Multi-vehicle conflict resolution method, device and equipment for rail transportation line changing area and storage medium
By refining the conflict type and pass sequence, the locomotive routes are coordinated and planned, the problem of low line switching efficiency in rail transportation is solved, and efficient line switching arrangement and path planning is achieved to ensure the smooth passage of the locomotive.
Patent Information
- Application Number
- CN202411494098.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-24
- Publication Date
- 2024-12-10
AI Technical Summary
In the prior art, locomotives cannot quickly set up a line change plan when changing lines during rail transportation, resulting in low line change efficiency. Especially when compact stations and sections are short and few tracks, the difficulty of path selection increases. There are methods that fail to effectively consider conflict resolution from the perspective of path geographical location.
By obtaining the starting point, end point, current line and target line of the current locomotive and other locomotives, determine the type of conflict, and determine the pass sequence according to the type of conflict, control the locomotive to enter the temporary stop point, wait for another locomotive to pass before passing, and refine the type of conflict Coordinate the planning routes, rationally avoid conflicts, and improve traffic efficiency.
It improves the efficiency of locomotives, simplifies the line change process, and realizes efficient line change arrangement and path planning to ensure smooth passage of locomotives.
Smart Images
Figure CN119099682A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of track planning, and in particular to a method, device, equipment and storage medium for resolving multi-vehicle conflicts in a track transportation line change area. Background Art
[0002] Changing lanes is a way for locomotives to change lanes in rail transportation. A locomotive may change lanes N times from the starting point to the end point. Each time a lane change is made, the form of conflict with other locomotives will change. At the same time, the choice of the locomotive lane changing area will also affect the conflict situation after the lane change. Therefore, it is particularly important to make the correct path selection before changing lanes.
[0003] In the existing technology, most of the methods for solving path conflicts are based on the time dimension. The running time of the vehicle on the road section is calculated by distance and speed, and the running time is used as the weight of the path edge to determine the optimal path. No research has been done on the line change scenario, and no conflict resolution solution has been considered from the perspective of the path's geographical location. Especially for compact stations with short sections and few tracks, the difficulty of path selection will gradually increase when there is a line change in the path, reducing the efficiency of the line change. Summary of the invention
[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a method, device, equipment and storage medium for resolving multi-vehicle conflicts in a rail transport line change area, which is used to solve the problem in the prior art that locomotives on the track cannot quickly determine a line change plan when changing lines, resulting in low line change efficiency.
[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a method for resolving multi-vehicle conflicts in a rail transportation line change area, comprising:
[0006] Obtain the starting point, end point, current route and target route of the current locomotive and other locomotives, and determine the conflict type between the current locomotive and other locomotives based on the current route and the target route;
[0007] According to the conflict type, respectively determine the passing order of the current locomotive or other locomotives;
[0008] According to the passing sequence, the current locomotive or other locomotives are controlled to enter the temporary stop point, and the other locomotive can pass after the current locomotive passes.
[0009] Optionally, the method for determining the conflict type between the current locomotive and other locomotives includes:
[0010] Determine a first passable route of the current locomotive and a second passable route of the other locomotives based on the starting points and ending points of the current locomotive and the other locomotives, respectively;
[0011] Determine, according to the first pass route and the second pass route, a conflict area between the current locomotive and other locomotives;
[0012] The conflict types are divided into a first type conflict, a second type conflict, a third type conflict and a fourth type conflict according to the conflict area.
[0013] Optionally, the method for determining the passing order of the current locomotive or other locomotives respectively according to the conflict type includes:
[0014] Comparing the current route and target route of the current locomotive with all current routes and target routes of other locomotives to obtain a comparison result;
[0015] Determine the location of the temporary stop point according to the comparison result and the conflict type;
[0016] Control the current locomotive to enter the temporary stop point to wait, and other locomotives change lines according to their target lines. When other locomotives change lines and pass, the current locomotive enters its target line.
[0017] Optionally, when it is determined that the conflict type is the first type of conflict, the current locomotive changes line from the current line to the target line, and the other locomotives change line from the target line to the current line;
[0018] The pre-line-changing area of the current locomotive conflicts with the post-line-changing area of the other locomotives, the transition area of the current locomotive conflicts with the transition area of the other locomotives, the line-changing area of the current locomotive conflicts with the line-changing area of the other locomotives, and the post-line-changing area of the current locomotive conflicts with the pre-line-changing area of the other locomotives;
[0019] The temporary stop point is set in the line-changing area of the current locomotive, and after the current locomotive enters the temporary stop point, the other locomotives change lines;
[0020] After the other locomotives pass, the current locomotive changes lanes.
[0021] Optionally, when it is determined that the conflict type is the second type of conflict, the current locomotive changes lanes from the current route to the target route, and the other locomotives change lanes from the current route to the target route, and before the change of lanes, the current locomotive and the other locomotives travel in the same direction;
[0022] The transition area of the current locomotive conflicts with the transition area of other locomotives, and the post-line-changing area of the current locomotive conflicts with the post-line-changing area of other locomotives;
[0023] The temporary stop point is set in the line change area. After the current locomotive enters the temporary stop point, the current locomotive passes after other locomotives complete line change.
[0024] Optionally, when it is determined that the conflict type is the third type conflict, the current locomotive remains on the current route, the other locomotives switch from the current route to the target route, and the current locomotive and the other locomotives run in opposite directions;
[0025] The pre-line-changing area and transition area of the other locomotives conflict with the pre-line-changing area of the current locomotive;
[0026] The temporary stop point is set in the area before the line change of the current locomotive, and the current locomotive passes after the line change of other locomotives is completed.
[0027] Optionally, when it is determined that the conflict type is the fourth type of conflict, the current locomotive changes line from the target line to the current line, and the other locomotives change line from the current line to the target line;
[0028] The post-line-changing area of the current locomotive conflicts with the pre-line-changing area of other locomotives;
[0029] The temporary stop point is set in the area before the line change of the current locomotive, and the current locomotive passes after the line change of other locomotives is completed.
[0030] The present invention also provides a device for resolving multi-vehicle conflicts in a rail transport line change area, which is characterized by comprising:
[0031] An acquisition module is used to obtain route information of the current locomotive and other locomotives;
[0032] The first processing module is used to obtain the conflict type between the current locomotive and other locomotives;
[0033] The second processing module is used to obtain the temporary stop point information of the current locomotive or other locomotives.
[0034] The present invention also provides a multi-vehicle conflict resolution device in a transport line change area, which is characterized by comprising:
[0035] one or more processors and memory;
[0036] The memory stores a computer program, and when the one or more processors execute the program, the device executes the above method.
[0037] The present invention also provides a readable storage medium for resolving multi-vehicle conflicts in a transport line change area, which is characterized by:
[0038] A computer program is stored thereon, and the computer program can be executed by the one or more processors to enable the processors to perform the above method.
[0039] As described above, the method, device, equipment and storage medium for resolving multi-vehicle conflicts in a rail transportation line change area proposed by the present invention have the following beneficial effects:
[0040] Compared with the prior art, the present invention refines the conflict types, comprehensively plans the routes of the current locomotive and other locomotives, determines whether there is a conflict, and then reasonably avoids the conflict according to the type of conflict. This improves the traffic efficiency while ensuring the smooth passage of locomotives, makes the line change process simpler, and realizes efficient line change arrangement and path planning. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Figure 1 Shown is a flow chart of the present invention;
[0042] Figure 2 Shown is a schematic diagram of a single locomotive changing lanes in the present invention;
[0043] Figure 3 Shown is a schematic diagram of a first type of conflict in the present invention;
[0044] Figure 4 Shown is a schematic diagram of the second type of conflict in the present invention;
[0045] Figure 5 Shown is a schematic diagram of the third type of conflict in the present invention;
[0046] Figure 6 It is a schematic diagram showing the fourth type of conflict in the present invention. DETAILED DESCRIPTION
[0047] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.
[0048] It should be noted that the diagram provided in the present embodiment only illustrates the basic concept of the present invention in a schematic manner, so the diagram only shows the components related to the present invention rather than drawing according to the number, shape and size of the components during actual implementation. The type, quantity and ratio of each component during actual implementation can be a random change, and the component layout type may also be more complicated. The structure, ratio, size, etc. illustrated in the drawings of the present specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions that the present invention can implement, so they have no technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effect that the present invention can produce and the purpose that can be achieved. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of narration, and are not used to limit the scope of the present invention. The change or adjustment of its relative relationship should also be regarded as the scope of the present invention without substantially changing the technical content.
[0049] like Figure 1-Figure 6 As shown, the present invention proposes a method, device, equipment and storage medium for resolving multi-vehicle conflicts in a rail transportation line change area
[0050] In an exemplary embodiment, the present invention proposes a method for resolving multi-vehicle conflicts in a rail transportation line change area, comprising:
[0051] Obtain the starting point, end point, current route and target route of the current locomotive and other locomotives, and determine the conflict type between the current locomotive and other locomotives based on the current route and the target route;
[0052] According to the conflict type, respectively determine the passing order of the current locomotive or other locomotives;
[0053] According to the passing sequence, the current locomotive or other locomotives are controlled to enter the temporary stop point, and the other locomotive can pass after the current locomotive passes.
[0054] The present invention refines the conflict types, comprehensively plans the routes of the current locomotive and other locomotives, determines whether there is a conflict, and then reasonably avoids the conflict according to the type of conflict. This improves the traffic efficiency while ensuring the smooth passage of locomotives, makes the line change process simpler, and realizes efficient line change arrangement and path planning.
[0055] It is worth noting that, in this embodiment, if there is no conflict between the current locomotive and other locomotives, the locomotives can pass normally.
[0056] In an exemplary embodiment, the method for determining the conflict type between the current locomotive and other locomotives includes:
[0057] Determine a first passable route of the current locomotive and a second passable route of the other locomotives based on the starting points and ending points of the current locomotive and the other locomotives, respectively;
[0058] Determine, according to the first pass route and the second pass route, a conflict area between the current locomotive and other locomotives;
[0059] The conflict types are divided into a first type conflict, a second type conflict, a third type conflict and a fourth type conflict according to the conflict area.
[0060] In this embodiment, if there is a line change during the operation of the current locomotive or other locomotives, there will be a transition area and a line change area. When the locomotive moves from the current track to another track or from another track to the current track through the transition area, due to the rotation of the track, the current track and the other track cannot be opened to traffic, and it is necessary to wait for one of the locomotives to complete the line change before smooth passage.
[0061] In an exemplary embodiment, the method for determining the passing order of the current locomotive or other locomotives respectively according to the conflict type includes:
[0062] Comparing the current route and target route of the current locomotive with all current routes and target routes of other locomotives to obtain a comparison result;
[0063] Determine the location of the temporary stop point according to the comparison result and the conflict type;
[0064] Control the current locomotive to enter the temporary stop point to wait, and other locomotives change lines according to their target lines. When other locomotives change lines and pass, the current locomotive enters its target line.
[0065] For example, Figure 3-Figure 6 As shown, the four types of conflicts in this embodiment are respectively a first type of conflict (Y type), a second type of conflict (VV type), a third type of conflict (YI type) and a fourth type of conflict (VI type), wherein the thick dashed line represents the route of the current locomotive, and the dotted line represents the routes of other locomotives.
[0066] Exemplarily, when it is determined that the conflict type is the first type of conflict, the current locomotive switches from the current line to the target line, and the other locomotives switch from the target line to the current line;
[0067] The pre-line-changing area of the current locomotive conflicts with the post-line-changing area of the other locomotives, the transition area of the current locomotive conflicts with the transition area of the other locomotives, the line-changing area of the current locomotive conflicts with the line-changing area of the other locomotives, and the post-line-changing area of the current locomotive conflicts with the pre-line-changing area of the other locomotives;
[0068] The temporary stop point is set in the line-changing area of the current locomotive, and after the current locomotive enters the temporary stop point, the other locomotives change lines;
[0069] After the other locomotives pass, the current locomotive changes lanes.
[0070] When the first type of conflict (Y type) occurs, the current locomotive and other locomotives need to change lines, and the two locomotives have exactly the same route, so effective avoidance is required. Therefore, the temporary stop point for the first type of conflict is set in the line-changing area of the current locomotive. After the current locomotive drives to the line-changing area, it stops and avoids in the line-changing area, and waits for other locomotives to drive from the target line to the current line through the transition area, that is, after the line change is completed, the current locomotive passes again to complete the line change. Correspondingly, other locomotives can also be used to avoid the current locomotive in the line-changing area on the current line, and the current locomotive has priority to pass, and the two are selected accordingly according to the order priority.
[0071] Exemplarily, when it is determined that the conflict type is the second type of conflict, the current locomotive changes lanes from the current route to the target route, and the other locomotives change lanes from the current route to the target route, and before the change of lanes, the current locomotive and the other locomotives travel in the same direction;
[0072] The transition area of the current locomotive conflicts with the transition area of other locomotives, and the post-line-changing area of the current locomotive conflicts with the post-line-changing area of other locomotives;
[0073] The temporary stop point is set in the line change area. After the current locomotive enters the temporary stop point, the current locomotive passes after other locomotives complete line change.
[0074] In this embodiment, when the second type of conflict (VV) occurs, the current locomotive and other locomotives also need to change lanes. Since the current locomotive has the same route before and after the lane change, conflicts may occur in other areas except the lane change area of the current locomotive. Therefore, the most efficient method is to set the temporary stop point in the lane change area of the current locomotive. When changing lanes, the current locomotive is first controlled to pass through the transition area and enter the lane change area for temporary stop. After waiting for other locomotives to completely complete the lane change, the current locomotive can pass through, thereby ensuring efficient lane change and passage.
[0075] Exemplarily, when it is determined that the conflict type is the third type conflict, the current locomotive remains unchanged along the current route, the other locomotives switch from the current route to the target route, and the current locomotive and the other locomotives run in opposite directions;
[0076] The pre-line-changing area and transition area of the other locomotives conflict with the pre-line-changing area of the current locomotive;
[0077] The temporary stop point is set in the area before the line change of the current locomotive, and the current locomotive passes after the line change of other locomotives is completed.
[0078] In this embodiment, when the third type of conflict (YI) occurs, at this time, the area before the line change of other locomotives is the left side of the current line, which conflicts with the normal driving path of the current locomotive. At the same time, when other locomotives are in the transition area, they occupy the current line, which will also conflict with the normal driving path of the current locomotive. Therefore, the temporary stopping point is set at the lower left of the current road. The current locomotive travels to the temporary stopping point and passes after other locomotives complete the line change. According to the priority of the order, it can also be chosen that the current locomotive completes the task before other locomotives perform the task.
[0079] Exemplarily, when it is determined that the conflict type is the fourth type conflict (type VI), the current locomotive changes line from the target line to the current line, and the other locomotives change line from the current line to the target line;
[0080] The post-line-changing area of the current locomotive conflicts with the pre-line-changing area of other locomotives;
[0081] The temporary stop point is set in the area before the line change of the current locomotive, and the current locomotive passes after the line change of other locomotives is completed.
[0082] In this embodiment, when the fourth type of conflict occurs, the temporary stop point is set in the area before the line change of the current locomotive. The current locomotive is also required to wait in place and change lines after other locomotives change lines and pass through, or according to the task priority, other locomotives can carry out tasks after the current locomotive completes the task.
[0083] It is worth noting that in this embodiment, the actual position of the temporary stopping point is set according to the actual needs of the task. After determining the type of conflict, based on comprehensive factors such as the length of the locomotive, the temporary stopping point needs to be as close to the lane change intersection as possible so that the current locomotive can pass quickly after passing the other vehicles.
[0084] It should also be noted that in this embodiment, the conflict types are divided into levels according to their severity, among which the first type of conflict is greater than the second type of conflict, and the fourth type of conflict is greater than the third type of conflict. Since the locomotive has multiple routes to choose from during driving, in the case of line change, the one with the smallest severity level (second type and third type) is selected as much as possible to achieve the highest double-car travel efficiency.
[0085] It should also be noted that in this embodiment, after determining the conflict type, if there is a temporary stop, the line change evaluation path set is entered, the corresponding path is selected, and then the paths of the current locomotive and other locomotives are sorted according to the conflict type path, and the line change process is controlled in an orderly manner.
[0086] If there is no temporary stop, priority will be given to changing the route without conflict, or according to the task priority, the task with priority will be carried out first, and then the conflicting vehicle will carry out the task; or the current route has been subscribed by other locomotives, and the current locomotive cannot subscribe to these lines again, then let other subscribed locomotives complete the tasks first; or change the route that can be temporarily stopped.
[0087] In summary, the present invention refines the conflict types, comprehensively plans the routes of the current locomotive and other locomotives, determines whether there is a conflict, and then reasonably avoids it according to the type of conflict. It improves the traffic efficiency while ensuring the smooth passage of locomotives, makes the line change process simpler, and realizes efficient line change arrangement and path planning.
[0088] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.
Claims
1. A method for resolving multi-vehicle conflicts in a rail transportation line change area, characterized in that: include: Obtain the starting point, end point, current route and target route of the current locomotive and other locomotives, and determine the conflict type between the current locomotive and other locomotives based on the current route and the target route; According to the conflict type, respectively determine the passing order of the current locomotive or other locomotives; According to the passing sequence, the current locomotive or other locomotives are controlled to enter the temporary stop point, and the other locomotive can pass after the current locomotive passes.
2. The method for resolving multi-vehicle conflicts in a rail transportation line change area according to claim 1, characterized in that: The method for determining the conflict type between the current locomotive and other locomotives includes: Determine a first passable route of the current locomotive and a second passable route of the other locomotives based on the starting points and ending points of the current locomotive and the other locomotives, respectively; Determine, according to the first pass route and the second pass route, a conflict area between the current locomotive and other locomotives; The conflict types are divided into a first type conflict, a second type conflict, a third type conflict and a fourth type conflict according to the conflict area.
3. The method for resolving multi-vehicle conflicts in a rail transportation line change area according to claim 2, characterized in that: The method for determining the passing order of the current locomotive or other locomotives respectively according to the conflict type includes: Based on the current route and target route of the current locomotive, compare with all current routes and target routes of other locomotives to obtain a comparison result; Determine the location of the temporary stop point according to the comparison result and the conflict type; Control the current locomotive to enter the temporary stop point to wait, and other locomotives change lines according to their target lines. When other locomotives change lines and pass, the current locomotive enters its target line.
4. The method for resolving multi-vehicle conflicts in a rail transportation line change area according to claim 3 is characterized in that: When it is determined that the conflict type is the first type of conflict, the current locomotive switches from the current route to the target route, and the other locomotives switch from the target route to the current route; The pre-line-changing area of the current locomotive conflicts with the post-line-changing area of the other locomotives, the transition area of the current locomotive conflicts with the transition area of the other locomotives, the line-changing area of the current locomotive conflicts with the line-changing area of the other locomotives, and the post-line-changing area of the current locomotive conflicts with the pre-line-changing area of the other locomotives; The temporary stop point is set in the line-changing area of the current locomotive, and after the current locomotive enters the temporary stop point, the other locomotives change lines; After the other locomotives pass, the current locomotive changes lanes.
5. The method for resolving multi-vehicle conflicts in a rail transportation line change area according to claim 3, characterized in that: When it is determined that the conflict type is the second type of conflict, the current locomotive changes lanes from the current route to the target route, and the other locomotives change lanes from the current route to the target route. Before changing lanes, the current locomotive and the other locomotives travel in the same direction; The transition area of the current locomotive conflicts with the transition area of other locomotives, and the post-line-changing area of the current locomotive conflicts with the post-line-changing area of other locomotives; The temporary stop point is set in the line change area. After the current locomotive enters the temporary stop point, the current locomotive passes after other locomotives complete line change.
6. The method for resolving multi-vehicle conflicts in a rail transportation line change area according to claim 3, characterized in that: When it is determined that the conflict type is the third type conflict, the current locomotive remains on the current route, the other locomotives switch from the current route to the target route, and the current locomotive and the other locomotives run in opposite directions; The pre-line-changing area and transition area of the other locomotives conflict with the pre-line-changing area of the current locomotive; The temporary stop point is set in the area before the line change of the current locomotive, and the current locomotive passes after the line change of other locomotives is completed.
7. The method for resolving multi-vehicle conflicts in a rail transportation line change area according to claim 3, characterized in that: When it is determined that the conflict type is the fourth type of conflict, the current locomotive switches from the target route to the current route, and the other locomotives switch from the current route to the target route; The post-line-changing area of the current locomotive conflicts with the pre-line-changing area of other locomotives; The temporary stop point is set in the area before the line change of the current locomotive, and the current locomotive passes after the line change of other locomotives is completed.
8. A device for resolving multi-vehicle conflicts in a rail transport line change area, characterized in that: include: An acquisition module is used to obtain route information of the current locomotive and other locomotives; The first processing module is used to obtain the conflict type between the current locomotive and other locomotives; The second processing module is used to obtain the temporary stop point information of the current locomotive or other locomotives.
9. A multi-vehicle conflict resolution device in a rail transport line change area, characterized in that: include: one or more processors and memory; A computer program is stored in the memory, and when the one or more processors execute the program, the device is caused to perform the method as claimed in claims 1-7.
10. A readable storage medium for resolving multi-vehicle conflicts in a rail transit line change area, characterized in that: A computer program is stored thereon, and the computer program can be executed by the one or more processors to enable the processors to perform the method as claimed in claims 1-7.