Train operation control method and system based on millimeter wave radar

Abstract

The invention provides a train operation control method and system based on millimeter wave radar, and the method comprises the steps: obtaining a plurality of target positioning pulse signals, each target positioning pulse signal is obtained by adding acquisition timestamp information to an acquired spread spectrum Doppler pulse wave by a millimeter wave base station corresponding to a target train driving area; the spread spectrum Doppler pulse wave is sent by a vehicle-mounted positioning radar arranged on the target train, and the millimeter wave base station is arranged in a track area where the target train runs; calculating a signal time difference of spread spectrum Doppler pulse waves received by two adjacent millimeter wave base stations according to timestamp information in the plurality of target positioning pulse signals; according to the multiple signal time differences, position information of the target train is obtained through calculation, and operation positioning is conducted on the target train according to the position information. According to the invention, high-precision positioning of the target train is realized, and the positioning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a train operation control method and system based on millimeter wave radar. Background Art

[0002] Train positioning technology plays a vital role in the Communication Based Train Control System (CBTC) of urban rail transit. It is the basis for achieving train interval protection and train speed protection.

[0003] At present, the on-board Automatic Train Protection (ATP) system in the train control system mainly relies on speed sensors and transponders for discontinuous positioning. Although the positioning technology in the existing train control system can meet the operation requirements in most cases, in some special cases, such as loss of positioning or train degradation, the positioning efficiency and accuracy are low.

[0004] Therefore, there is an urgent need for a train operation control method and system based on millimeter-wave radar to solve the above problems. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a train operation control method and system based on millimeter wave radar.

[0006] The present invention provides a train operation control method based on millimeter wave radar, comprising: Acquire multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the spread spectrum Doppler pulse wave collected by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train is running; Calculate the signal time difference of two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave according to the timestamp information in the multiple target positioning pulse signals; The position information of the target train is calculated based on the multiple signal time differences, so as to locate the target train according to the position information.

[0007] According to a train operation control method based on millimeter wave radar provided by the present invention, after calculating the position information of the target train according to the multiple signal time differences, the method further includes: Sending the location information of the target train to the millimeter wave base station; Acquire the confirmation information forwarded by the millimeter wave base station, and based on the confirmation information, perform operation positioning of the target train according to the return distance between the millimeter wave base station and the target train and the position information, wherein the confirmation information is generated after the millimeter wave base station sends the position information to the target train and the target train receives and confirms it.

[0008] According to a train operation control method based on millimeter wave radar provided by the present invention, the sending of the position information of the target train to the millimeter wave base station comprises: Acquire the signal strength between each of the millimeter wave base stations and the target train, and use the millimeter wave base station with the strongest signal strength as the target millimeter wave base station; Sending the location information of the target train to the target millimeter wave base station; The obtaining the confirmation information forwarded by the millimeter wave base station includes: Obtain the confirmation information forwarded by the target millimeter wave base station.

[0009] According to a train operation control method based on millimeter wave radar provided by the present invention, the method further includes: When the target train enters the main line, if it is determined that the target train runs to the switch track and the dispatching centralized control system is in normal working mode, the train is initially positioned based on the positioning pulse information sent by the target train to the corresponding millimeter wave base station and the positioning information generated by the ground transponder.

[0010] According to a train operation control method based on millimeter wave radar provided by the present invention, the method further includes: If it is determined that the target train runs to the switching track and the onboard controller fails, the train is initially positioned according to the positioning pulse information sent by the target train to the corresponding millimeter wave base station, and the train mode degradation information is obtained; The train mode degradation information is sent to a regional controller so that the regional controller marks the target train as a degraded mode train.

[0011] According to a train operation control method based on millimeter wave radar provided by the present invention, before acquiring multiple target positioning pulse signals, the method further includes: Performing signal preprocessing on the spread spectrum Doppler pulse wave to obtain a spread spectrum Doppler pulse wave after signal preprocessing; The step of acquiring multiple target positioning pulse signals comprises: The target positioning pulse signal is obtained according to the spread spectrum Doppler pulse wave after the signal preprocessing and the corresponding acquisition timestamp information.

[0012] The present invention also provides a train operation control system based on millimeter wave radar, comprising: A signal receiving module, used for acquiring multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the spread spectrum Doppler pulse wave collected by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train runs; A processing module, configured to calculate a signal time difference between two adjacent millimeter wave base stations receiving a spread spectrum Doppler pulse wave according to timestamp information in the multiple target positioning pulse signals; The positioning module is used to calculate the position information of the target train according to the multiple signal time differences, so as to perform operation positioning of the target train according to the position information.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a train operation control method based on millimeter-wave radar as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the train operation control method based on millimeter-wave radar as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned train operation control methods based on millimeter-wave radar.

[0016] The millimeter-wave radar-based train operation control method and system provided by the present invention can achieve high-precision positioning of the target train by using spread spectrum Doppler pulse waves and multiple millimeter-wave base stations to receive signals and add timestamp information, while also improving positioning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a flow chart of a train operation control method based on millimeter wave radar provided by the present invention; Figure 2 A schematic diagram of the overall operation control process based on millimeter wave radar positioning provided by the present invention; Figure 3 A schematic diagram of the overall flow of the train movement authorization control provided by the present invention; Figure 4 A schematic diagram of the structure of a train operation control system based on millimeter wave radar provided by the present invention; Figure 5 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the current train control system, the onboard ATP uses speed sensors and transponders (BTM) to calibrate the train in a discontinuous positioning manner. When the train loses its positioning information, in order to re-establish accurate positioning, it is necessary to read the data of at least two transponders. This means that after losing the train positioning, the train needs to travel to the next transponder position and restore the positioning function only after reading the data of the two transponders. This process may lead to low efficiency of fault recovery, which in turn affects the operating efficiency and safety of the train.

[0021] In the degraded mode, the system usually relies on axle counters to determine the position of the train. The axle counter detects the number of axles passing on the track and provides the interlocking system with the train's position information in the form of axle counting sections. However, the positioning accuracy of this method is relatively low, especially when the train is running in degraded mode. Once a train enters the degraded mode, the train behind it may also need to enter the degraded mode or be forced to increase the interval with the front train to ensure safe operation. This chain reaction will not only affect the train's operating efficiency, but may also expand the scope of the fault and increase the difficulty of reorganizing the train operation.

[0022] Figure 1 A flow chart of a train operation control method based on millimeter wave radar provided by the present invention is shown in FIG. Figure 1 As shown, the present invention provides a train operation control method based on millimeter wave radar, comprising: Step 101, obtain multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding collection timestamp information to the collected spread spectrum Doppler pulse wave by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train is running.

[0023] In the present invention, the target train is equipped with a vehicle-mounted positioning radar, which can emit a spread spectrum Doppler pulse wave. The target train in the present invention can be a subway. The execution subject of the present invention is described by a radar host server that receives the target positioning pulse signal. The millimeter wave base station is set in the track area where the target train is running (such as the side wall of the subway tunnel), which is used to receive the spread spectrum Doppler pulse wave from the vehicle-mounted positioning radar and add the acquisition timestamp information.

[0024] After the spread spectrum Doppler pulse wave is sent out by the vehicle-mounted positioning radar, it can carry the speed information of the target train during the propagation process due to the Doppler effect; at the same time, the spread spectrum technology can increase the bandwidth of the signal, improve the anti-interference ability and positioning accuracy of the system. After the millimeter wave base station receives the spread spectrum Doppler pulse wave, it restores the original Doppler pulse wave and immediately adds the acquisition timestamp information to these signals. The timestamp information records the specific time when the signal arrives at the base station, which is the key to the subsequent calculation of the signal time difference and train position information.

[0025] Step 102: Calculate the signal time difference between two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave based on the timestamp information in the multiple target positioning pulse signals.

[0026] In the present invention, the timestamp information of two adjacent base stations is compared, and the difference between them is calculated. This time difference is the time difference between the spread spectrum Doppler pulse wave sent from the target train and arriving at the two base stations. The signal time difference is one of the key parameters for determining the position of the target train. Since the propagation speed of the spread spectrum Doppler pulse wave in the air is known, the distance difference between the target train and the two base stations can be estimated by measuring the signal time difference. This distance difference combined with other information can be used to calculate the precise position of the target train.

[0027] Specifically, in one embodiment, two adjacent base stations A and B are used for illustration. The two base stations are located at similar positions on the target train's travel path. The corresponding timestamp information is extracted from the target positioning pulse signals received by them, and is recorded as t A and t B , signal time difference Δ t It can be calculated by the following formula: Δ t = | t B ﹣ t A |; in, t B It is the timestamp when base station B receives the spread spectrum Doppler pulse wave. t A It is the timestamp when the same pulse wave is received by base station A. Preferably, in one embodiment, since there may be slight differences between the clocks of different base stations, time synchronization is required, which can be achieved by using a global positioning system (GPS) or other high-precision time synchronization technology. After time synchronization, the timestamps of each base station can be considered to be in the same reference system, so as to more accurately calculate the signal time difference.

[0028] Step 103, calculating the position information of the target train according to the multiple signal time differences, so as to locate the target train according to the position information.

[0029] In the present invention, when multiple millimeter wave base stations are used to receive the spread spectrum Doppler pulse wave emitted by the on-board positioning radar on the target train, each base station will record the timestamp of the signal arrival. Due to the different distances between the target train and different base stations, the time when the signal arrives at each base station will also be different. This time difference is called the signal time difference. When the propagation speed of the signal between two different locations is known (for radio waves, this is usually close to the speed of light), and the time difference between the signal arriving at the two locations can be measured, the relative distance difference between the signal source (i.e., the target train) and the two locations can be calculated. Once the position of the target train is estimated, it can be used for operation positioning, which refers to continuously monitoring the position of the target train on the track in order to perform tasks such as train scheduling, monitoring and safety management. By updating the position information of the target train in real time, it can be ensured that the train always stays on the correct track during driving and can reach the destination according to the scheduled time and route.

[0030] In one embodiment, it is assumed that there are three base stations A, B and C, and their positions are known, for example, base station A is at the origin of the coordinate system, base station B is at (1, 0), and base station C is at another known position. When the time difference Δ between the signal sent by the target train and the arrival of the signal at base stations A and B is measured, t AB , and the time difference between arrival at base stations B and C Δ t BC .

[0031] Through these two time differences, the distance difference between the target train and base stations A, B and C can be calculated. Using these distance differences and the geometric relationship between the base stations, one or more equations can be established. By solving these equations (using the relevant algorithm engine), the position of the target train can be estimated (for example, through two-dimensional or three-dimensional coordinates).

[0032] The train operation control method based on millimeter wave radar provided by the present invention can achieve high-precision positioning of the target train by using spread spectrum Doppler pulse waves and multiple millimeter wave base stations to receive signals and add timestamp information, while also improving positioning efficiency.

[0033] On the basis of the above embodiment, after calculating the position information of the target train according to the multiple signal time differences, the method further includes: Sending the location information of the target train to the millimeter wave base station; Acquire the confirmation information forwarded by the millimeter wave base station, and based on the confirmation information, perform operation positioning of the target train according to the return distance between the millimeter wave base station and the target train and the position information, wherein the confirmation information is generated after the millimeter wave base station sends the position information to the target train and the target train receives and confirms it.

[0034] In the present invention, after measuring the signal time difference through multiple millimeter wave base stations and calculating the location information of the target train, the location information will first be sent to the corresponding millimeter wave base station. After receiving the location information of the target train, the millimeter wave base station will forward it back to the target train. After receiving this location information, the target train will perform a confirmation operation, that is, verify whether the location information accurately reflects its current actual location. Once the target train confirms that the location information is correct, it will generate a confirmation message ACK (which can be confirmed by a simple pulse waveform) and forward it through the millimeter wave base station. At the same time, the millimeter wave base station will also record or measure the return distance between the target train and the base station (that is, the time difference between the signal sent from the base station to the target train and then returned to the base station multiplied by the speed of light). Combined with this return distance and the previously calculated location information, the target train can be more accurately positioned.

[0035] Based on the above embodiment, the sending the location information of the target train to the millimeter wave base station includes: Acquire the signal strength between each of the millimeter wave base stations and the target train, and use the millimeter wave base station with the strongest signal strength as the target millimeter wave base station; Sending the location information of the target train to the target millimeter wave base station; The obtaining the confirmation information forwarded by the millimeter wave base station includes: Obtain the confirmation information forwarded by the target millimeter wave base station.

[0036] In the present invention, the signal strength between each millimeter wave base station and the target train is measured to determine the quality and stability of the communication link between the base station and the train. Among these base stations, the millimeter wave base station with the strongest signal strength is selected as the target millimeter wave base station to ensure the reliability of subsequent communications and the stability of data transmission. The position information of the target train calculated previously is then sent to the base station. Since the signal strength between the target millimeter wave base station and the train is the strongest, sending the position information to the base station is more likely to ensure accurate and timely transmission of information.

[0037] Figure 2 The overall flow chart of the operation control based on millimeter wave radar positioning provided by the present invention can be referred to Figure 2 As shown, first, the vehicle-mounted positioning radar sends out a spread spectrum Doppler pulse wave, and the trackside positioning base station (i.e., millimeter wave base station) respectively solves the received Doppler pulse wave. After confirming that the correct waveform is received, it adds a timestamp and uploads it to the radar host server; further, the radar host server calculates the signal time difference of the pulse wave received between adjacent base stations through the algorithm engine, and calculates the distance of the transmitting source through the time difference; then, the radar host server calculates the base station with the strongest signal sending the distance information, and uses the base station to send the distance information to the vehicle-mounted radar; after receiving it, the vehicle-mounted radar replies ACK (a simple pulse waveform confirmation) to complete a distance measurement; finally, the radar host server marks the real-time position of the target train according to the vehicle-mounted return distance and the base station distance position determined in the early stage.

[0038] Based on the above embodiment, the method further includes: When the target train enters the main line, if it is determined that the target train runs to the switch track and the dispatching centralized control system is in normal working mode, the train is initially positioned based on the positioning pulse information sent by the target train to the corresponding millimeter wave base station and the positioning information generated by the ground transponder.

[0039] In the present invention, when a train enters the system, it is necessary to ensure that the train is correctly identified and registered by the system for subsequent scheduling and control. If the train is not correctly identified during initialization, it may cause scheduling confusion or safety hazards.

[0040] When the target train enters the main line (i.e., the main line) from the auxiliary line or the siding, a series of position confirmation and initialization operations are required to ensure that the train can run safely and accurately on the main line. During the operation of the train, it is first necessary to determine whether the train has run to the switch track. The Centralized Traffic Control (CTC) is an important system in the railway system for unified dispatching and commanding train operations. During the initial positioning of the train, it is necessary to ensure that the CTC system is in normal working mode so that it can receive and process positioning information from the train and ground equipment.

[0041] When the target train runs to the conversion track, its on-board equipment will send positioning pulse information to the corresponding millimeter wave base station. These pulse information contains key information such as the train's identification code and timestamp, which is used to identify the train's identity and location. After the millimeter wave base station receives the positioning pulse information, it is used for subsequent positioning processing. At the same time, the transponder will wirelessly communicate with the receiving equipment on the train to transmit the train's positioning information. This positioning information usually includes the location identification of the transponder, the time the train passes, etc., to assist the train in precise positioning. After receiving the positioning pulse information from the millimeter wave base station and the positioning information from the ground transponder, information fusion and processing are performed. By comparing and analyzing these two types of information, the precise position of the train can be determined, and the initial positioning of the train can be performed accordingly. After the initial positioning is completed, the train status is updated to "positioned", and subsequent train operation management and control are performed accordingly.

[0042] Based on the above embodiment, the method further includes: If it is determined that the target train runs to the switching track and the onboard controller fails, the train is initially positioned according to the positioning pulse information sent by the target train to the corresponding millimeter wave base station, and the train mode degradation information is obtained; The train mode degradation information is sent to a regional controller so that the regional controller marks the target train as a degraded mode train.

[0043] In the present invention, if the onboard controller (such as ATP controller) fails, it will not be able to continue to perform normal train control functions. At this time, it is necessary to take downgrade measures to ensure that the train can maintain safe operation to a certain extent.

[0044] When it is determined that the target train is running to the conversion track and the on-board controller fails, the train will still try to locate it through other means (such as millimeter wave base stations). At this time, the train will send positioning pulse information to the corresponding millimeter wave base station, which contains key information such as the train's identification code and timestamp. After receiving this information, the millimeter wave base station will forward it to the radar host server, thereby transmitting the downgraded train positioning information to the control system or zone controller (ZoneController, referred to as ZC). After receiving the train mode degradation information, the ZC will store and process it, and according to the content of the degradation information, the ZC will mark the target train as a degraded mode train, which means that the train will be restricted and managed by the degraded mode during the subsequent operation. Degraded mode usually includes speed limit, restriction on the use of certain functions, etc. These measures are designed to ensure that the train can still maintain a certain degree of safety and controllability in a faulty state.

[0045] Figure 3 This is a schematic diagram of the overall flow of the train movement authorization control provided by the present invention. For details, please refer to Figure 3 As shown, in the present invention, the on-board positioning comes from two aspects: the positioning of the transponder, and the continuous positioning realized by the millimeter-wave radar. For the platform area, the transponder is adopted, and the positioning realizes precise parking. In the train driving section, the millimeter-wave continuous positioning is adopted, and the driving is fixedly retained. When the millimeter-wave positioning system fails, the section also uses the transponder positioning data. In the present invention, the radar host server synchronizes the downgraded vehicle position information to the ZC only when the on-board system fails. The ZC manages and calculates the mobile authorization according to the position reported by the radar host; when the CTC is in normal operation, the ZC manages and calculates the mobile authorization according to the train position reported by the on-board VOBC (including millimeter-wave positioning and transponder positioning). The present invention adopts the on-board ATP continuous positioning method to realize the rapid recovery of the train in situ after the downgrade, and replaces the transponder in the section and other areas with lower positioning accuracy requirements; at the same time, the millimeter-wave radar is used to manage the position of the downgraded train, thereby reducing the impact of the downgraded train on other trains on the line and improving the efficiency of system fault recovery.

[0046] On the basis of the above embodiment, before acquiring a plurality of target positioning pulse signals, the method further includes: Performing signal preprocessing on the spread spectrum Doppler pulse wave to obtain a spread spectrum Doppler pulse wave after signal preprocessing; The step of acquiring multiple target positioning pulse signals comprises: The target positioning pulse signal is obtained according to the spread spectrum Doppler pulse wave after the signal preprocessing and the corresponding acquisition timestamp information.

[0047] In the present invention, the spread spectrum Doppler pulse wave is subjected to signal preprocessing, such as filtering processing, amplification processing, etc., so as to improve the signal-to-noise ratio of the signal, remove noise and interference, and achieve more accurate extraction of target information. It should be noted that in the present invention, the preprocessing process can be performed on the radar host server, or each millimeter wave base station can preprocess the pulse wave received by itself before sending it to the radar host server.

[0048] The millimeter wave radar-based train operation control system provided by the present invention is described below. The millimeter wave radar-based train operation control system described below and the millimeter wave radar-based train operation control method described above can be referenced to each other.

[0049] Figure 4 The structure diagram of the train operation control system based on millimeter wave radar provided by the present invention is as follows: Figure 4 As shown, the present invention provides a train operation control system based on millimeter wave radar, including a signal receiving module 401, a processing module 402 and a positioning module 403, wherein the signal receiving module 401 is used to obtain multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the collected spread spectrum Doppler pulse wave by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train is running; the processing module 402 is used to calculate the signal time difference between two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave according to the timestamp information in the multiple target positioning pulse signals; the positioning module 403 is used to calculate the position information of the target train according to the multiple signal time differences, so as to perform operation positioning of the target train according to the position information.

[0050] The millimeter-wave radar-based train operation control system provided by the present invention can achieve high-precision positioning of the target train by using spread spectrum Doppler pulse waves and multiple millimeter-wave base stations to receive signals and add timestamp information, while also improving positioning efficiency.

[0051] The system provided by the present invention is used to execute the above-mentioned method embodiments. Please refer to the above-mentioned embodiments for the specific processes and detailed contents, which will not be repeated here.

[0052] Figure 5 A schematic diagram of the structure of an electronic device provided by the present invention, such as Figure 5As shown, the electronic device may include: a processor (Processor) 501, a communication interface (Communications Interface) 502, a memory (Memory) 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 complete mutual communication through the communication bus 504. The processor 501 may call the logic instructions in the memory 503 to execute the train operation control method based on the millimeter wave radar, the method comprising: obtaining multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the spread spectrum Doppler pulse wave collected by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the vehicle-mounted positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train is running; according to the timestamp information in the multiple target positioning pulse signals, the signal time difference between the two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave is calculated; according to the multiple signal time differences, the position information of the target train is calculated to perform operation positioning of the target train according to the position information.

[0053] In addition, the logic instructions in the above-mentioned memory 503 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0054] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the train operation control method based on millimeter wave radar provided by the above-mentioned methods, and the method includes: obtaining multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the collected spread spectrum Doppler pulse wave by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by an on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train is running; according to the timestamp information in the multiple target positioning pulse signals, the signal time difference between two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave is calculated; according to the multiple signal time differences, the position information of the target train is calculated to perform operation positioning of the target train according to the position information.

[0055] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the train operation control method based on millimeter wave radar provided in the above-mentioned embodiments, the method comprising: obtaining multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the collected spread spectrum Doppler pulse wave by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by an on-board positioning radar arranged on the target train, and the millimeter wave base station is arranged in the track area where the target train is running; according to the timestamp information in the multiple target positioning pulse signals, calculating the signal time difference between two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave; according to the multiple signal time differences, calculating the position information of the target train, so as to perform operation positioning of the target train according to the position information.

[0056] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0057] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train operation control method based on millimeter wave radar, characterized in that: include: Acquire multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the spread spectrum Doppler pulse wave collected by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train is running; Calculate the signal time difference of two adjacent millimeter wave base stations receiving the spread spectrum Doppler pulse wave according to the timestamp information in the multiple target positioning pulse signals; The position information of the target train is calculated based on the multiple signal time differences, so as to locate the target train according to the position information.

2. The train operation control method based on millimeter wave radar according to claim 1 is characterized in that: After calculating the position information of the target train according to the plurality of signal time differences, the method further includes: Sending the location information of the target train to the millimeter wave base station; Acquire the confirmation information forwarded by the millimeter wave base station, and based on the confirmation information, perform operation positioning of the target train according to the return distance between the millimeter wave base station and the target train and the position information, wherein the confirmation information is generated after the millimeter wave base station sends the position information to the target train and the target train receives and confirms it.

3. The train operation control method based on millimeter wave radar according to claim 2 is characterized in that: The sending the location information of the target train to the millimeter wave base station includes: Acquire the signal strength between each of the millimeter wave base stations and the target train, and use the millimeter wave base station with the strongest signal strength as the target millimeter wave base station; Sending the location information of the target train to the target millimeter wave base station; The obtaining the confirmation information forwarded by the millimeter wave base station includes: Obtain the confirmation information forwarded by the target millimeter wave base station.

4. The train operation control method based on millimeter wave radar according to claim 1, characterized in that: The method further comprises: When the target train enters the main line, if it is determined that the target train runs to the switch track and the dispatching centralized control system is in normal working mode, the train is initially positioned based on the positioning pulse information sent by the target train to the corresponding millimeter wave base station and the positioning information generated by the ground transponder.

5. The train operation control method based on millimeter wave radar according to claim 4 is characterized in that: The method further comprises: If it is determined that the target train runs to the switching track and the onboard controller fails, the train is initially positioned according to the positioning pulse information sent by the target train to the corresponding millimeter wave base station, and the train mode degradation information is obtained; The train mode degradation information is sent to a regional controller so that the regional controller marks the target train as a degraded mode train.

6. The train operation control method based on millimeter wave radar according to any one of claims 1 to 5, characterized in that: Before acquiring a plurality of target positioning pulse signals, the method further includes: Performing signal preprocessing on the spread spectrum Doppler pulse wave to obtain a spread spectrum Doppler pulse wave after signal preprocessing; The step of acquiring multiple target positioning pulse signals comprises: The target positioning pulse signal is obtained according to the spread spectrum Doppler pulse wave after the signal preprocessing and the corresponding acquisition timestamp information.

7. A train operation control system based on millimeter wave radar, characterized in that: include: A signal receiving module, used for acquiring multiple target positioning pulse signals, wherein each of the target positioning pulse signals is obtained by adding acquisition timestamp information to the spread spectrum Doppler pulse wave collected by the millimeter wave base station corresponding to the target train running area; the spread spectrum Doppler pulse wave is emitted by the on-board positioning radar set on the target train, and the millimeter wave base station is set in the track area where the target train runs; A processing module, configured to calculate a signal time difference between two adjacent millimeter wave base stations receiving a spread spectrum Doppler pulse wave according to timestamp information in the multiple target positioning pulse signals; The positioning module is used to calculate the position information of the target train according to the multiple signal time differences, so as to perform operation positioning of the target train according to the position information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the train operation control method based on millimeter wave radar as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the train operation control method based on millimeter wave radar as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the train operation control method based on millimeter wave radar as described in any one of claims 1 to 6 is implemented.

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