Parallel driving method, device, program, medium, platform, host and system

Abstract

The present application relates to the technical field of locomotive auxiliary driving, and in particular to a parallel driving method, device, program, medium, equipment and system. In order to solve the problem that the existing intelligent driving system of the locomotive cannot accept remote control and cannot realize parallel driving, the parallel driving method provided by the present application is applied to a ground parallel driving console, and the method comprises the following steps: receiving locomotive positioning information, real-time running state information and video information sent by a vehicle-mounted host; determining the line section where the locomotive is located according to the locomotive positioning information, and evaluating the signal strength along the line; sending a parallel driving preparation instruction to the vehicle-mounted host, so that the vehicle-mounted host drives the warning unit to alarm; judging whether the locomotive is in an abnormal state according to the real-time running state information and the video information of the locomotive; calculating the communication delay between the vehicle and the ground; and under the condition that the locomotive is not in an abnormal state, controlling whether to perform parallel driving according to the signal strength along the line and the communication delay between the vehicle and the ground.

Description

Technical Field

[0001] This invention relates to the technical field of locomotive assisted driving, specifically to a parallel driving method, device, program, medium, equipment, and system. Background Technology

[0002] A locomotive is a self-propelled vehicle that pulls or pushes railway vehicles without carrying any commercial load. With the development of intelligent driving technology, remote assisted driving of locomotives is a key issue that needs to be addressed, especially in driverless operation, where remote parallel driving is an essential system function. When a locomotive is in driverless mode, if an abnormality occurs during operation, it usually needs to stop and restart after certain conditions are met. Existing intelligent locomotive driving systems require a driver on duty at all times. After the locomotive stops due to an abnormality, the driver determines whether it can be restarted and controls its restart; however, they cannot receive remote control and therefore cannot achieve parallel driving.

[0003] Accordingly, there is a need in the field to provide a parallel driving method that allows for remote driving of locomotives without requiring a driver to be present throughout the entire process. Summary of the Invention

[0004] The present invention aims to solve the above-mentioned problems in the prior art, namely, that the existing intelligent driving system for locomotives cannot accept remote control and cannot achieve parallel driving.

[0005] In a first aspect, the present invention provides a parallel driving method applied to a driving control panel parallel to the ground, the method comprising the following steps:

[0006] Receive locomotive positioning information, real-time locomotive operating status information, and video information sent by the on-board host;

[0007] Based on the locomotive positioning information, determine the section of the line where the locomotive is located and assess the signal strength along the line;

[0008] A parallel driving preparation command is sent to the on-board host, which then activates the warning unit to sound an alarm. The warning unit is located at the front and sides of the locomotive to warn ground personnel that the locomotive is in a parallel driving state.

[0009] Based on the locomotive's real-time operating status information and the video information, determine whether the locomotive is in an abnormal state;

[0010] Calculate vehicle-to-ground communication delay;

[0011] Under the condition that the locomotive is not in an abnormal state, whether to perform parallel driving is controlled according to the signal strength along the line and the vehicle-to-ground communication delay; if the signal strength along the line and the vehicle-to-ground communication delay meet the conditions for parallel driving, then the locomotive is operated to perform parallel driving; otherwise, the locomotive is not operated to perform parallel driving.

[0012] Preferably, determining the line section where the locomotive is located based on the locomotive positioning information and assessing the signal strength along the line includes:

[0013] Draw a signal strength map along the line;

[0014] The locomotive's location section is determined based on the locomotive's positioning information;

[0015] The signal strength of the section of the line where the locomotive is located is assessed based on the signal strength map along the line.

[0016] Preferably, the step of drawing a signal strength map along the line includes:

[0017] Receive the mobile communication signal strength and satellite positioning coordinate information along the line, which are recorded in real time during the operation of the locomotive, sent by the on-board host.

[0018] A signal strength map along the line is drawn based on the mobile communication signal strength recorded on the line by the on-board host of the locomotive.

[0019] Preferably, the step of drawing the signal strength map along the route further includes: periodically updating the signal strength map along the route based on the signal strength record information returned by the vehicle host.

[0020] Preferably, the calculation of vehicle-to-ground communication delay includes:

[0021] Synchronize with the satellite clock;

[0022] A clock synchronization command is sent to the vehicle-mounted host so that the vehicle-mounted host can record the reception time T0 and calculate the time difference δ0 between the local time of the vehicle-mounted host and the satellite clock; the clock synchronization command includes the local time t0 of the ground parallel driving control console when the clock synchronization command is issued.

[0023] Receive the response command sent by the vehicle host and record the reception time t1; the response command includes the local time T1 of the vehicle host when the vehicle host sends the response command;

[0024] Calculate the average value of T0+δ0-t0 and t1-T1 and use the average value as the vehicle-to-ground communication delay.

[0025] Preferably, the video information includes forward road condition video information, rear video information, and machine room video information;

[0026] The parallel driving method further includes:

[0027] The ground-based parallel driving control panel displays real-time video information of the road conditions ahead and real-time operating status information of the locomotive, and also displays the delay information of the video information of the road conditions ahead and the real-time operating status information of the locomotive.

[0028] Preferably, it further includes: when the locomotive is in an abnormal state, handling the abnormal state and not performing parallel driving.

[0029] Preferably, the parallel driving conditions include:

[0030] The signal strength along the line is greater than or equal to a first signal strength threshold and the vehicle-to-ground communication delay is less than or equal to a vehicle-to-ground communication delay threshold.

[0031] Preferably, the operation of the locomotive in parallel driving includes:

[0032] The ground-based parallel driving control panel converts operations into operation commands and sends them to the vehicle-mounted host, so that the vehicle-mounted host can execute the operation commands.

[0033] Secondly, the present invention provides a parallel driving method applied to an in-vehicle host, comprising the following steps:

[0034] The locomotive positioning information, real-time locomotive operating status information, and video information are sent to the ground-based parallel driving control console. The locomotive positioning information is used by the ground-based parallel driving control console to determine the section of the line where the locomotive is located and to assess the signal strength along the line. The real-time locomotive operating status information and video information are used by the ground-based parallel driving control console to determine whether the locomotive is in an abnormal state.

[0035] The locomotive receives a parallel driving preparation command from the ground parallel driving control panel and drives the warning units located at the head and sides of the locomotive to emit warning signals. The warning signals are used to alert ground personnel that the locomotive is in a parallel driving state.

[0036] Receive the clock synchronization command sent by the ground parallel driving control console, and then send a response command to the ground parallel driving control console so that the ground parallel driving control console can calculate the vehicle-to-ground communication delay;

[0037] Receive and execute the operation commands issued by the ground parallel driving control panel.

[0038] Preferably, the transmission priority of the locomotive real-time operating status information is higher than the transmission priority of the video information.

[0039] Preferably, the video information includes: forward road condition video information, rear video information and machine room video information. The vehicle-mounted host selectively transmits the rear video information and the machine room video information according to the signal strength along the route, and / or selectively adjusts the resolution of the forward road condition video information.

[0040] If the signal strength along the route is less than a second signal strength threshold, the vehicle-mounted host only sends forward road condition video information, and / or if the signal strength along the route is less than a third signal strength threshold, the vehicle-mounted host reduces the resolution of the forward road condition video information.

[0041] Preferably, the on-board host obtains the real-time operating status information of the locomotive through a network control system installed on the locomotive, and the on-board host executes the operation instructions through the network control system.

[0042] Preferably, the clock synchronization command includes the local time t0 of the ground parallel driving control console when the clock synchronization command is issued, and the response command includes the local time T1 of the vehicle host when the response command is issued.

[0043] Thirdly, the present invention provides a parallel driving device applied to a ground-based parallel driving control panel, comprising:

[0044] The data receiving unit is used to receive locomotive positioning information, real-time locomotive operating status information, and video information sent by the on-board host.

[0045] Signal strength assessment unit; used to determine the line section where the locomotive is located based on the locomotive positioning information, and to assess the signal strength along the line.

[0046] A parallel driving preparation command sending unit is used to send a parallel driving preparation command to the on-board host, so that the on-board host can drive the warning unit to alarm; the warning unit is located at the head and sides of the locomotive to warn ground personnel that the locomotive is in a parallel driving state.

[0047] An abnormal state determination unit is used to determine whether the locomotive is in an abnormal state based on the locomotive's real-time operating status information and the video information.

[0048] Vehicle-to-ground communication delay calculation unit, used to calculate vehicle-to-ground communication delay;

[0049] The parallel driving unit is used to control whether to perform parallel driving based on the signal strength along the line and the vehicle-to-ground communication delay, provided that the locomotive is not in an abnormal state. If the signal strength along the line and the vehicle-to-ground communication delay meet the conditions for parallel driving, the locomotive is operated to perform parallel driving; otherwise, the locomotive is not operated to perform parallel driving.

[0050] Fourthly, the present invention provides a parallel driving device applied to an in-vehicle host, comprising:

[0051] An information transmission unit is used to send locomotive positioning information, real-time locomotive operating status information, and video information to a ground-based parallel driving control console. The locomotive positioning information is used by the ground-based parallel driving control console to determine the section of the line where the locomotive is located and to assess the signal strength along the line. The real-time locomotive operating status information and video information are used by the ground-based parallel driving control console to determine whether the locomotive is in an abnormal state.

[0052] The parallel driving preparation unit is used to receive the parallel driving preparation command sent by the ground parallel driving control panel and drive the warning units set on the locomotive head and both sides to emit warning signals. The warning signals are used to warn ground personnel that the locomotive is in a parallel driving state.

[0053] The clock synchronization unit is used to receive the clock synchronization command sent by the ground parallel driving control console, and then send a response command to the ground parallel driving control console so that the ground parallel driving control console can calculate the vehicle-to-ground communication delay.

[0054] The parallel driving execution unit is used to receive and execute the operation commands issued by the ground parallel driving control panel.

[0055] Fifthly, the present invention provides a computer program, characterized in that, when the program is executed by a processor, it implements the method described in the first or second aspect.

[0056] In a sixth aspect, the present invention provides a storage medium storing a program that, when executed by a processor, implements the method as described in the first or second aspect.

[0057] In a seventh aspect, the present invention provides a ground-based parallel driving control console, comprising: a memory and a processor communicatively connected to the memory, the memory storing a program, and the processor implementing the method as described in the first aspect when executing the program.

[0058] Eighthly, the present invention provides an in-vehicle host, comprising: a memory and a processor communicatively connected to the memory, the memory storing a program, and the processor implementing the method as described in the second aspect when executing the program.

[0059] Ninthly, the present invention provides a parallel driving system, comprising:

[0060] A video information acquisition unit, which is used to acquire and output video information;

[0061] The vehicle-mounted host described in the eighth aspect is communicatively connected to the video information acquisition unit;

[0062] The ground-based parallel driving control panel described in the seventh aspect is communicatively connected to the vehicle-mounted host.

[0063] By adopting the above technical solution, the present invention has the following beneficial effects:

[0064] During automatic locomotive operation, if the locomotive encounters an emergency and stops, and it is detected that the locomotive is not in an abnormal state, and the signal strength and train-to-ground communication delay along the line meet the conditions for parallel driving, then ground operators can remotely operate the locomotive through the ground parallel driving control console to control the locomotive to perform parallel driving. During automatic locomotive operation, there is no need to set up a dedicated driver on the locomotive. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the main steps of the parallel driving method applied to a ground parallel driving control panel provided in this embodiment;

[0066] Figure 2 This is a schematic diagram illustrating the main steps involved in assessing signal strength along a line.

[0067] Figure 3 This is a schematic diagram illustrating the main steps involved in drawing a signal strength map along the line.

[0068] Figure 4 This is a schematic diagram of the main steps in clock synchronization;

[0069] Figure 5 This is a schematic diagram of the main steps of the parallel driving method applied to the vehicle host provided in this embodiment;

[0070] Figure 6 This is a structural schematic diagram of the locomotive parallel driving system provided in this embodiment. Detailed Implementation

[0071] The present disclosure will be further described below with reference to the embodiments shown in the accompanying drawings.

[0072] Reference Figure 1 The first aspect of this embodiment provides a parallel driving method, which is applied to a ground parallel driving control panel and includes the following steps:

[0073] S11. Receive locomotive positioning information, real-time locomotive operating status information, and video information sent by the on-board host;

[0074] S12. Determine the line section where the locomotive is located based on the locomotive positioning information, and assess the signal strength along the line;

[0075] S13. Send a parallel driving preparation command to the onboard host so that the onboard host can drive the warning unit to alarm; the warning unit is located at the head and sides of the locomotive to warn ground personnel that the locomotive is in a parallel driving state;

[0076] S14. Determine whether the locomotive is in an abnormal state based on the locomotive's real-time operating status information and video information; if the locomotive is in an abnormal state, such as a fire in the engine room or the locomotive being blocked by an obstacle, then remote control and parallel driving are not allowed.

[0077] S15. Calculate the vehicle-to-ground communication delay;

[0078] S16. Under the condition that the locomotive is not in an abnormal state, control whether to perform parallel driving based on the signal strength and vehicle-to-ground communication delay along the line; if the signal strength and vehicle-to-ground communication delay along the line meet the conditions for parallel driving, then operate the locomotive in parallel driving through the ground parallel driving control panel according to the line conditions where the locomotive is located; otherwise, do not perform parallel driving.

[0079] The parallel driving conditions that the signal strength and vehicle-to-ground communication delay along the route must meet include:

[0080] The signal strength along the line must be greater than or equal to the first signal strength threshold, and the vehicle-to-ground communication delay must be less than or equal to the vehicle-to-ground communication delay threshold. Conversely, if the signal strength along the line is less than the first signal strength threshold, and / or the vehicle-to-ground communication delay is greater than the vehicle-to-ground communication delay threshold, then the signal strength and vehicle-to-ground communication delay along the line meet the conditions for parallel driving but do not. During parallel driving, the ground parallel driving control console converts the operation into operation commands and sends them to the onboard host. After receiving the operation commands, the onboard host controls the locomotive according to the operation commands through the network control system.

[0081] It should be noted that the onboard unit is installed on the locomotive. The onboard unit acquires real-time locomotive operating status information through the network control system and transmits the locomotive's positioning information, real-time operating status information, and video information to the ground-based parallel driving control console via a mobile communication network. The ground-based parallel driving control console is located on the ground.

[0082] Reference Figure 2 In a preferred embodiment, determining the section where the locomotive is located based on the locomotive positioning information and assessing the signal strength along the line includes:

[0083] S121. Draw a signal strength map along the line;

[0084] S122. Determine the section of the line where the locomotive is located based on the locomotive's positioning information;

[0085] S123. Evaluate the signal strength of the section of the line where the locomotive is located based on the signal strength map along the line.

[0086] Reference Figure 3 In a preferred embodiment, mapping the signal strength along the line includes:

[0087] S1211. Receive the mobile communication signal strength and satellite positioning coordinate information along the line, which are recorded in real time during locomotive operation, from the on-board host.

[0088] S1212. Draw a signal strength map along the line based on the mobile communication signal strength recorded on the line by the locomotive's onboard host;

[0089] S1213. Periodically update the signal strength map along the route based on the signal strength records returned by the on-board unit.

[0090] Reference Figure 4 In a preferred real-time approach, calculating the vehicle-to-ground communication delay includes the following steps:

[0091] S151. Synchronize clock with satellite;

[0092] S152. Send a clock synchronization command to the vehicle host so that the vehicle host can record the reception time T0 and calculate the time difference δ0 between the local time of the vehicle host and the satellite clock; the clock synchronization command includes the local time t0 of the ground parallel driving control station when the clock synchronization command is issued.

[0093] S153. Receive the response command sent by the vehicle host and record the reception time t1; the response command includes the local time T1 of the vehicle host when the response command was sent.

[0094] S154. Calculate the average value of T0+δ0-t0 and t1-T1 and use the average value as the vehicle-to-ground communication delay.

[0095] In a preferred embodiment, the video information includes forward road condition video information, rear video information, and machine room video information. After receiving the forward road condition video information, rear video information, and machine room video information, the ground parallel driving control console displays the forward road condition video information and the locomotive's real-time status information in real time through the parallel driving display unit connected to it, and also displays the time delay between the two.

[0096] The ground-based parallel driving control console generates a signal strength map along the railway line based on the mobile communication signal strength and satellite positioning coordinates recorded in real time by the onboard host. This allows the console to assess the communication signal strength at the locomotive's location. The console also determines if the locomotive is in an abnormal state based on real-time operating status information and video data, calculating the vehicle-to-ground communication delay. If the locomotive is not in an abnormal state, and the vehicle-to-ground communication delay and signal strength along the line meet the conditions for parallel driving, the ground-based parallel driving control console sends operating commands to the onboard host, controlling the locomotive to enter parallel driving mode.

[0097] During automatic locomotive operation, if an emergency stops, there is no need to have a driver on the locomotive. Once the conditions for parallel driving are met, staff can remotely control the locomotive for parallel driving from a ground-based parallel driving control panel.

[0098] Reference Figure 5 Secondly, this embodiment provides a parallel driving method, which is applied to an on-board host and includes the following steps:

[0099] S21. Send locomotive positioning information, locomotive real-time operating status information, and video information to the ground parallel driving control console; the locomotive positioning information is used by the ground parallel driving control console to determine the section of the line where the locomotive is located and to assess the signal strength along the line; the locomotive real-time operating status information and video information are used by the ground parallel driving control console to determine whether the locomotive is in an abnormal state.

[0100] S22. Receive the parallel driving preparation command sent by the ground parallel driving control panel, and drive the warning units set on the locomotive head and both sides to issue warning signals. The warning signals are used to warn ground personnel that the locomotive is in parallel driving state.

[0101] S23. Receive the clock synchronization command sent by the ground parallel driving control console, and then send a response command to the ground parallel driving control console so that the ground parallel driving control console can calculate the vehicle-to-ground communication delay; the clock synchronization command includes the local time t0 of the ground parallel driving control console when the clock synchronization command is sent, and the response command includes the local time T1 of the vehicle host when the response command is sent.

[0102] S24. Receive and execute operating instructions issued by the ground parallel driving control panel.

[0103] It should be noted that the video information includes video information of the road conditions ahead, video information of the rear, and video information of the machine room. The onboard unit acquires video information of the road conditions ahead through a road condition camera installed in the middle of the driver's cab, close to the windshield; the onboard unit acquires video information of the rear through rear-view cameras installed on both sides of the locomotive; and the onboard unit acquires video information of the machine room through a machine room camera installed in the machine room corridor.

[0104] The onboard host obtains the locomotive's real-time operating status information through the locomotive's network control system, and sends the locomotive's positioning information, real-time operating status information, and video information to the ground parallel driving control console via the mobile communication network. During parallel driving, the ground parallel driving control console sends operating instructions to the onboard host via the mobile communication network, and the onboard host controls the locomotive through the network control system.

[0105] In a preferred embodiment, the transmission priority of real-time locomotive operating status information is higher than that of video information. Since the data volume of real-time locomotive operating status information is smaller than that of video information, during parallel driving, the onboard host prioritizes sending the real-time locomotive operating status information to the ground parallel driving control console. Therefore, there is a time difference between the real-time locomotive operating status information and the video information. The ground parallel driving control console uses the most recently received data in the 1:1 reconstruction and displays the forward road condition video information and the real-time locomotive operating status information in real time on its display unit, along with the delay information.

[0106] It should be noted that the priority of sending real-time locomotive operating status information is higher than that of video information. This can be understood as follows: the real-time locomotive operating status information is sent before the video information. The onboard host first sends the locomotive positioning information and real-time locomotive operating status information to the ground parallel driving control console. When the ground parallel driving control console determines whether the locomotive is in an abnormal state, the onboard host then sends the video information to the ground parallel driving control console.

[0107] The priority of sending real-time locomotive operating status information over video information can also be understood as follows: when the signal strength is higher than the fourth signal strength threshold, the onboard host simultaneously sends locomotive positioning information, real-time locomotive operating status information, and video information to the ground parallel driving control console; when the signal strength is not higher than the fourth signal strength threshold, the onboard host first sends locomotive positioning information and real-time locomotive operating status information to the ground parallel driving control console, and when the ground parallel driving control console determines whether the locomotive is in an abnormal state, the onboard host then sends video information to the ground parallel driving control console.

[0108] The vehicle-mounted host selectively transmits rear video information and machine room video information based on the signal strength along the route, and / or selectively adjusts the resolution of the forward road condition video information; if the signal strength along the route is less than a second signal strength threshold, the vehicle-mounted host only transmits the forward road condition video information, and / or if the signal strength along the route is less than a third signal strength threshold, the vehicle-mounted host reduces the resolution of the forward road condition video information.

[0109] The onboard host sends the locomotive's positioning information, real-time operating status information, and video information to the ground parallel driving control console. When the locomotive stops in an emergency during automatic driving, the onboard host works with the ground parallel driving control console to synchronize the clock, calculate the vehicle-to-ground communication delay, and then receives the operation instructions sent by the ground parallel driving control console to control the locomotive to enter the parallel driving state.

[0110] When transmitting video information, the vehicle-mounted host selects whether to transmit rear video information and mechanical equipment video information based on the signal strength. It prioritizes transmitting video information of the road conditions ahead, and reduces the resolution of the video information of the road conditions ahead when the signal strength is poor, so as to ensure that the ground-level parallel driving control panel can receive the latest video information of the road conditions ahead.

[0111] Thirdly, this embodiment provides a parallel driving device applied to a ground-based parallel driving control panel, the device comprising:

[0112] The data receiving unit is used to receive locomotive positioning information, real-time locomotive operating status information, and video information sent by the on-board host.

[0113] Signal strength assessment unit; used to determine the line section where the locomotive is located based on locomotive positioning information and to assess the signal strength along the line.

[0114] The parallel driving preparation command sending unit is used to send parallel driving preparation commands to the on-board host, so that the on-board host can drive the alarm unit to sound an alarm. The alarm unit is located at the head and sides of the locomotive to warn ground personnel that the locomotive is in a parallel driving state.

[0115] The abnormal status judgment unit is used to determine whether the locomotive is in an abnormal state based on the locomotive's real-time operating status information and video information;

[0116] Vehicle-to-ground communication delay calculation unit, used to calculate vehicle-to-ground communication delay;

[0117] The parallel driving unit is used to control whether to perform parallel driving based on the signal strength along the line and the vehicle-to-ground communication delay, provided that the locomotive is not in an abnormal state. If the signal strength along the line and the vehicle-to-ground communication delay meet the conditions for parallel driving, the locomotive is operated to perform parallel driving; otherwise, the locomotive is not operated to perform parallel driving.

[0118] For details on the implementation of each unit, please refer to the aforementioned parallel driving method applied to the ground parallel driving control panel.

[0119] Fourthly, this embodiment provides a parallel driving device applied to an in-vehicle host, the device comprising:

[0120] Information transmission unit; used to send locomotive positioning information, locomotive real-time operating status information and video information to the ground parallel driving control console; locomotive positioning information is used by the ground parallel driving control console to determine the line section where the locomotive is located and to assess the signal strength along the line; locomotive real-time operating status information and video information are used by the ground parallel driving control console to determine whether the locomotive is in an abnormal state.

[0121] The parallel driving preparation unit is used to receive the parallel driving preparation command sent by the ground parallel driving control panel and drive the warning units set on the locomotive head and both sides to issue warning signals. The warning signals are used to alert ground personnel that the locomotive is in parallel driving mode.

[0122] The clock synchronization unit is used to receive the clock synchronization command sent by the ground parallel driving control console, and then send a response command to the ground parallel driving control console so that the ground parallel driving control console can calculate the vehicle-to-ground communication delay.

[0123] The parallel driving execution unit is used to receive and execute operating commands issued by the ground parallel driving control panel.

[0124] For details on the implementation of each unit, please refer to the aforementioned parallel driving method applied to the vehicle host.

[0125] Fifthly, this embodiment provides a computer program that, when executed by a processor, implements the method described in any one of the first to second aspects.

[0126] Sixthly, this embodiment provides a storage medium storing a program that, when executed by a processor, implements the method described in any one of the first to second aspects.

[0127] In a seventh aspect, this embodiment provides a ground-based parallel driving control console, which includes: a memory and a processor communicatively connected to the memory. The memory stores a program, and the processor implements the method as described in the first aspect when executing the program.

[0128] Eighthly, this embodiment provides an in-vehicle host, which includes: a memory and a processor communicatively connected to the memory, the memory storing a program, and the processor implementing the method as described in any of the second aspects when executing the program.

[0129] Reference Figure 6Ninth aspect: This embodiment provides a parallel driving system, the system comprising:

[0130] A video information acquisition unit, which is used to acquire and output video information;

[0131] The eighth aspect involves the vehicle-mounted host, which is communicatively connected to the video information acquisition unit;

[0132] The seventh aspect is the ground-based parallel driving control panel, which is connected to the onboard host for communication.

[0133] The onboard host collects video information through a video information acquisition unit. It then transmits the collected video information, locomotive positioning information, and real-time locomotive operating status information to a ground-based parallel driving control console. The ground-based parallel driving control console assesses the signal strength at the locomotive's location based on the locomotive's positioning information and a signal strength map along the line. If the locomotive is not in an abnormal state, and the vehicle-to-ground communication delay and signal strength along the line meet the conditions for parallel driving, the ground-based parallel driving control console projects the video information onto the parallel driving display unit for immersive restoration. The ground-based parallel driving control console converts the operations into operating commands and sends them to the onboard host. The onboard host then controls the locomotive to execute the operating commands through a network control system, eliminating the need for a dedicated driver on the locomotive.

[0134] During the automatic driving process of the locomotive, if an emergency occurs, ground personnel can remotely control the locomotive through this parallel driving system, providing a backup channel for unexpected situations in the automatic driving operation of the locomotive, improving the efficiency of handling anomalies, and providing a foundation for the unmanned operation of the locomotive.

[0135] The various embodiments in this disclosure are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0136] The scope of protection of this disclosure is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its scope and spirit. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A parallel driving method, applied to a ground-based parallel driving control panel, characterized in that, Includes the following steps: Receive locomotive positioning information, real-time locomotive operating status information, and video information sent by the on-board host; Based on the locomotive positioning information, determine the section of the line where the locomotive is located and assess the signal strength along the line; A parallel driving preparation command is sent to the on-board host, which then activates the warning unit to sound an alarm. The warning unit is located at the front and sides of the locomotive to warn ground personnel that the locomotive is in a parallel driving state. Based on the locomotive's real-time operating status information and the video information, determine whether the locomotive is in an abnormal state; Calculate vehicle-to-ground communication delay; Under the condition that the locomotive is not in an abnormal state, whether to perform parallel driving is controlled according to the signal strength along the line and the vehicle-to-ground communication delay; if the signal strength along the line and the vehicle-to-ground communication delay meet the conditions for parallel driving, then the locomotive is operated to perform parallel driving; otherwise, the locomotive is not operated to perform parallel driving. The step of determining the line section where the locomotive is located based on the locomotive positioning information and assessing the signal strength along the line includes: Draw a signal strength map along the line; The locomotive's location section is determined based on the locomotive's positioning information; The signal strength of the line section where the locomotive is located is assessed based on the signal strength map along the line. The process of drawing a signal strength map along the line includes: Receive the mobile communication signal strength and satellite positioning coordinate information along the line, which are recorded in real time during the operation of the locomotive, sent by the on-board host. A signal strength map along the line is drawn based on the mobile communication signal strength recorded on the line by the on-board host of the locomotive; The calculation of vehicle-to-ground communication delay includes: Synchronize with the satellite clock; A clock synchronization command is sent to the vehicle-mounted host so that the vehicle-mounted host can record the reception time T0 and calculate the time difference δ0 between the local time of the vehicle-mounted host and the satellite clock; the clock synchronization command includes the local time t0 of the ground parallel driving control console when the clock synchronization command is issued. Receive the response command sent by the vehicle host and record the reception time t1; the response command includes the local time T1 of the vehicle host when the vehicle host sends the response command; Calculate the average value of T0+δ0-t0 and t1-T1 and use the average value as the vehicle-to-ground communication delay; The parallel driving conditions include: Signal strength along the line The first signal strength threshold and the vehicle-to-ground communication delay Vehicle-to-ground communication delay threshold.

2. The parallel driving method according to claim 1, characterized in that, The process of drawing a signal strength map along the route also includes: periodically updating the signal strength map along the route based on the signal strength record information returned by the vehicle-mounted host.

3. The parallel driving method according to claim 1, characterized in that, The video information includes video information of the road conditions ahead, video information of the rear, and video information of the machine room; The parallel driving method further includes: The ground-based parallel driving control panel displays real-time video information of the road conditions ahead and real-time operating status information of the locomotive, and also displays the delay information of the video information of the road conditions ahead and the real-time operating status information of the locomotive.

4. The parallel driving method according to any one of claims 1 to 3, characterized in that, Also includes: When the locomotive is in an abnormal state, the abnormal state is handled and parallel driving is not performed.

5. The parallel driving method according to claim 1, characterized in that, The operation of parallel driving of the locomotive includes: The ground-based parallel driving control panel converts operations into operation commands and sends them to the vehicle-mounted host, so that the vehicle-mounted host can execute the operation commands.

6. A parallel driving method, applied to an on-board host, characterized in that, Includes the following steps: Send locomotive positioning information, real-time locomotive operating status information, and video information to the ground-based parallel driving control console; The locomotive positioning information is used by the ground-based parallel driving control panel to determine the section of the line where the locomotive is located and to assess the signal strength along the line. The real-time operating status information and video information of the locomotive are used by the ground parallel driving control panel to determine whether the locomotive is in an abnormal state. The locomotive receives a parallel driving preparation command from the ground parallel driving control panel and drives the warning units located at the head and sides of the locomotive to emit warning signals. The warning signals are used to alert ground personnel that the locomotive is in a parallel driving state. Receive the clock synchronization command sent by the ground parallel driving control console, and then send a response command to the ground parallel driving control console so that the ground parallel driving control console can calculate the vehicle-to-ground communication delay; Receive and execute operation commands issued by the ground-based parallel driving control panel; The transmission priority of the locomotive's real-time operating status information is higher than the transmission priority of the video information; The video information includes: forward road condition video information, rear video information, and machine room video information. The vehicle-mounted host selectively transmits the rear video information and the machine room video information according to the signal strength along the route, and / or selectively adjusts the resolution of the forward road condition video information. If the signal strength along the line A second signal strength threshold is set, whereby the vehicle-mounted host only transmits video information about the road conditions ahead, and / or if the signal strength along the route... The third signal strength threshold is used to reduce the resolution of the forward road condition video information; The clock synchronization command includes the local time t0 of the ground parallel driving control console when the clock synchronization command is issued, and the response command includes the local time T1 of the vehicle host when the response command is issued.

7. The parallel driving method according to claim 6, characterized in that, The onboard host obtains the real-time operating status information of the locomotive through the network control system installed on the locomotive, and the onboard host executes the operation instructions through the network control system.

8. A parallel driving device for implementing the parallel driving method according to any one of claims 1-5, applied to a ground parallel driving control panel, characterized in that, include: The data receiving unit is used to receive locomotive positioning information, real-time locomotive operating status information, and video information sent by the on-board host. Signal strength assessment unit; Used to determine the section of the line where the locomotive is located based on the locomotive positioning information, and to assess the signal strength along the line; A parallel driving preparation command sending unit is used to send a parallel driving preparation command to the on-board host, so that the on-board host can drive the warning unit to alarm; the warning unit is located at the head and sides of the locomotive to warn ground personnel that the locomotive is in a parallel driving state. An abnormal state determination unit is used to determine whether the locomotive is in an abnormal state based on the locomotive's real-time operating status information and the video information. Vehicle-to-ground communication delay calculation unit, used to calculate vehicle-to-ground communication delay; The parallel driving unit is used to control whether to perform parallel driving based on the signal strength along the line and the vehicle-to-ground communication delay, provided that the locomotive is not in an abnormal state. If the signal strength along the line and the vehicle-to-ground communication delay meet the conditions for parallel driving, the locomotive is operated to perform parallel driving; otherwise, the locomotive is not operated to perform parallel driving.

9. A parallel driving device implementing the parallel driving method of claim 6 or 7, applied to an on-board host, characterized in that, include: Information sending unit; Used to send locomotive positioning information, real-time locomotive operating status information, and video information to the ground-based parallel driving control console; The locomotive positioning information is used by the ground-based parallel driving control panel to determine the section of the line where the locomotive is located and to assess the signal strength along the line. The real-time operating status information and video information of the locomotive are used by the ground parallel driving control panel to determine whether the locomotive is in an abnormal state. The parallel driving preparation unit is used to receive the parallel driving preparation command sent by the ground parallel driving control panel and drive the warning units set on the locomotive head and both sides to emit warning signals. The warning signals are used to warn ground personnel that the locomotive is in a parallel driving state. The clock synchronization unit is used to receive the clock synchronization command sent by the ground parallel driving control console, and then send a response command to the ground parallel driving control console so that the ground parallel driving control console can calculate the vehicle-to-ground communication delay. The parallel driving execution unit is used to receive and execute the operation commands issued by the ground parallel driving control panel.

10. A computer program, characterized in that, When the computer program is executed by the processor, it implements the parallel driving method as described in any one of claims 1 to 7.

11. A storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, implements the parallel driving method as described in any one of claims 1 to 7.

12. A ground-based parallel driving control panel, characterized in that, include: A memory and a processor communicatively connected to the memory, the memory storing a program, the processor executing the program to implement the parallel driving method as described in any one of claims 1 to 5.

13. A vehicle-mounted host, characterized in that, include: A memory and a processor communicatively connected to the memory, the memory storing a program, the processor executing the program to implement the method as described in claim 6 or 7.

14. A parallel driving system, characterized in that, include: A video information acquisition unit, which is used to acquire and output video information; The vehicle-mounted host according to claim 13 is communicatively connected to the video information acquisition unit; The ground-based parallel driving control panel of claim 12 is communicatively connected to the vehicle-mounted host.

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