801 to S803.

[0138] S801, determine the location of the train's stopping point within the first track section where the boarding platform is located.

[0139] The first track section contains at least one stopping point; different train formations correspond to different stopping point locations within the first track section.

[0140] S802, based on the location of the parking point, determine the offset of each of the at least two doors on the target side relative to the boarding platform.

[0141] The offset can be counted by the number of doors. If a door faces the boarding platform directly, the offset is 0. If a door is one door away from the boarding platform, the offset is +1 or -1. The offset can also be counted by a standard such as distance. Under the premise that all doors use the same standard, this embodiment does not limit the counting standard of the offset. Specifically, after determining the location of the boarding platform, the target side where the doors need to be opened, and the location of the parking point, the kilometer values ​​of the left and right sides of the boarding platform and the kilometer values ​​of the parking point are obtained from the electronic track map. According to a communication protocol such as VOBC-TCMS, the location of the boarding platform on the target side of the train when the train is in the corresponding running direction and the front of the train is aligned with the parking point can be calculated. Thus, the offset of each door on the target side relative to the boarding platform can be determined.

[0142] Specifically, given that the location of the boarding platform and its location on the first track section are set according to actual needs, VOBC can determine the stopping point locations of different train formations and the door offsets corresponding to different running directions. VOBC can pre-enter the above information into the rail transit system through data configuration, as shown in Table 1.

[0143]

[0144] Table 1 Information Configuration Table

[0145] Referring to Table 1, the information provided in Table 1 includes: there is one boarding platform in the first track section (0x01410502); the stopping point corresponding to train group number 3 is stopping point 1; the boarding platform is located on the right side of the train (0x02); according to the location of stopping point 1, when the train is going up, the offset of the first door on the right side relative to the boarding platform is 0, and when the train is going down, the offset of the first door on the right side relative to the boarding platform is -2.

[0146] Understandably, Table 1 only lists the offset of the first door relative to the boarding platform, and the offsets of other doors can be configured in advance. Table 1 lists the offsets using the number of doors as the counting standard, but in fact, the offsets can also be counted using other standards.

[0147] S803, based on the offset of each door relative to the boarding platform, determines the door to be opened from at least two doors that corresponds to the boarding platform.

[0148] Specifically, based on the offset of each door, if the train stops as planned at the corresponding stopping point of the first track section to which the boarding platform belongs, the doors to be opened can be determined in real time according to actual needs. If it is necessary to open the door directly opposite the boarding platform, the door with the offset as close to 0 as possible can be determined as the door to be opened.

[0149] It should be noted that, due to the inherent length of the train, a range of positions is generally defined when discussing train position parameters. In this application's embodiments and the full text embodiments, to highlight the main technical content of the door opening method, only the description of information related to train length is simplified. For example, when describing position, location, or stopping information, the train is temporarily considered as a point. In this case, the train head can be used as a reference, or the train's VOBC (Vehicle Container Registry) and other units can be used as references. For example, the train stopping at the stopping point can be understood as the train head reaching the stopping point, or it can be understood as the VOBC reaching the stopping point; obtaining the train's real-time position can be understood as obtaining the real-time position of the train head, or it can be understood as obtaining the real-time position of the train's VOBC. In this application's embodiments, while maintaining a unified reference standard, simplification is only applied in the description.

[0150] In this embodiment, with the location of the boarding platform and the first track section it is located in set according to actual needs, VOBC can determine the stopping point of the train and the offset of each door corresponding to different running directions. When the train stops at the corresponding stopping point in the first track section according to the actual running direction, the door to be opened can be judged and intelligently determined in real time according to actual needs.

[0151] like Figure 9 As shown, in one embodiment, step S801, which determines the location of the train's stopping point within the first track section where the boarding platform is located, includes the following steps S901 to S904.

[0152] S901, based on the electronic track map, obtain the location of at least one parking point within the first track section where the boarding platform is located.

[0153] Specifically, the coordinates of all parking points within the first track section are obtained from the electronic track map.

[0154] S902, based on the train's direction of travel, obtain the first distance between each stopping point and the starting point of the first track section. The starting point refers to the position of the first track section that the train first enters when traveling in the direction of travel.

[0155] The first distance is the offset of the parking point location from the starting point of the first track section.

[0156] S903 calculates the second distance traveled by the train from deceleration to a stop based on the train speed when it reaches the starting point.

[0157] The second distance is the distance the train needs to travel within the first track section.

[0158] S904, if there exists a first distance that is equal to a second distance, then the stopping point location corresponding to the train is determined as the stopping point location corresponding to the first distance that is equal to the second distance.

[0159] For example, when the train is traveling upwards, the distance between stop point 1 and the starting point of the first track section is 200 meters, and the distance between stop point 2 and the starting point of the first track section is 100 meters. The train enters the first track section in the upward direction and needs to travel 200 meters from entering to decelerating and stopping. Based on this, the corresponding stop point of the train is determined to be stop point 1, which is 200 meters away.

[0160] Using the method described above, after knowing the first track section, the stopping point locations for the train in different directions of travel can be determined based on the electronic track map. Subsequently, the train's VOBC (Vehicle Response Center) configures the corresponding stopping point locations in Table 1, providing data for subsequent train stopping control.

[0161] It is important to note that the train's VOBC (Vehicle Controller Hub) pre-sets the train's formation number and maps the train formation number to the stopping point location in Table 1. When controlling the train to stop, the VOBC only needs to read the data based on the train's formation number to stop the train at the stopping point corresponding to its own formation number.

[0162] In this embodiment, based on the first track section where the boarding platform is located and the direction of train operation, the stopping point of the train can be determined intelligently and accurately. This is beneficial for accurately determining the offset of each door on the target side of the train relative to the boarding platform, and thus for realizing intelligent control of the opening of specific doors.

[0163] In one embodiment, step S803 above, determining the door to be opened from at least two doors corresponding to the boarding platform based on the offset of each door relative to the boarding platform, includes the following steps:

[0164] If any of the offsets of each door relative to the boarding platform falls within a first threshold, then at least two doors are identified as the doors to be opened if their offsets fall within the first threshold; and / or

[0165] If there is no offset within the first threshold, then the door closest to the train cab among at least two doors is determined to be the door to be opened.

[0166] Specifically, the first threshold can be set according to actual needs. If the first threshold is set to 0, an offset within 0 means the corresponding door's position completely overlaps with the boarding platform, and this door can be identified as a door to be opened. If the number of doors is used as the offset counting standard, and the first threshold is set to 0.5, an offset within 0.5 means the corresponding door's position is offset from the boarding platform by at most half a door. Provided the driver can safely board or alight, this door can also be identified as a door to be opened. Understandably, to ensure the door to be opened is as close to the boarding platform as possible for convenient driver boarding or alighting while ensuring safety, the first threshold should be as close to 0 as possible.

[0167] If none of the offsets of any of the car doors relative to the boarding platform fall within the first threshold, it indicates that there are no safe doors near the boarding platform for the driver to board or alight. This situation is common when the boarding platform is located in a non-train platform area, such as a temporary ladder platform erected on a newly built line to facilitate driver access, which is not officially under the control of VOBC, or a temporary boarding platform set up for maintenance track storage lines. In this case, to ensure safety, if no door offset falls within the first threshold, all doors in the train platform area near the non-train platform area that are closest to the train driver's cab will be opened.

[0168] In this embodiment, based on the offset of each door on the target side of the train relative to the boarding platform, when the train stops at the parking point, VOBC can intelligently and accurately determine the door to be opened while ensuring the safety of boarding or alighting.

[0169] like Figure 10 As shown, in one embodiment, step S103 above, unlocking the door to be opened and isolating the other doors of the train includes the following steps S1001 to S1002.

[0170] S1001, Obtain the door identifier of the door to be opened.

[0171] Specifically, each door on the left and right sides of the train has an activation door identifier defined according to the VOBC-TCMS communication protocol. After the door to be opened is determined, VOBC can obtain the door identifier corresponding to the door to be opened.

[0172] S1002, send a door opening command to the control system to instruct the control system to unlock the door corresponding to the door identifier and isolate the other doors of the train according to the door opening command.

[0173] Specifically, VOBC can send door opening commands to the control system, i.e., to TCMS, via network messages, instructing TCMS to unlock the door corresponding to the door identifier and isolate the remaining doors of the train according to the door opening command. In this case, the door opening command, aimed at controlling the opening of the specific door corresponding to the door identifier, carries not only information about opening that door but also information about controlling the remaining doors to be in isolation mode, instructing TCMS to isolate the remaining doors.

[0174] After receiving the door opening command from VOBC, TCMS only unlocks and controls the opening of the specific door, without responding to the other doors, interfering with the other doors and platform doors, or triggering an alarm. Furthermore, TCMS sends the real-time status of each train door (open, closed, faulty, etc.) to the vehicle dispatching system, so that the corresponding personnel in the vehicle dispatching system can monitor the status of each door.

[0175] In this embodiment, once the train stops and there is a boarding platform in the track section, and it is determined that the door to be opened is to be opened, the VOBC can send a door opening command to the TCMS to instruct the TCMS to unlock and control the opening of the specific door and isolate the other doors. No manual intervention is required throughout the process, thus realizing intelligent control of the opening of the specific door.

[0176] like Figure 11 As shown, in one embodiment, the door opening method includes the following steps S1101 to S1105, wherein steps S1101 to S1102, S1103 to S1104 correspond one-to-one with steps S101 to S102 and S1001 to S1002 in the previous embodiments. The discussion of steps S1101 to S1102, S1103 to S1104 in this embodiment can be referred to the previous embodiments, and will not be repeated here.

[0177] S1101, Determine that the boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train includes at least two doors on the target side. The boarding platform refers to a platform for train crew and passengers to board or disembark.

[0178] S1102 If the track section where the train is stopped has a boarding platform, then determine the door to be opened corresponding to the boarding platform from at least two doors.

[0179] S1103, Obtain the door identifier of the door to be opened.

[0180] S1104, send a door opening command to the control system to instruct the control system to unlock the door corresponding to the door identifier and isolate the other doors of the train according to the door opening command.

[0181] S1105, based on the train's station dwell time and / or a remotely issued door closing instruction, sends a door closing instruction to the control system, instructing the control system to close the door corresponding to the door identifier according to the door closing instruction.

[0182] Specifically, after the specific door corresponding to the door identifier is opened, the VOBC sends a door closing instruction to the TCMS according to the pre-set train stop duration, and / or receives a door closing instruction remotely issued by the vehicle dispatching system, and sends a door closing instruction to the TCMS according to the door closing instruction, so as to instruct the TCMS to close the door corresponding to the door identifier according to the door closing instruction.

[0183] For example, the method by which the VOBC sends a door closing command to the TCMS to instruct the TCMS to close a specific door is not limited to the step of first sending a door opening command to control the opening of a specific door; that is, steps S1102 to S1104 may not be prerequisites for S1105. Specifically, when a specific door of the train has been opened and needs to be closed, the VOBC can directly obtain the door identifier of the opened specific door and send a door closing command to the TCMS to instruct the TCMS to close the door corresponding to the door identifier according to the door closing command.

[0184] After receiving the door closing command from VOBC, TCMS only controls the closing of the specified door, without responding to the other doors, interlocking with the platform doors, or triggering an alarm. Similarly, TCMS sends the real-time status of each train door (open, closed, faulty, etc.) to the vehicle dispatching system so that the corresponding personnel in the vehicle dispatching system can monitor the status of each door.

[0185] In this embodiment, when a specific door needs to be closed, the VOBC can send a door closing command to the TCMS to instruct the TCMS to close the specific door, without any manual intervention, thus achieving intelligent control of the closing of the specific door. Using the door opening method in this embodiment, the opening and closing of a specific door can be intelligently controlled.

[0186] like Figure 12As shown, in one embodiment, the door opening method includes the following steps S1201 to S1221.

[0187] S1201 specifies that the boarding platform is located on the target side of the train, which is either the left or right side of the train. The train has at least two doors on the target side, and the boarding platform is located in a non-train platform area. A boarding platform is a platform for train crew and passengers to board or disembark.

[0188] S1202, Obtain the location information of the boarding platform.

[0189] S1203. Based on the location information of the boarding platform and the electronic track map, determine the first track segment where the boarding platform is located. The electronic track map contains multiple track segments formed by dividing the train track according to location, and the first track segment is one of these multiple track segments.

[0190] S1204, obtain the initial position and direction of travel of the train.

[0191] S1205 receives the first transponder signal when the train passes the previous transponder, and receives the second transponder signal when the train passes the current transponder in real time. The first transponder signal contains the first positioning information of the train, and the second transponder signal contains the second positioning information of the train.

[0192] S1206, Based on the first positioning information and the second positioning information, obtain the true distance between the previous transponder and the current transponder.

[0193] S1207: Based on the cumulative measurement distance measured when the train passes the current transponder and the cumulative travel distance when passing the previous transponder, the measurement distance between the previous transponder and the current transponder is obtained. The cumulative measurement distance refers to the distance traveled by the train relative to its initial position, as measured by the train measurement unit.

[0194] S1208, obtains the distance measurement error based on the actual distance and the measured distance.

[0195] S1209, if the distance measurement error does not exceed the error range, then the measured distance is corrected according to the actual distance.

[0196] S1210: Based on the corrected measured distance and the cumulative travel distance when the train passed the previous transponder, the real-time cumulative travel distance of the train is obtained. The cumulative travel distance refers to the actual distance traveled by the train relative to its initial position.

[0197] S1211: Obtain the real-time position of the train based on its initial position, direction of travel, and real-time cumulative travel distance.

[0198] S1212: If the real-time location is within the first track section where the boarding platform is located, control the train to stop.

[0199] S1213 If the train stops in the first track section where the boarding platform is located, then obtain the location of at least one stopping point in the first track section where the boarding platform is located based on the electronic track map.

[0200] S1214. Based on the train's direction of travel, obtain the first distance between each stopping point and the starting point of the first track section. The starting point refers to the position of the first track section that the train first enters when traveling in the direction of travel.

[0201] S1215: Based on the train speed when it reaches the starting point, obtain the second distance traveled by the train from deceleration to a stop.

[0202] S1216, if there exists a first distance that is equal to a second distance, then the stopping point location corresponding to the train is determined as the stopping point location corresponding to the first distance that is equal to the second distance.

[0203] S1217, Based on the location of the parking point, determine the offset of each of the at least two doors on the target side relative to the boarding platform.

[0204] S1218, among the offsets of each door relative to the boarding platform, if there is an offset within a first threshold, then at least two doors are determined to be doors whose offsets are within the first threshold as doors to be opened; and / or if there is no offset within the first threshold, then at least two doors are determined to be doors whose offsets are closest to the train driver's cab as doors to be opened.

[0205] S1219, Obtain the door identifier of the door to be opened.

[0206] S1220, sends a door opening command to the control system, instructing the control system to unlock the door corresponding to the door identifier and isolate the other doors of the train according to the door opening command.

[0207] S1221, based on the train's station dwell time and / or a remotely issued door closing instruction, sends a door closing instruction to the control system, instructing the control system to close the door corresponding to the door identifier according to the door closing instruction.

[0208] In this embodiment, doors can be opened in any first track section according to actual needs, providing users with customized boarding functionality, not limited to designated areas such as the start and end points of the train track. The VOBC intelligently determines the specific door to be opened and intelligently controls its opening, eliminating the need for manual operation. After the train stops, the VOBC judges and determines the door to be opened in real time and controls its opening, requiring no manual intervention throughout the process. Once the door is open, the driver can simply board or alight, reducing the risk of accidental falls. The intelligent control of the VOBC to open the door while keeping other doors closed also avoids the risk of people falling due to open doors in non-train platform areas such as elevated sections. Risk reduction reduces safety hazards in train operation; VOBC intelligent control of waiting doors reduces the frequency of use of emergency door unlocking devices, thus extending their service life; when adding or removing boarding platforms required for operation along the train line, only the data of the first track section where the corresponding boarding platform is located needs to be added or deleted from the boarding platform list, which is conducive to the updating and maintenance of rail transit system data, reduces the workload of data configuration, burning, and debugging, and helps to reduce the impact of rail transit system upgrades on the normal operation of the line; obtaining the cumulative running distance for train positioning can promptly avoid the problem of inaccurate train positioning caused by weak or blocked GPS signals.

[0209] like Figure 13 As shown, this application embodiment also provides a rail vehicle 1300, which can be the train described in the foregoing embodiments. The rail vehicle 1300 includes a signaling system 1301 and a control system 1302. The signaling system 1301 can be the on-board controller described in the foregoing embodiments, and the control system 1302 can be the train control and management system described in the foregoing embodiments.

[0210] Signal system 1301, used to perform such as Figures 1 to 12 The example shown;

[0211] The control system 1302 is communicatively connected to the signal system 1301 and is used to receive door opening commands sent by the signal system 1301, so as to unlock the door corresponding to the door identifier and isolate the other doors of the train according to the door opening command, and / or receive door closing commands sent by the signal system 1301, so as to close the door corresponding to the door identifier according to the door closing command.

[0212] In this embodiment, when the signal system 1301 determines that the boarding platform is located on the target side of the train and that there is a boarding platform within the track section where the train is stopped, it can intelligently determine the specific door corresponding to the boarding platform that needs to be opened. Upon obtaining the door identifier of the specific door, a door opening command is sent to the control system 1302, instructing the control system 1302 to unlock the door corresponding to the door identifier and isolate the remaining doors of the train, thereby achieving intelligent control of the opening of the specific door. In addition, a door closing command can also be sent to the control system 1302, instructing the control system 1302 to close the door corresponding to the door identifier, thereby achieving intelligent control of the closing of the specific door.

[0213] like Figure 14 As shown in the illustration, this application also provides a door opening device 1400, which includes a target side determination module 1401, a door determination module 1402, and a door unlocking module 1403. The target side determination module 1401 is used to determine that the boarding platform is located on a target side of the train, where the target side is either the left or right side of the train, and the train includes at least two doors on the target side. The door determination module 1402 is used to determine the door to be opened from the at least two doors if the track section where the train is stopped has a boarding platform. The door unlocking module 1403 is used to unlock the door to be opened and isolate the remaining doors of the train.

[0214] In one embodiment, the boarding platform is located in a non-train platform area.

[0215] In one embodiment, the door determination module 1402 is further configured to determine, if the train stops in the first track section where the boarding platform is located, the door to be opened corresponding to the boarding platform from at least two doors.

[0216] In one embodiment, the aforementioned door opening device 1400 further includes a real-time location acquisition module and a parking control module. The real-time location acquisition module is used to acquire the real-time location of the train. The parking control module, if the real-time location is within the first track section where the boarding platform is located, controls the train to stop at the parking point.

[0217] In one embodiment, the real-time position acquisition module includes a first acquisition unit and a second acquisition unit. The first acquisition unit is used to acquire the train's initial position, direction of travel, and real-time cumulative travel distance, whereby the cumulative travel distance refers to the actual distance traveled by the train relative to its initial position. The second acquisition unit is used to acquire the train's real-time position based on the initial position, direction of travel, and real-time cumulative travel distance.

[0218] In one embodiment, the first acquisition unit is further configured to acquire the actual distance between the previous transponder and the current transponder that the train has passed; acquire the measured distance between the previous transponder and the current transponder as measured by the train measurement unit; and acquire the real-time cumulative running distance of the train based on the actual distance, the measured distance, and the cumulative running distance when the train passes the previous transponder.

[0219] In one embodiment, the first acquisition unit is further configured to receive a first transponder signal when the train passes the previous transponder, and receive a second transponder signal when the train passes the current transponder in real time. The first transponder signal contains the train's first positioning information, and the second transponder signal contains the train's second positioning information. Based on the first positioning information and the second positioning information, the unit acquires the actual distance between the previous transponder and the current transponder.

[0220] In one embodiment, the first acquisition unit is further configured to acquire the measurement distance between the previous transponder and the current transponder based on the cumulative measurement distance measured when the train passes the current transponder and the cumulative running distance when it passes the previous transponder. The cumulative measurement distance refers to the distance traveled by the train relative to its initial position, as measured by the train measurement unit.

[0221] In one embodiment, the first acquisition unit is further configured to acquire the ranging error based on the actual distance and the measured distance; if the ranging error does not exceed the error range, then correct the measured distance based on the actual distance; and acquire the real-time cumulative running distance of the train based on the corrected measured distance and the cumulative running distance when the train passes the previous transponder.

[0222] In one embodiment, the aforementioned door opening device 1400 further includes a platform location acquisition module and a track segment determination module. The platform location acquisition module is used to acquire the location information of the boarding platform. The track segment determination module is used to determine the first track segment in which the boarding platform is located based on the location information of the boarding platform and the electronic track map. The electronic track map includes multiple track segments formed by dividing the train track according to location, and the first track segment is one of these multiple track segments.

[0223] In one embodiment, the aforementioned door determination module 1402 includes a parking point determination unit, an offset determination unit, and a door determination unit. The parking point determination unit is used to determine the parking point position of the train within the first track section where the boarding platform is located. The offset determination unit is used to determine the offset of each of the at least two doors on the target side relative to the boarding platform based on the parking point position. The door determination unit is used to determine the door to be opened corresponding to the boarding platform from the at least two doors based on the offset of each door relative to the boarding platform.

[0224] In one embodiment, the parking point determination unit is further configured to: obtain, based on the electronic track map, at least one parking point location within the first track section where the boarding platform is located; obtain, based on the train's direction of travel, a first distance relative to the starting point of the first track section, where the starting point refers to the location of the first track section the train first enters when traveling in the direction of travel; obtain, based on the train speed when the train reaches the starting point, a second distance traveled by the train from deceleration to a stop; and if the first distance and the second distance are equal, determine the parking point location corresponding to the train as the parking point location corresponding to the first distance equal to the second distance.

[0225] In one embodiment, the aforementioned door determination unit is further configured to, among the offsets of each door relative to the boarding platform, if there is an offset within a first threshold, determine that the door with an offset within the first threshold among at least two doors is the door to be opened; and / or if there is no offset within the first threshold, determine that the door closest to the train driver's cab among at least two doors is the door to be opened.

[0226] In one embodiment, the aforementioned door unlocking module 1403 includes an identifier acquisition unit and an instruction sending unit. The identifier acquisition unit is used to acquire the identifier of the door to be opened. The instruction sending unit is used to send a door opening instruction to the control system, instructing the control system to unlock the door corresponding to the door identifier and isolate the remaining doors of the train according to the door opening instruction.

[0227] In one embodiment, the aforementioned door opening device 1400 further includes a door closing module, which is used to send a door closing instruction to the control system according to the train stopping time and / or a remotely issued door closing instruction, so as to instruct the control system to close the door corresponding to the door identifier according to the door closing instruction.

[0228] The explanations of terms such as first distance and second distance can be found in the relevant descriptions in the aforementioned method embodiments, and will not be elaborated here.

[0229] It should be noted that the specific execution process of the aforementioned door opening device 1400 can be found in [reference needed]. Figures 1-12 The specific details of the embodiments shown are not elaborated here.

[0230] Each module in the aforementioned door opening device 1400 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0231] like Figure 15As shown in the illustration, this application also provides a computer device 1500. Exemplarily, the computer device 1500 may include a processor 1501, a communication interface 1502, a communication bus 1503, and a memory 1504. Specifically, the computer device 1500 may include:

[0232] The system includes at least one processor 1501, such as a CPU, at least one communication interface 1502, a memory 1504, and at least one communication bus 1503. The communication bus 1503 is used to enable communication between these components. The communication interface 1502 may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface or a Bluetooth interface), etc. The memory 1504 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 1504 may also be at least one storage device located remotely from the aforementioned processor 1501. Figure 15 As shown, the memory 1504, which serves as a computer storage medium, may include an operating system and program instructions.

[0233] For example, processor 1501 can be used to implement the above. Figure 14 The steps or methods executed by the target side determination module 1401, the door determination module 1402, and the door unlocking module 1403.

[0234] Understandably, the above method is merely an example, and the above can also be executed by the processor 1501 and other modules in the aforementioned computer device 1500. Figure 14 The steps or methods executed by the target side determination module 1401, the door determination module 1402 and the door unlocking module 1403 are not limited in this document.

[0235] exist Figure 15 In the computer device shown, the processor 1501 can be used to load program instructions stored in the memory 1504 and specifically perform the following operations:

[0236] The boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train has at least two doors on the target side.

[0237] If the track section where the train is stopped has a boarding platform, then determine the door to be opened corresponding to the boarding platform from at least two doors;

[0238] Unlock the doors to be opened and isolate the remaining doors of the train.

[0239] The explanations of terms such as first distance and second distance can be found in the relevant descriptions in the aforementioned method embodiments, and will not be elaborated here.

[0240] It should be noted that the specific execution process can be found in [link to relevant documentation]. Figures 1 to 12 The specific details of the embodiments shown are not elaborated here.

[0241] This application also provides a computer-readable storage medium that can store multiple instructions adapted to be loaded and executed by a processor as described above. Figures 1 to 12 The method steps of the illustrated embodiment can be found in the detailed execution process. Figures 1 to 12 The specific details of the illustrated embodiments will not be elaborated here.

[0242] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is detected" can be interpreted as meaning "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0243] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0244] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0245] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0246] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for opening a vehicle door, characterized in that, The method includes: The boarding platform is located on the target side of the train, which is either the left or right side of the train, and the train includes at least two doors on the target side. If the track section where the train is stopped has the boarding platform, then the door to be opened corresponding to the boarding platform is determined from the at least two doors. Unlock the door to be opened and isolate the remaining doors of the train; Wherein, if the track section where the train is stopped has the boarding platform, determining the door to be opened corresponding to the boarding platform from the at least two doors includes: If the train stops in the first track section where the boarding platform is located, then the door to be opened corresponding to the boarding platform is determined from the at least two doors; The step of determining the door to be opened corresponding to the boarding platform from the at least two doors includes: Determine the location of the train's stopping point within the first track section where the boarding platform is located; Based on the location of the parking point, determine the offset of each of the at least two doors on the target side relative to the boarding platform; Based on the offset of each door relative to the boarding platform, the door to be opened corresponding to the boarding platform is determined from the at least two doors.

2. The method according to claim 1, characterized in that, The boarding platform is located in the area outside the train platform.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the real-time location of the train; If the real-time location is within the first track section where the boarding platform is located, then the train is controlled to stop.

4. The method according to claim 3, characterized in that, The process of obtaining the real-time location of the train includes: The initial position, direction of travel, and real-time cumulative travel distance of the train are obtained, wherein the cumulative travel distance refers to the actual distance traveled by the train relative to the initial position; The real-time position of the train is obtained based on the initial position, the direction of travel, and the real-time cumulative travel distance.

5. The method according to claim 4, characterized in that, The process of obtaining the real-time cumulative running distance of the train includes: Obtain the actual distance between the previous transponder and the current transponder that the train has passed; Obtain the measured distance between the previous transponder and the current transponder as measured by the train measurement unit; The real-time cumulative running distance of the train is obtained based on the actual distance, the measured distance, and the cumulative running distance when the train passed the previous transponder.

6. The method according to claim 5, characterized in that, The step of obtaining the true distance between the previous transponder passed by the train and the current transponder includes: The train receives a first transponder signal when it passes the previous transponder, and receives a second transponder signal when it passes the current transponder in real time. The first transponder signal contains the first positioning information of the train, and the second transponder signal contains the second positioning information of the train. Based on the first positioning information and the second positioning information, the actual distance between the previous transponder and the current transponder is obtained.

7. The method according to claim 5, characterized in that, The measurement distance between the previous transponder and the current transponder, as measured by the train measurement unit, includes: The measured distance between the previous transponder and the current transponder is obtained based on the cumulative measured distance when the train passes the current transponder and the cumulative running distance when it passes the previous transponder. The cumulative measurement distance refers to the distance traveled by the train relative to its initial position, as measured by the train measurement unit.

8. The method according to claim 5, characterized in that, The step of obtaining the real-time cumulative running distance of the train based on the actual distance, the measured distance, and the cumulative running distance of the train when it passed the previous transponder includes: The ranging error is obtained based on the actual distance and the measured distance; If the ranging error does not exceed the error range, the measured distance is corrected based on the actual distance; The real-time cumulative running distance of the train is obtained based on the corrected measured distance and the cumulative running distance when the train passes the previous transponder.

9. The method according to claim 1, characterized in that, The method further includes: Obtain the location information of the boarding platform; Based on the location information of the boarding platform and the electronic track map, the first track segment in which the boarding platform is located is determined. The electronic track map includes multiple track segments formed by dividing the train track according to location, and the first track segment is one of the multiple track segments.

10. The method according to claim 1, characterized in that, Determining the stopping point location of the train within the first track section where the boarding platform is located includes: Based on the electronic track map, obtain the location of at least one of the parking points within the first track section where the boarding platform is located; Based on the direction of train operation, the first distance between each of the parking points and the starting point of the first track section is obtained, where the starting point refers to the position of the first track section that the train first enters when running in the direction of operation. Based on the train speed when the train reaches the starting point, obtain the second distance traveled by the train from deceleration to a stop; If there exists a first distance that is equal to the second distance, then the stopping point location corresponding to the train is determined to be the stopping point location corresponding to the first distance that is equal to the second distance.

11. The method according to claim 1, characterized in that, The step of determining the door to be opened corresponding to the boarding platform from the at least two doors based on the offset of each door relative to the boarding platform includes: If any of the offsets of each door relative to the boarding platform is within a first threshold, then the door whose offset is within the first threshold is determined to be the door to be opened; and / or if no offset is within the first threshold, then the door closest to the train driver's cab is determined to be the door to be opened.

12. The method according to any one of claims 1 to 11, characterized in that, The process of unlocking the door to be opened and isolating the remaining doors of the train includes: Obtain the door identifier of the door to be opened; Send a door opening command to the control system to instruct the control system to unlock the door corresponding to the door identifier and isolate the remaining doors of the train according to the door opening command.

13. The method according to claim 12, characterized in that, The method further includes: Based on the train's stop duration and / or a remotely issued door closing command, a door closing command is sent to the control system to instruct the control system to close the door corresponding to the door identifier according to the door closing command.

14. A rail vehicle, characterized in that, The rail vehicles include: A signal system for performing the steps of the method as described in any one of claims 1 to 13; The control system is communicatively connected to the signal system and is used to receive a door opening command sent by the signal system, so as to unlock the door corresponding to the door identifier and isolate the other doors of the train according to the door opening command, and / or receive a door closing command sent by the signal system, so as to close the door corresponding to the door identifier according to the door closing command.

15. A computer device, characterized in that, include: A memory and a processor, wherein the memory stores program instructions; when the program instructions are executed by the processor, the processor performs the method as described in any one of claims 1-13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program; when the computer program is run on one or more processors, it performs the method as described in any one of claims 1-13.

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