Virtual marshalling train door opening and closing control method, system and equipment and medium

Abstract

The invention provides a virtual marshalling train door opening and closing control method, system and equipment and a medium, and the method comprises the steps: in a static marshalling establishment process, after a leading train arrives at a platform, determining the distance from a following train needing to establish marshalling with the leading train to a target position of the platform according to vehicle-train communication information; when the distance is larger than the predicted distance, the vehicle-mounted system of the leading vehicle sends a control command to a vehicle door control system, the leading vehicle opens a door, the leading vehicle waits for the following vehicle to reach the target position of the platform to form a marshalling train, and vehicle doors are synchronously closed according to the closing time of vehicle doors of the following vehicle; and when the distance is not larger than the preset distance, the following train and the leading train form a marshalling train after the following train arrives at the target position of the platform, the leading train vehicle-mounted system sends a control command to the train door control system, and the following train and the leading train synchronously execute door opening and door closing. The problem that no reasonable control strategy for door opening and closing of the marshalling train exists in the prior art is solved, and the riding experience of passengers is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a method, system, device and medium for controlling the opening and closing doors of a virtual marshaled train. Background Art

[0002] In recent years, rail transit has developed rapidly, the scale of the line network has continued to expand, and operational efficiency has been further improved. The next generation train control system has proposed the concept of virtual coupling system, which has become a research hotspot in the rail transit field.

[0003] The trains adopt a group marshaling collaborative control strategy, establish a virtual marshaling through wireless communication to form a whole "virtual train marshaling", and realize the simultaneous departure, cruising operation and station entry of multiple marshaling trains, thereby achieving the purpose of improving operational efficiency, reducing operating costs and improving service quality. In the multi-marshaling operation mode, the dispatching center can flexibly adjust the marshaling plan, trains can join or leave the marshaling midway, and the number of trains in the marshaling will also change. This requires that when the train group being marshaled or unmarshaled is operating on the platform, it is necessary not only to consider the synchronous opening and closing of the doors and platform screen doors. However, the existing technology does not consider the control scheme for the synchronous opening and closing of the doors of the train group being marshaled or unmarshaled. If the existing mechanical marshaling train is used to arrive at the platform for synchronous door opening in any scenario, the following unreasonable problems will occur:

[0004] 1. When two trains are set up in a static marshaling formation, the time difference between stops is quite large. It is unreasonable for the leading train to wait for the following train to enter the station and then open its doors simultaneously.

[0005] 2. When two trains are dynamically marshaled, the size of the stop time deviation is uncertain. When the stop time deviation of the two trains is small, synchronous door opening and closing is reasonable; however, if the stop time deviation is large, synchronous door opening and closing is also unreasonable.

[0006] In view of this, there is an urgent need to provide a reasonable door opening and closing control method that takes into account the train formation operation conditions so as to minimize the impact of the platform operations of the two trains on passengers. Summary of the Invention

[0007] In order to overcome the problems existing in the related art, the present disclosure provides a virtual marshaling train collaborative control method, system, equipment and medium to solve the technical problem of unreasonable virtual marshaling door opening and closing control in the related art.

[0008] One or more embodiments of this specification provide a method for controlling the opening and closing doors of a virtual marshaled train, comprising the steps of:

[0009] During the static marshaling process, when the lead car arrives at the platform, the distance to the target platform position of the following car to be formed with it is determined based on the car communication information; and

[0010] When the distance is greater than the expected distance, the on-board system of the leading car sends a control command to the door control system, the leading car opens the door, and the leading car waits for the following car to reach the target position on the platform to form a train formation, and closes the door synchronously with the door closing time of the following car; when the distance is not greater than the expected distance, the leading car waits for the following car to reach the target position on the platform to form a train formation, the on-board system of the leading car sends a control command to the door control system, and the following car opens and closes the door synchronously with the leading car.

[0011] Furthermore, the method also includes controlling the door opening and closing of the virtual marshaling train during the static unmarshaling process, which specifically includes the following steps:

[0012] During the static unmarshaling process of the virtual marshaling train, after the marshaling train arrives at the station, the marshaling vehicle system sends a control command to the marshaling vehicle door control system to execute synchronous door opening, and then the virtual marshaling train is unmarshaled, and the two trains return to the single vehicle state; and

[0013] When the single vehicle parking time is reached, the leading vehicle sends a control command to its door control system to close the door and drive away. After the preset parking time, the following vehicle sends a control command to the door control system to close the door and drive away.

[0014] Furthermore, the estimated distance and the preset stay time are preset values.

[0015] Furthermore, the estimated distance is obtained by the following steps:

[0016] Determine the arrival time deviation t1 of the two trains to meet the requirement of synchronous door opening when the train formation is established according to the operational requirements;

[0017] The distance N corresponding to the time deviation t1 is calculated based on the braking rate a1 used for platform parking, thereby obtaining the expected distance, where N = 0.5*a1*t1*t1.

[0018] Furthermore, the preset dwell time is obtained by the following steps:

[0019] Obtain the system parameters of the marshaling train, including the minimum EBI threshold value V0 for ATO startup, the train platform parking startup acceleration T0, the minimum tracking distance D0 for non-marshaling trains, the train output emergency braking delay Delay0, the train emergency braking establishment completion delay Delay1, the maximum traction acceleration Acc1 at zero speed of the train, and the emergency parking braking rate Agebr;

[0020] Calculate the stopping distance D1 corresponding to the EBI threshold V0 of the following vehicle, as follows:

[0021] D1=V0*Delay0+0.5*Acc1*Delay0*Delay0+(V0+Acc1*Delay0)*Delay1+(V0+Acc1*Delay0)*(V0+Acc1*Delay0) / 2 / Agebr;

[0022] Calculate the distance D2 traveled by the leading vehicle when the following vehicle's EBI reaches the starting speed, i.e., D2 = D1 + D0;

[0023] Calculate the time T required for the leading vehicle to travel the distance D2, and then obtain the preset dwell time, where

[0024]

[0025] One or more embodiments of this specification provide a virtual train door opening and closing control system, including:

[0026] The distance determination module is used to determine the distance between the following vehicles that need to form a group with the leading vehicle and the target position on the platform according to the vehicle communication information after the leading vehicle arrives at the platform during the static group establishment process;

[0027] A judgment module is used to compare the distance with the expected distance. If the distance is greater than the expected distance, the first execution module is triggered to perform an action. If the distance is not greater than the expected distance, the second execution module is triggered to perform an action.

[0028] The first execution module is configured to execute a control command sent from the onboard system of the lead car to the door control system, so that the lead car opens the door, waits for the following car to arrive at the target position on the platform to form a train formation, and closes the door synchronously with the door closing time of the following car; and

[0029] The second execution module is used to wait for the following car to arrive at the target position on the platform and then form a train with the leading car. The onboard system of the leading car sends a control command to the door control system, and the following car synchronizes with the leading car to open and close the door.

[0030] Furthermore, it also includes:

[0031] The third execution module is used to, during the static unmarshalling process, after the marshalling train arrives at the station, send a control command from the marshalling vehicle onboard system to the marshalling vehicle door control system to execute synchronous door opening, and then unmarshal the virtual marshalling train, and the two trains return to a single vehicle state; and

[0032] The fourth execution module is used to, based on the execution result of the third execution module, send a control command to the door control system of the leading vehicle to close the door and drive away when the single vehicle parking time is reached, and send a control command to the door control system of the following vehicle to close the door and drive away after the preset parking time.

[0033] Furthermore, the estimated distance and the preset stay time are preset values.

[0034] One or more embodiments of the present specification provide a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the virtual train door opening and closing control method as described in any one of the above items when executing the computer program.

[0035] One or more embodiments of this specification provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for controlling the opening and closing doors of a virtual train is implemented as described in any one of the above items.

[0036] The present invention provides a method, system, device and medium for controlling the opening and closing of doors of a virtual train. The advantages are that, considering that the timing of opening and closing the doors of two trains in a virtual train at a platform during the establishment and operation of the virtual train is different from that of a single train, different processing is required according to the operation conditions of the two trains, and in the static train formation process, the arrival time of the front and rear trains to be formed at the platform is inconsistent, and the leading train needs to wait for the following train to form a train formation for operation. In this case, whether the leading train needs to wait for the following train to arrive and open the door at the same time is determined according to the distance of the following train to the target position of the platform. The door opening and closing strategy is adjusted in consideration of the waiting time of the train passengers. If the distance exceeds the expected distance, the leading train does not need to wait for the following train to open the door synchronously and opens the door first. This solves the problem that there is no reasonable control strategy for the opening and closing of doors of a train formation in the prior art, so as to ensure the riding experience of passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 A flowchart of a method for controlling the opening and closing doors of a virtual marshaled train provided in one or more embodiments of this specification;

[0039] Figure 2 A flow chart of the door opening and closing control of the leading vehicle after static decompilation provided in one or more embodiments of this specification;

[0040] Figure 3 A flow chart of the vehicle door opening and closing control after static decompilation provided in one or more embodiments of this specification;

[0041] Figure 4 A curve diagram showing a change in the stopping distance D1 corresponding to the EBI threshold V0 for starting a following vehicle according to one or more embodiments of this specification;

[0042] Figure 5 A block diagram of a door opening and closing control system for a virtual train provided in one or more embodiments of this specification;

[0043] Figure 6 A block diagram of another virtual train door opening and closing control system provided for one or more embodiments of this specification; and

[0044] Figure 7 A schematic diagram of the structure of a computer device provided in one or more embodiments of this specification. DETAILED DESCRIPTION

[0045] In order to help those skilled in the art better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this invention.

[0046] The present invention will be described in detail below with reference to specific implementation methods and the accompanying drawings.

[0047] Method Example

[0048] According to an embodiment of the present invention, a method for controlling the opening and closing doors of a virtual train is provided. Figure 1 As shown in FIG, a flow chart of a method for controlling the opening and closing doors of a virtual marshaling train provided in this embodiment is provided. The method for controlling the opening and closing doors of a virtual marshaling train according to an embodiment of the present invention includes the following steps:

[0049] Step S11, during the static marshaling process, when the leading vehicle arrives at the platform, the distance from the following vehicle to the target platform position is determined based on the vehicle communication information.

[0050] Step S12, compare the distance with the expected distance. If the distance is greater than the expected distance, go to step S13, otherwise go to step S14.

[0051] Step S13: The leading car opens its doors, waits for the following car to arrive at the target platform position, and then forms a train formation. The leading car also closes its doors synchronously with the door closing time of the following car.

[0052] Step S14, after the following car arrives at the target position on the platform, it forms a train with the leading car. The onboard system of the leading car sends a control command to the door control system, and the following car synchronizes with the leading car to open and close the door.

[0053] The virtual marshaling train door opening and closing control method provided in this embodiment takes into account that the timing of opening and closing the doors of two trains in the virtual marshaling at the platform during the establishment and operation of the virtual marshaling is different from that of a single train, and different processing is required according to the operation conditions of the two trains. In addition, during the static marshaling process of the train, the arrival time of the front and rear trains to be marshaled at the platform is inconsistent. The leading train needs to wait for the following train to form a marshaling train and run. In this case, whether the leading train needs to wait for the following train to arrive and open the door at the same time is determined according to the distance of the following train to the target position of the platform. The door opening and closing strategy is adjusted in consideration of the waiting time of the train passengers. If the distance exceeds the expected distance, the leading train does not need to wait for the following train to open the door synchronously and opens the door first. This solves the problem that there is no reasonable control strategy for opening and closing the doors of marshaling trains in the existing technology to ensure the riding experience of passengers.

[0054] In this embodiment, during the platform door opening and closing planning process during the static marshaling establishment process, the virtual marshaling is operated as a single car before the establishment, and the distance between the two cars is relatively large. When the static marshaling is established at the platform, the deviation in the stop time of the two trains arriving at the establishment location is uncertain (related to the initial distance between the two cars in the single car state), so the leading car is required to adjust the parking and door opening and closing strategies in real time according to the situation of the following car when arriving at the marshaling establishment location.

[0055] In this embodiment, when the leading vehicle arrives at the platform and stops steadily, the distance between the following vehicle and the leading vehicle is determined. If the distance between the following vehicle and the leading vehicle is greater than the expected distance N, it means that the following vehicle will take a long time to arrive at the platform, and it is reasonable for the leading vehicle to open its door first. If the distance between the following vehicle and the leading vehicle is not greater than the expected distance N, it means that the following vehicle has approached the platform, and it is more reasonable for the leading vehicle to wait for the following vehicle to arrive and then open its door synchronously.

[0056] The estimated distance N can be obtained by calculating and analyzing historical operating data, including the following steps:

[0057] Step S111: Determine the arrival time deviation t1 of the two trains to meet the requirement of synchronous door opening when the train formation is established according to the operational requirements, where the time deviation t1 is the waiting time for passengers to get off the train after the train arrives at the station determined according to the survey, or the time allowed for the train to stop at the station under the condition that the corresponding track ensures that all trains can operate normally, minus the preset train stop time for getting on and off.

[0058] Step S112: Acquire the following vehicle operation data, determine the train position at time t1 before the following vehicle arrives at the station, and calculate the distance from the train position to the target position on the platform, thereby obtaining the estimated distance N.

[0059] The estimated distance N can also be calculated by the following method steps, including the steps:

[0060] Step S121, determining the arrival time deviation t1 of the two trains to meet the requirement of synchronous door opening when the train formation is established according to the operation requirements, wherein the time deviation t1 is the same as above.

[0061] Step S122 , obtaining the distance corresponding to time t1 according to the braking rate a1 used for parking at the platform, N=0.5*a1*t1*t1, thereby obtaining the estimated distance N.

[0062] In this embodiment, the entry time deviation of the two trains during the operation of the virtual marshaling train is small, and it is more reasonable to open / close the doors synchronously. After both trains have stopped accurately and steadily, a countdown is performed and the door opening / closing operation is performed.

[0063] In one embodiment, during the operation of the virtual marshaling train, according to the marshaling requirements or when an operation failure occurs, the virtual marshaling train needs to be disassembled. For the static disassembly process, refer to Figure 2 and Figure 3 As shown in FIG. 1 , the door opening and closing control flow charts of the leading vehicle and the following vehicle after static de-marshalling are provided in this embodiment.

[0064] During the static unmarshalling process, the door opening and closing control of the virtual marshalling train includes the following steps:

[0065] Step 21: During the static unmarshaling process of the virtual marshaling train, after the marshaling train arrives at the station, the marshaling vehicle system sends a control command to the marshaling vehicle door control system to execute synchronous door opening, and then the virtual marshaling train is unmarshaled, and the two trains return to the single vehicle state;

[0066] Step 22: When the single vehicle parking time is reached, the leading vehicle sends a control command to its door control system to close the door and drive away. After the preset parking time, the following vehicle sends a control command to the door control system to close the door and drive away.

[0067] This embodiment provides a setting for the strategy of opening and closing the train doors during the train unmarshaling process. The following car closes its doors after the leading car leaves and then after a preset stay time, without the need to close its doors at the same time as the leading car. This solves the problem of the lack of a reasonable control strategy for opening and closing the doors of marshaled trains in the existing technology, thereby ensuring the passengers' riding experience and the train's operating efficiency.

[0068] In this embodiment, during the de-marshalling process, the preset dwell time of the following vehicle can be obtained by analyzing historical operation data or by calculation and analysis, including the following steps:

[0069] Step S221, obtain system parameters, including the minimum EBI (Emergency Brake Intervention Curve) threshold value V0 for ATO (Automatic Train Operation) startup, the train platform stop startup acceleration T0, the minimum tracking distance D0 for non-marshaling trains, the train output emergency braking delay Delay0, the train emergency braking establishment completion delay Delay1, the maximum traction acceleration Acc1 at zero speed of the train, and the emergency stop braking rate Agebr.

[0070] In this embodiment, when ATO is started, the current EBI value will be checked. It will not be started until the EBI exceeds the threshold value (i.e., the minimum emergency brake trigger speed corresponding to ATO startup). The ATO on-board equipment calculates the control speed curve for controlling the operation of the EMU according to the plan and the current position of the EMU, and automatically controls the acceleration, operation, deceleration, parking, door opening, etc. of the EMU instead of the driver. Therefore, the above parameters are calculated and obtained by the ATO on-board equipment.

[0071] Step S222: Calculate the stopping distance D1 corresponding to the EBI threshold V0 of the following vehicle. The calculation principle is as follows: Figure 4 As shown, the calculation is as follows:

[0072] D1=V0*Delay0+0.5*Acc1*Delay0*Delay0+(V0+Acc1*Delay0)*Delay1+(V0+Acc1*Delay0)*(V0+Acc1*Delay0) / 2 / Agebr.

[0073] Step S223 , calculating the distance D2 traveled by the leading vehicle when the following vehicle EBI reaches the starting speed, and D2 = D1 + D0 .

[0074] Step S224: Calculate the time required for the leading vehicle to travel distance D2, which is the preset dwell time.

[0075] According to the preset dwell time T obtained by the above calculation, during the unmarshaling process, the time the following car waits for starting is the single car parking time + the preset dwell time T. For the virtual marshaling train, the entry time deviation of the two trains during operation is small, and synchronous opening / closing of the doors is more reasonable. After both cars have stopped accurately and steadily, a countdown is performed, and the door opening / closing operation is performed.

[0076] System Example

[0077] According to an embodiment of the present invention, a virtual train door opening and closing control system is provided. Figure 5FIG. 1 is a block diagram of a virtual train door opening and closing control system provided in this embodiment. The virtual train door opening and closing control system according to an embodiment of the present invention includes:

[0078] The distance determination module 10 is used to determine the distance between the following vehicles that need to establish a formation with the leading vehicle and the target position of the platform according to vehicle communication information after the leading vehicle arrives at the platform during the static formation establishment process.

[0079] The judgment module 20 is used to compare the distance with the expected distance. If the distance is greater than the expected distance, the first execution module 30 is triggered to perform an action. If the distance is not greater than the expected distance, the second execution module 40 is triggered to perform an action.

[0080] The first execution module 30 is configured to execute a control command sent from the onboard system of the lead car to the door control system, so that the lead car opens the door, waits for the following car to arrive at the target position on the platform to form a train formation, and closes the door synchronously with the door closing time of the following car; and

[0081] The second execution module 40 is used to execute waiting for the following car to arrive at the target position on the platform and then form a train with the leading car. The onboard system of the leading car sends a control command to the door control system, and the following car synchronizes with the leading car to open and close the door.

[0082] The virtual marshaling train door opening and closing control system provided in this embodiment takes into account that the leading and trailing trains to be marshaled arrive at the platform at different times during the static marshaling process of the train, and the leading train needs to wait for the following train to form a marshaling train. The distance determination module 10 and the judgment module 20 determine whether the leading train needs to wait for the following train to arrive and open the door at the same time according to the distance from the following train to the target position of the platform. The door opening and closing strategy is adjusted taking into account the waiting time of the train passengers. If the distance exceeds the expected distance, the leading train does not need to wait for the following train to open the door at the same time. This solves the problem that there is no reasonable control strategy for the opening and closing of marshaling train doors in the existing technology, so as to ensure the passenger riding experience.

[0083] This embodiment further includes an analysis module 50 for obtaining an estimated distance N by calculating and analyzing historical operation data. Specifically, the following steps are performed:

[0084] Step A111: Determine the arrival time deviation t1 of the two trains to meet the requirement of synchronous door opening when the train formation is established according to the operational requirements. The time deviation t1 is the waiting time for passengers to get off the train after the train arrives at the station determined according to the survey, or the time allowed for the train to stop at the station under the condition that all trains can operate normally on the corresponding track minus the preset train stop time for getting on and off.

[0085] Step A112, obtain the following vehicle operation data, determine the train position at time t1 before the following vehicle arrives at the station, and calculate the distance from this position to the target position on the platform, thereby obtaining the estimated distance N.

[0086] In this embodiment, a first calculation module 60 is further included for calculating the estimated distance N. The specific calculation process is as follows:

[0087] According to operational requirements, the arrival time deviation t1 of the two trains that meet the requirement of synchronous door opening is determined when the train formation is established. The distance corresponding to time t1 is obtained based on the braking rate a1 used for platform parking, N = 0.5*a1*t1*t1, thereby obtaining the expected distance N.

[0088] In this embodiment, reference Figure 6 As shown in FIG. 1 , another block diagram of a door opening and closing control system for a virtual marshaling train provided in this embodiment is a schematic diagram of a door control module during static unmarshaling. During the operation of a virtual marshaling train, the virtual marshaling train needs to be unmarshaled according to marshaling requirements or when an operating fault occurs. Therefore, the system is further provided with:

[0089] The third execution module 70 is used to, during the static unmarshalling process, after the marshalling train arrives at the station, send a control command from the marshalling vehicle onboard system to the marshalling vehicle door control system to execute synchronous door opening, and then unmarshal the virtual marshalling train, and the two trains return to the single-vehicle state;

[0090] The fourth execution module 80 is used to send a control command to the door control system of the leading vehicle to close the door and drive away when the bicycle parking time is reached based on the execution result of the third execution module 70. The following vehicle also sends a control command to the door control system to close the door and drive away after the preset parking time.

[0091] This embodiment provides a setting for the strategy of opening and closing the train doors during the train unmarshaling process. The following car closes its doors after the leading car leaves and then after a preset stay time, without the need to close its doors at the same time as the leading car. This solves the problem of the lack of a reasonable control strategy for opening and closing the doors of marshaled trains in the existing technology, thereby ensuring the passengers' riding experience and the train's operating efficiency.

[0092] In this embodiment, during the de-merging process, the preset dwell time of the following vehicle can be obtained by analyzing historical operation data or by calculation and analysis. Therefore, a second calculation module 90 is provided and configured to perform the following steps to calculate the preset dwell time, including the following steps:

[0093] Step A221, obtain system parameters, including the minimum EBI (Emergency Brake Intervention Curve) threshold value V0 for ATO (Automatic Train Operation) startup, the train platform stop startup acceleration T0, the minimum tracking distance D0 for non-marshaling trains, the train output emergency braking delay Delay0, the train emergency braking establishment completion delay Delay1, the maximum traction acceleration Acc1 at zero speed of the train, and the emergency stop braking rate Agebr.

[0094] In this embodiment, when ATO is started, the current EBI value will be checked. It will not be started until the EBI exceeds the threshold value (i.e., the minimum emergency brake trigger speed corresponding to ATO startup). The ATO on-board equipment calculates the control speed curve for controlling the operation of the EMU according to the plan and the current position of the EMU, and automatically controls the acceleration, operation, deceleration, parking, door opening, etc. of the EMU instead of the driver. Therefore, the above parameters are calculated and obtained by the ATO on-board equipment.

[0095] Step A222: Calculate the stopping distance D1 corresponding to the EBI threshold V0 for the following vehicle, using the following formula:

[0096] D1=V0*Delay0+0.5*Acc1*Delay0*Delay0+(V0+Acc1*Delay0)*Delay1+(V0+Acc1*Delay0)*(V0+Acc1*Delay0) / 2 / Agebr.

[0097] Step A223, calculate the distance D2 traveled by the leading vehicle when the following vehicle EBI reaches the starting speed, and D2 = D1 + D0.

[0098] Step A224, calculate the time required for the leading vehicle to travel distance D2, which is the preset dwell time.

[0099] The embodiment of the present invention is a system embodiment corresponding to the above-mentioned method embodiment. The specific operations of the processing steps of each module can be understood by referring to the description of the method embodiment, and will not be repeated here.

[0100] like Figure 7 As shown, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for controlling the door opening and closing of a virtual marshaled train in the above embodiment is implemented. Alternatively, when the computer program is executed by a processor, the method for controlling the door opening and closing of a virtual marshaled train in the above embodiment is implemented. When the computer program is executed by the processor, the following method steps are implemented:

[0101] Step S11, during the static marshaling process, when the leading vehicle arrives at the platform, the distance from the following vehicle to the target platform position is determined based on the vehicle communication information.

[0102] Step S12, compare the determined distance with the estimated distance. If the distance is greater than the estimated distance, go to step S13, otherwise go to step S14.

[0103] Step S13: The leading car opens its doors, waits for the following car to arrive at the target platform position, and then forms a train formation. The leading car also closes its doors synchronously with the door closing time of the following car.

[0104] Step S14, after the following car arrives at the target position on the platform, it forms a train with the leading car. The onboard system of the leading car sends a control command to the door control system, and the following car synchronizes with the leading car to open and close the door.

[0105] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0106] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiments. The device and system embodiments described above are merely schematic, 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 can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without making any creative efforts.

[0107] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention are common knowledge to those skilled in the art.

Claims

1. A virtual train door opening and closing control method, characterized in that Including steps: During the static marshaling process, when the lead car arrives at the platform, the distance to the target platform position of the following car to be formed with it is determined based on the car communication information; When the distance is greater than the expected distance, the on-board system of the leading car sends a control command to the door control system, the leading car opens the door, and the leading car waits for the following car to reach the target position on the platform to form a train formation, and closes the door synchronously with the door closing time of the following car; when the distance is not greater than the expected distance, the leading car waits for the following car to reach the target position on the platform to form a train formation, the on-board system of the leading car sends a control command to the door control system, and the following car opens and closes the door synchronously with the leading car.

2. The method for controlling the opening and closing doors of a virtual train as claimed in claim 1, wherein: It also includes the door opening and closing control of the virtual marshaling train during the static unmarshaling process, which specifically includes the following steps: During the static unmarshaling process of the virtual marshaling train, after the marshaling train arrives at the station, the marshaling vehicle system sends a control command to the marshaling vehicle door control system to execute synchronous door opening, and then the virtual marshaling train is unmarshaled, and the two trains return to the single vehicle state; and When the single vehicle parking time is reached, the leading vehicle sends a control command to its door control system to close the door and drive away. After the preset parking time, the following vehicle sends a control command to the door control system to close the door and drive away.

3. The method for controlling the opening and closing doors of a virtual train as claimed in claim 2, wherein: The estimated distance and preset stay time are preset values.

4. The method for controlling the opening and closing doors of a virtual train as claimed in claim 1, wherein: The estimated distance is obtained by the following steps: Determine the arrival time deviation t1 of the two trains to meet the requirement of synchronous door opening when the train formation is established according to the operational requirements; The distance N corresponding to the time deviation t1 is calculated based on the braking rate a1 used for platform parking, thereby obtaining the expected distance, where N = 0.5*a1*t1*t1.

5. The method for controlling the opening and closing doors of a virtual train as claimed in claim 2, wherein: The preset dwell time is obtained by the following steps: Obtain the system parameters of the marshaling train, including the minimum EBI threshold value V0 for ATO startup, the train platform parking startup acceleration T0, the minimum tracking distance D0 for non-marshaling trains, the train output emergency braking delay Delay0, the train emergency braking establishment completion delay Delay1, the maximum traction acceleration Acc1 at zero speed of the train, and the emergency parking braking rate Agebr; Calculate the stopping distance D1 corresponding to the following vehicle starting EBI threshold V0, as follows: D1=V0*Delay0+0.5*Acc1*Delay0*Delay0+(V0+Acc1*Delay0)*Delay1+(V0+Acc1*Delay0)*(V0+Acc1*Delay0) / 2 / Agebr; Calculate the distance D2 traveled by the leading vehicle when the following vehicle's EBI reaches the starting speed, i.e., D2 = D1 + D0; Calculate the time T required for the leading vehicle to travel the distance D2, and then obtain the preset dwell time, where 6. A virtual train door opening and closing control system, characterized in that include: The distance determination module is used to determine the distance between the following vehicles that need to form a group with the leading vehicle and the target position on the platform according to the vehicle communication information after the leading vehicle arrives at the platform during the static group establishment process; A judgment module is used to compare the distance with the expected distance. If the distance is greater than the expected distance, the first execution module is triggered to perform an action. If the distance is not greater than the expected distance, the second execution module is triggered to perform an action. The first execution module is used to execute the control command sent by the onboard system of the lead car to the door control system, so that the lead car opens the door, waits for the following car to arrive at the target position on the platform to form a train formation, and closes the door synchronously with the door closing time of the following car; as well as The second execution module is used to wait for the following car to arrive at the target position on the platform and then form a train with the leading car. The onboard system of the leading car sends a control command to the door control system, and the following car synchronizes with the leading car to open and close the door.

7. The virtual train door opening and closing control system according to claim 6, characterized in that: Also includes: The third execution module is used to send a control command from the marshaling vehicle system to the marshaling vehicle door control system to open the doors synchronously after the marshaling train arrives at the station during the static unmarshaling process, and then unmarshall the virtual marshaling train, and restore the two trains to a single vehicle state; as well as The fourth execution module is used to, based on the execution result of the third execution module, send a control command to the door control system of the leading vehicle to close the door and drive away when the single vehicle parking time is reached, and send a control command to the door control system of the following vehicle to close the door and drive away after the preset parking time.

8. The virtual train door opening and closing control system according to claim 7, characterized in that: The estimated distance and preset stay time are preset values.

9. A computer 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 method for controlling the opening and closing doors of a virtual marshaled train according to any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for controlling the opening and closing doors of a virtual marshaled train as claimed in any one of claims 1 to 5 is implemented.

Images