Virtual marshalling train cooperative jumping method and device, electronic equipment and storage medium

Abstract

The embodiment of the present specification provides a virtual marshalling train cooperative jumping method and device, electronic equipment and storage medium, wherein the method comprises: judging that two trains in virtual marshalling are both stopped and need to be cooperatively jumped; the leading train outputs a single train jumping instruction based on cooperative jumping logic according to the un-stopping information of the two trains, and the two trains in virtual marshalling cooperatively jump based on the single train jumping instruction respectively, wherein the cooperative jumping logic is specifically: first jumping in the direction of increasing distance between the two trains, and then jumping between the two trains.

Description

TECHNICAL FIELD

[0001] The present document relates to the field of urban rail transit, and in particular to a virtual marshalling train cooperative jumping method and device, electronic equipment and storage medium. BACKGROUND

[0002] In the field of rail transit, when a single train is parked on the platform without stopping, it is necessary to perform jumping alignment processing to make the train door align with the platform screen door for opening and closing door operation.

[0003] Virtual marshalling is a new rail transit technology. When two trains appear in the scene of not stopping and needing to jump during platform operation, it is necessary to make the two trains complete jumping alignment under the protection of ATP. The existing jumping is single train jumping. In the virtual marshalling state, two trains (the first train is called the leading train, and the second train is called the following train) are parked on the platform at the same time, and the parking distance is within 5 meters. When any one of the trains needs to jump without stopping, if the single train jumping logic is followed, the scene of two trains jumping at the same time will appear, which has safety risks, wherein the safety risks specifically include:

[0004] Risk one: when the leading train needs to jump backward without stopping, if the following train has not stopped, direct jumping may cause dynamic collision of the two trains, as shown in Figure 1 .

[0005] Risk two: when both trains are parked stably, and jump at the same time, dynamic collision may occur. See Figure 2 .

[0006] Risk three: when the following train needs to jump backward, it cannot directly apply for jumping lock to the ground ATP, and cannot complete the jumping (the ground ATP regards the two trains as a whole, and does not process the single train jumping lock application of the following train).

[0007] Therefore, there is an urgent need to complete the technical scheme of two trains in virtual marshalling under the protection of ATP to complete jumping alignment. SUMMARY

[0008] The purpose of the present application is to provide a virtual marshalling train cooperative jumping method, device, electronic equipment and storage medium, which aims to solve the above problems in the prior art.

[0009] The present application provides a virtual marshalling train cooperative jumping method, comprising:

[0010] judging that two trains in virtual marshalling are parked stably and need to perform cooperative jumping;

[0011] The leading vehicle outputs a single-vehicle jump instruction according to un-stopping information of the two trains based on the cooperative jump logic, and the two trains in the virtual marshalling perform cooperative jump based on the single-vehicle jump instruction.

[0012] The application provides a virtual marshalling train cooperative jump device, which comprises:

[0013] The judgment module is used for judging that the two trains in the virtual marshalling are stopped and need to perform cooperative jump.

[0014] The cooperative jump module is used for outputting a single-vehicle jump instruction by the leading vehicle according to un-stopping information of the two trains based on the cooperative jump logic, and the two trains in the virtual marshalling perform cooperative jump based on the single-vehicle jump instruction, wherein the cooperative jump logic is specifically that the two trains jump in the direction of increasing distance first, and then jump between the two trains.

[0015] The application further provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the computer program is executed by the processor to realize the steps of the virtual marshalling train cooperative jump method.

[0016] The application further provides a computer readable storage medium, which stores an information transmission implementation program, and the program is executed by a processor to realize the steps of the virtual marshalling train cooperative jump method.

[0017] The application solves the jump problem of the two trains in the virtual marshalling state and the marshalling running state when the two trains are not stopped, so that the two trains in the virtual marshalling state complete cooperative jump under the protection of the on-board ATP, perform normal platform operation, and improve the usability of the virtual marshalling technology. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the one or more embodiments or the prior art of the present specification, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present specification, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0019] Figure 1 is a flowchart of the virtual marshalling train cooperative jump method of the application;

[0020] Figure 2Fig. 1 is a schematic diagram of a leading vehicle and a following vehicle in an unstable state according to an embodiment of the present application;

[0021] Figure 3 Fig. 2 is a schematic diagram of a following vehicle in an undermark state according to an embodiment of the present application;

[0022] Figure 4 Fig. 3 is a schematic diagram of a leading vehicle in an undermark state according to an embodiment of the present application;

[0023] Figure 5 Fig. 4 is a schematic diagram of a cooperative jumping logic according to an embodiment of the present application;

[0024] Figure 6 Fig. 5 is a processing signaling flow chart of a following vehicle backward jumping according to an embodiment of the present application;

[0025] Figure 7 Fig. 6 is a processing schematic diagram of a marshalling jumping number limit according to an embodiment of the present application;

[0026] Figure 8 Fig. 7 is a schematic diagram of a virtual marshalling train cooperative jumping device according to an embodiment of the present application;

[0027] Figure 9 Fig. 8 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the personnel in the art better understand the technical solutions in one or more embodiments of the present specification, the technical solutions in one or more embodiments of the present specification will be described clearly and completely in conjunction with the drawings in one or more embodiments of the present specification. Obviously, the described embodiments are only a part of the embodiments of the present specification, not all. Based on one or more embodiments of the present specification, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present document.

[0029] Method embodiment

[0030] According to an embodiment of the present application, a virtual marshalling train cooperative jumping method is provided, Figure 1 Fig. 1 is a flow chart of a virtual marshalling train cooperative jumping method according to an embodiment of the present application, as Figure 1 According to an embodiment of the present application, the virtual marshalling train cooperative jumping method specifically includes:

[0031] Step S101, judge whether two trains in a virtual marshalling state are stable and need to be cooperatively jumped;

[0032] Step S102, the leading vehicle outputs a single vehicle jump instruction according to the un-justified information of the two trains based on the cooperative jump logic, and the two trains in the virtual marshalling respectively perform cooperative jump based on the single vehicle jump instruction, wherein the cooperative jump logic is specifically: first jump in the direction of increasing distance between the two vehicles, and then jump between the two vehicles.

[0033] Step S102 specifically includes the following processing:

[0034] Step 1, judge whether the leading vehicle is under the mark, if yes, execute the forward jump of the leading vehicle, otherwise, execute step 2, wherein the forward jump of the leading vehicle does not need to apply for jump lock;

[0035] Step 2, judge whether the following vehicle is over the mark, if yes, execute the backward jump of the following vehicle, otherwise, execute step 3, wherein the backward jump of the following vehicle needs to apply for jump lock to the ground ATP;

[0036] Wherein, the execution of the backward jump of the following vehicle specifically includes:

[0037] If the two trains have not entered the marshalling running state, the following vehicle applies for the backward jump lock to the ground ATP, and jumps backward according to the single vehicle jump instruction of the leading vehicle after the application is successful;

[0038] If the two trains have been in the marshalling running state, the leading vehicle automatically applies for the backward jump lock to the ground ATP for the following vehicle, and sends the backward jump and locked command to the following vehicle, after the following vehicle receives the backward jump and locked command, informs the single vehicle jump module of the vehicle to jump.

[0039] Step 3, judge whether the leading vehicle is over the mark, if yes, execute the backward jump of the leading vehicle, otherwise, execute step 4, wherein the backward jump of the leading vehicle does not need to apply for jump lock;

[0040] Wherein, the execution of the forward jump and the backward jump of the leading vehicle specifically includes: the cooperative jump module of the leading vehicle directly informs the single vehicle jump module of the vehicle to jump forward and backward.

[0041] Step 4, judge whether the following vehicle is under the mark, if yes, execute the forward jump of the following vehicle, otherwise, end the cooperative jump, wherein the forward jump of the following vehicle does not need to apply for jump lock.

[0042] In the embodiment of the application, when the two trains perform a jump once, if the two trains still need to jump again after being un-justified, judge whether the current single vehicle jump number is greater than the pre-set single vehicle limit jump number, if yes, stop the cooperative jump of the two trains, if no, the leading vehicle repeats the cooperative jump.

[0043] From the above technical solutions can be seen, the cooperative jump is controlled by the leading vehicle to prevent the two trains from jumping conflict and produce safety risk. The two trains are preparing to establish virtual marshalling on the platform, but when stopping, the backward jump of the following vehicle is responsible for the application; the two trains are stopped on the platform and have entered the marshalling operation state, the ground jump lock is applied by the leading vehicle and the application result is sent to the following vehicle, and the following vehicle directly executes the jump after receiving the command of the leading vehicle.

[0044] The above technical solutions of the embodiments of the present application are described in detail below in combination with the drawings.

[0045] Step 1, the virtual marshalling leading vehicle waits for the two trains to stop at the same time.

[0046] As shown in Figure 2 , since the stopping time of the two trains of the virtual marshalling cannot be completely synchronized, when the leading vehicle stops, the following vehicle needs to be stopped, and when the two trains stop at the same time, it is judged whether the cooperative jump between the two trains of the virtual marshalling needs to be executed. As shown in Figure 3 and Figure 4 , the following vehicle is under mark, Figure 3 the leading vehicle is under mark. Figure 4

[0047] Step 2, the leading vehicle outputs single train jump instruction according to the cooperative jump logic.

[0048] According to the un-stopping information of the two trains, the cooperative jump is executed, and the principle of the cooperative jump logic is to jump in the direction of increasing distance between the two trains first, and then jump between the two trains. As shown in Figure 5 , the execution steps are as follows:

[0049] 1. When the two trains are stopped and the train doors are in the closed state, the jump judgment is executed

[0050] 2. If the leading vehicle is under mark, the forward jump of the leading vehicle is executed first, and this jump does not need to apply for jump lock.

[0051] 3. After the previous jump is completed, it is judged whether the following vehicle is over mark, if it is over mark, the following vehicle jumps backward, and this jump needs to apply for jump lock to the ground ATP.

[0052] 4. After the previous jump is completed, it is judged whether the leading vehicle is over mark, if it is over mark, the leading vehicle jumps backward, and this jump does not need to apply for jump lock.

[0053] 5. After the previous jump is completed, it is judged whether the following vehicle is under mark, if it is under mark, the following vehicle jumps forward, and this jump does not need to apply for jump lock.

[0054] ​In the above process, when the lead car needs to jump, its coordinated jump module directly notifies its individual jump module to perform the jump. When a following car needs to jump backward, it must request a backward jump lock, which is divided into two scenarios depending on the situation when the two cars are stopped at the platform:

[0055] 1. If the train has not entered the formation operation state, the following train is responsible for requesting the ground ATP to lock the backward jump, and then jumps backward according to the instructions of the lead train.

[0056] 2. If the train is already in formation operation, the lead car will automatically request a backward jump lock from the ground ATP for the following cars. For example... Figure 6 As shown, after the lead vehicle requests a jump lock for the following vehicle, it sends a "Jump backward - locked" command to the following vehicle. After receiving the instruction, the following vehicle notifies its single-vehicle jump module to jump.

[0057] In this embodiment of the invention, the handling of a lead car / following car failing to jump accurately in one go includes: after a train swarm jumps once, if the two cars have not yet stopped accurately and need to jump again, the lead car repeats the jumping process. However, there is a limit to the number of times each train can jump repeatedly; within the limit, jumping can continue until both cars have completed the jump; when the maximum number of jumps is reached, jumping stops. Figure 7 The diagram shows the process of coordinated jumping, with a single train limited to N jumps. When the number of jumps by a train exceeds the limit, the coordinated jumping between the two trains stops.

[0058] In summary, by utilizing the technical solution of this invention, the coordinated jump process is controlled by the lead car, preventing jump conflicts between two trains and thus avoiding safety risks. When two trains are preparing to establish a virtual formation at the platform but have not yet entered the formation operation phase, the following car is responsible for requesting a backward jump. When both trains are stopped at the platform and have already entered the formation operation phase, the lead car is responsible for requesting the ground jump lock and sending the request result to the following car. Upon receiving the command from the lead car, the following car directly executes the jump. This solves the platform jump problem in virtual formation and improves the usability of virtual formation technology.

[0059] Device Example 1

[0060] According to an embodiment of the present invention, a virtual train formation cooperative skipping device is provided. Figure 8 A schematic diagram of the virtual train formation cooperative skipping device according to an embodiment of the present invention is shown below. Figure 8 As shown, the virtual train formation cooperative skipping device according to an embodiment of the present invention specifically includes:

[0061] The judgment module 80 is used to determine whether the two trains in the virtual formation have come to a complete stop and need to perform a coordinated jump.

[0062] The cooperative jumping module 82 is configured to output a single-train jumping instruction by the leading train according to unadjusted information of the two trains based on cooperative jumping logic, and the two trains in the virtual marshalling are cooperatively jumped based on the single-train jumping instruction, wherein the cooperative jumping logic is specifically: first jumping in the direction of increasing distance between the two trains, and then jumping between the two trains.

[0063] The cooperative jumping module 82 is specifically configured to:

[0064] The first judgment submodule is configured to judge whether the leading train is under the mark, and if the judgment is yes, the forward jumping of the leading train is performed, otherwise, the second judgment submodule is called, wherein the forward jumping of the leading train does not need to apply for a jumping lock; specifically, the single-train jumping module of the leading train is directly notified to perform forward jumping and backward jumping.

[0065] The second judgment submodule is configured to judge whether the following train is over the mark, and if the judgment is yes, the backward jumping of the following train is performed, otherwise, the third judgment submodule is called, wherein the backward jumping of the following train needs to apply for a backward jumping lock to the ground ATP;

[0066] Specifically, if the two trains have not entered the marshalling running state, the following train applies for a backward jumping lock to the ground ATP, and after the application is successful, the backward jumping is performed according to the single-train jumping instruction of the leading train;

[0067] If the two trains have been in the marshalling running state, the leading train automatically applies for a backward jumping lock to the ground ATP for the following train, and sends a backward jumping and locked command to the following train, after the following train receives the backward jumping and locked command, the single-train jumping module of the following train is notified to jump.

[0068] The third judgment submodule is configured to judge whether the leading train is over the mark, and if the judgment is yes, the backward jumping of the leading train is performed, otherwise, the fourth judgment submodule is called, wherein the backward jumping of the leading train does not need to apply for a jumping lock;

[0069] The fourth judgment submodule is configured to judge whether the following train is under the mark, and if the judgment is yes, the forward jumping of the following train is performed, otherwise, the cooperative jumping is ended, wherein the forward jumping of the following train does not need to apply for a jumping lock.

[0070] The cooperative jumping module 82 is further configured to:

[0071] When the two trains perform a jumping once, if the two trains still need to jump again because they have not been adjusted, it is judged whether the current single-train jumping number is greater than the pre-set single-train limited jumping number, if the judgment is yes, the cooperative jumping of the two trains is stopped, and if the judgment is no, the leading train repeatedly performs the cooperative jumping.

[0072] The embodiment of the present application is a device embodiment corresponding to the above method embodiment, and the specific operation of each module can be understood with reference to the description of the method embodiment, which will not be repeated here.

[0073] Device embodiment two

[0074] The embodiment of the present application provides an electronic device, such as Figure 9 As shown, comprising: memory 90, processor 92 and storage on the memory 90 and can be run on the processing 92 computer programs, the computer program is executed by the processor 92 to realize the steps as described in the method embodiment.

[0075] Device embodiment three

[0076] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium has information transmission implementation program, the program is executed by the processor 92 to realize the steps as described in the method embodiment.

[0077] The computer readable storage medium described in the embodiment includes but is not limited to ROM, RAM, magnetic disk or optical disk and the like.

[0078] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for cooperative skipping of virtual train formations, characterized in that, include: It is determined that both trains in the virtual formation have come to a complete stop and need to perform a coordinated jump. The lead car outputs a single-car jump command based on the cooperative jump logic and the non-stopping information of the two trains. The two trains in the virtual formation perform cooperative jumps based on the single-car jump command. Specifically, the cooperative jump logic is as follows: first jump in the direction that increases the distance between the two trains, and then jump between the two trains.

2. The method according to claim 1, characterized in that, The lead car, based on the cooperative jump logic, outputs a single-car jump command according to the non-stopping information of the two trains. The two trains in the virtual formation then perform a cooperative jump based on the single-car jump command, specifically including: Step 1: Determine if the lead vehicle is short of a mark. If it is, execute the lead vehicle's forward jump. Otherwise, execute Step 2. The lead vehicle's forward jump does not require requesting a jump lock. Step 2: Determine if the following vehicle has passed the target. If it has, execute the following vehicle to jump backward. Otherwise, execute Step 3. The following vehicle needs to request jump locking from the ground ATP to execute the jump backward. Step 3: Determine whether the lead vehicle has passed the mark. If it has, execute the lead vehicle's backward jump. Otherwise, execute step 4. The lead vehicle's backward jump does not require requesting a jump lock. Step 4: Determine if the following vehicle is missing a marker. If it is, execute the forward jump of the following vehicle; otherwise, end the cooperative jump. Note that the forward jump of the following vehicle does not require requesting jump locking.

3. The method according to claim 2, characterized in that, The specific actions of the lead vehicle in performing forward and backward jumps include: The lead vehicle's collaborative jump module directly instructs its own vehicle's jump module to perform forward and backward jumps.

4. The method according to claim 2, characterized in that, The specific steps involved in executing a backward jump while following the vehicle include: If the two trains have not entered the formation operation state, the following train requests the ground ATP to jump and lock backward. After the request is successful, it jumps backward according to the single-car jump instruction of the lead train. If two trains are already in formation, the lead car automatically requests a backward jump lock from the ground ATP for the following car and sends a backward jump and lock command to the following car. After receiving the backward jump and lock command, the following car notifies its own single-car jump module to jump.

5. The method according to claim 1, characterized in that, The method further includes: After two trains perform a jump, if they need to jump again before they stop accurately, it is determined whether the current number of jumps for a single train exceeds the preset limit for the number of jumps for a single train. If the determination is yes, the coordinated jump between the two trains is stopped. If the determination is no, the lead train repeats the coordinated jump.

6. A virtual train formation cooperative jumping device, characterized in that, include: The judgment module is used to determine whether two trains in a virtual formation have come to a complete stop and need to perform a coordinated jump. The coordinated jump module is used to output a single-car jump command based on the non-stopping information of the two trains by the lead car, and then the two trains in the virtual formation perform coordinated jumps based on the single-car jump command. The coordinated jump logic is as follows: first jump in the direction of increasing distance between the two trains, and then jump between the two trains.

7. The apparatus according to claim 6, characterized in that, The cooperative hopping module is specifically used for: The first judgment submodule is used to determine whether the lead vehicle is short of a mark. If the determination is yes, the lead vehicle will jump forward. Otherwise, the second judgment submodule is called. The lead vehicle does not need to apply for jump lock when it jumps forward. The second judgment submodule is used to determine whether the following vehicle has passed the mark. If the determination is yes, the following vehicle will jump backward. Otherwise, the third judgment submodule is called. The following vehicle needs to apply for jump locking from the ground ATP to jump backward. The third judgment submodule determines whether the lead vehicle has passed the mark. If it does, the lead vehicle jumps backward. Otherwise, the fourth judgment submodule is called. The lead vehicle does not need to apply for jump lock when it jumps backward. The fourth judgment submodule determines whether the following vehicle is missing a marker. If it is, the following vehicle performs a forward jump; otherwise, the cooperative jump ends. The forward jump of the following vehicle does not require requesting a jump lock.

8. The apparatus according to claim 7, characterized in that, The cooperative hopping module is specifically used for: The lead vehicle's single-vehicle jump module is directly notified to jump forward and backward. If the two trains have not entered the formation operation state, the following train will apply to the ground ATP for a backward jump lock. After the application is successful, the train will jump backward according to the single-car jump instruction of the lead train. If two trains are already in formation, the lead car will automatically request the ground ATP to lock backwards for the following train and send a backwards jump and lock command to the following train. After the following train receives the backwards jump and lock command, it will notify its own single-car jump module to jump. The cooperative hopping module is further used for: After two trains perform a jump, if they need to jump again before they stop accurately, it is determined whether the current number of jumps for a single train exceeds the preset limit for the number of jumps for a single train. If the determination is yes, the coordinated jump between the two trains is stopped. If the determination is no, the lead train repeats the coordinated jump.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the virtual train formation cooperative skipping method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an implementation program for information transmission, which, when executed by a processor, implements the steps of the virtual train formation cooperative jumping method as described in any one of claims 1 to 5.

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