Train control method and device

Abstract

The invention provides a train control method and device.The train control method comprises the steps that under the condition that a target train is in a first manual driving limiting mode, current position information of the target train is determined; obtaining route attribute information corresponding to the target train according to the current position information; under the condition that the current position information and the route attribute information meet train upgrading conditions, it is determined that the target train enters a second limited manual driving mode, and the speed limit of the second limited manual driving mode is larger than the speed limit of the first limited manual driving mode; and controlling the target train to run in a second limited manual driving mode. According to the method, a double-RM control method is realized, and the running speed of the target train can be properly increased in a manual driving mode. The problem of low efficiency caused by speed limiting in a single RM mode is solved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of rail transportation technology, and in particular to a train control method. The present application also relates to a train control device, a computing device, a computer-readable storage medium, and a computer program product. Background Art

[0002] Restricted Manual Mode (RMM) is a driving mode used by subway trains under certain conditions. In this mode, the train is manually driven by the driver, but is monitored and protected by the ATP (Automatic Train Protection System). RM mode is usually used when the onboard signal equipment and trackside communication equipment fail. At this time, the train moves forward at a certain speed limit until a new signal mark is read.

[0003] For urban rail and intercity rail, their rail transit has significant differences in functional positioning, service scope and operation mode compared with subway trains. Urban rail and intercity rail usually have better line conditions, larger station spacing, and need to meet the time requirements of 1 hour for passengers in remote urban areas. Therefore, urban rail and intercity rail usually require faster design speed and travel speed. The current RM mode speed limit is not enough to meet the needs of operation and passenger travel. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a train control method. The present application also relates to a train control device, a computing device, a computer-readable storage medium and a computer program product to solve the above problems existing in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a train control method is provided, comprising: When the target train is in the first restricted manual driving mode, determining current position information of the target train; Acquire route attribute information corresponding to the target train according to the current position information; When the current position information and the route attribute information meet the train upgrade condition, determining that the target train enters a second restricted manual driving mode, wherein the speed limit of the second restricted manual driving mode is greater than the speed limit of the first restricted manual driving mode; The target train is controlled to travel in a second restricted manual driving mode.

[0006] According to a second aspect of an embodiment of the present application, there is provided a train control device, comprising: A first determination module is configured to determine the current position information of the target train when the target train is in a first restricted manual driving mode; An acquisition module is configured to acquire route attribute information corresponding to the target train according to the current position information; A second determination module is configured to determine that the target train enters a second restricted manual driving mode when the current position information and the route attribute information meet a train upgrade condition, wherein a speed limit of the second restricted manual driving mode is greater than a speed limit of the first restricted manual driving mode; The control module is configured to control the target train to travel in a second restricted manual driving mode.

[0007] According to a third aspect of an embodiment of the present application, there is provided a computing device, including: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above-mentioned train control method are implemented.

[0008] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program / instruction, and the computer program / instruction implements the steps of the above-mentioned train control method when executed by a processor.

[0009] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the above-mentioned train control method when executed by a processor.

[0010] The train control method provided in the present application determines the current position information of the target train when the target train is in the first restricted manual driving mode; obtains the route attribute information corresponding to the target train according to the current position information; determines that the target train enters the second restricted manual driving mode when the current position information and the route attribute information meet the train upgrade conditions, wherein the speed limit of the second restricted manual driving mode is greater than the speed limit of the first restricted manual driving mode; and controls the target train to travel in the second restricted manual driving mode. An embodiment of the present application implements a dual RM control method, so that the target train can run with two different speed limit specifications in the RM driving mode according to the actual operating conditions and line conditions. When the road conditions are good, the running speed of the target train can be appropriately increased in the manual driving mode. This breaks the inefficiency caused by the single RM mode speed limit and improves the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a flow chart of a train control method provided by an embodiment of the present application; Figure 2 This is a processing flow chart of a train control method applied to an intercity railway scenario provided by an embodiment of the present application; Figure 3 It is a structural schematic diagram of a train control device provided by an embodiment of the present application; Figure 4 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0012] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0013] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0014] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0015] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards in the relevant regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0016] First, the terms involved in one or more embodiments of the present application are explained.

[0017] RM mode: Restricted Manual Mode, a driving mode used by subway trains under specific conditions. In this mode, the train is manually driven by the driver, but is monitored and protected by the ATP (Automatic Train Protection) system. RM mode is usually used when the on-board signal equipment and trackside communication equipment fail. At this time, the train moves forward at a certain speed limit until a new signal mark is read. The characteristics of RM mode are that the train start, stop, and door opening and closing are all operated by the driver, but the speed of the train is limited to ensure safety.

[0018] CTC-CAM mode: Automatic train protection mode. Manual driving mode under ATP supervision. In this mode, ATP gives speed codes for recommended speed, warning speed and braking speed. The driver only needs to drive the train according to the given speed codes. However, in this mode, ATP is only responsible for ensuring driving safety. Other operations such as door opening and closing, traction braking, etc. are manually operated by the driver.

[0019] CTC-AM mode: Train automatic driving mode. When ATP collects the driver's confirmation that ATO is allowed to start, ATO automatic driving is started and all functions of automatic protection are realized.

[0020] CTC-FAM mode: fully automatic train driving mode. Under the ATP to ensure the safety of train operation, ATO automatically drives and realizes all functions of automatic protection.

[0021] CTC-CAM, CTC-AM and CTC-FAM are three modes of the train automatic driving system. CTC-CAM is the lowest level of automatic driving, and CTC-FAM is the highest level of automatic driving. During the train's operation, if the conditions for mode upgrade or mode downgrade are met, a signal will be issued, and the driver will manually operate the button or key to confirm the upgrade or downgrade.

[0022] For urban rail and intercity rail, their rail transit has significant differences in functional positioning, service scope and operation mode compared with subway trains. Urban rail and intercity rail usually have better line conditions, larger station spacing, and need to meet the time requirements of 1 hour for passengers in remote urban areas. Therefore, urban rail and intercity rail usually require faster design speed and travel speed. The current RM mode speed limit is not enough to meet the needs of operation and passenger travel.

[0023] Based on this, in the present application, a train control method is provided. The present application also relates to a train control device, a computing device, a computer-readable storage medium and a computer program product, which are described in detail one by one in the following embodiments.

[0024] Figure 1 A flow chart of a train control method provided according to an embodiment of the present application is shown, which specifically includes the following steps: Step 102: When the target train is in the first restricted manual driving mode, determine the current position information of the target train.

[0025] The method provided in the embodiment of the present application is applied to the scenario where the train is in RM mode (Restricted Manual Mode) when starting. Therefore, in the method provided in the present application, the target train is in the first restricted manual driving mode. The target train is the train controlled in the embodiment of the present application. The first restricted manual driving mode is RM1 mode, which is the currently conventional restricted manual driving mode.

[0026] In actual applications, if a train system fails in the automatic driving system and needs to be reverted to RM1 mode, or if the train has just started driving and has not yet been upgraded to the automatic driving mode, the target train will operate in RM1 mode. The way to enter RM1 can be to downgrade from the automatic driving mode such as CTC-CAM, CTC-AM, CTC-FAM, or to power on the target train.

[0027] Taking the vehicle starting to enter the RM1 mode as an example for explanation, the driver starts the target train, and the target train enters the first restricted manual driving mode (RM1 mode) by default. In this case, the current position information of the target train is confirmed.

[0028] The current position information can be understood as the current position information of the target train. In practical applications, the current position information of the target train is usually divided into three situations: the main line, the distribution line, and the yard line.

[0029] The main line is the trunk line that runs through all stations, sections, and yards, and is the main channel for train operation. When the target train is on the main line, it means that the target train is in normal operation.

[0030] Wiring is also called auxiliary line, including various wiring and crossing lines, which are generally used for train marshaling operations, train switching and vehicle pick-up and delivery operations.

[0031] The yard line is a line specially set up for train parking, maintenance and preparation, and is generally composed of the yard lead-out line, the yard parking line and the train maintenance line. It is used to meet the needs of trains in different situations such as parking, maintenance and preparation, and provides the necessary conditions for the normal operation and maintenance of trains.

[0032] The current position information in the method provided in the embodiment of the present application can be understood as the line type of the track line where the target train is located, which specifically includes the main line, distribution line and yard line mentioned above.

[0033] Step 104: Obtain route attribute information corresponding to the target train according to the current position information.

[0034] In the field of rail transit, a route can be understood as the path that a train takes from one location to another. When a target train is running on the main line, the route of the target train will be determined, thereby determining which line the target train should take during its travel to avoid problems such as collisions between trains.

[0035] During the operation of the target train, its corresponding route can usually be determined. In practical applications, the route of the target train can be directly determined according to the starting station and the terminal station of the target train, or the route of the target train can be calculated and adjusted in real time as the target train moves. In practical applications, if the route of the target train is not determined, it cannot run normally.

[0036] In the method provided in the embodiment of the present application, the route attribute information can be understood as the attribute information of the route corresponding to the target train. In an optional implementation, the route includes a turnout, and the route attribute information includes the attribute information of the turnout. In a specific implementation provided in the present application, the route attribute information corresponding to the target train is obtained according to the current position information, including: The approach turnout information and the approach speed limit information corresponding to the target train are obtained according to the current position information.

[0037] Based on this, in this embodiment, after determining the current position information of the target train, the route corresponding to the target train is determined based on the current position information, and the route turnout information and route speed limit information of the turnout on the route are obtained.

[0038] In rail transit, a turnout refers to a road connection device that allows vehicles to transfer from one track to another. The turnout is one of the weak links in the track. There are three working states of the turnout, namely, fixed position, reverse position and four-way. Fixed position and reverse position are relative concepts, among which the position where the turnout is usually located is fixed position, and the position where it is not usually located is reverse position. Four-way refers to the state where the turnout is neither in fixed position nor in reverse position. Four-way is an abnormal working state, which is commonly seen in the turnout during the conversion process between fixed position and reverse position.

[0039] After determining the route of the target train, the turnouts on the route can be further determined, thereby determining the route turnout information of each turnout. At the same time, the route speed limit information on the route can also be obtained. The route speed limit information refers to the minimum speed of the train on the line.

[0040] In a specific implementation provided by the present application, the approach turnout information includes turnout locking information and turnout status information; the method further includes: Whether the train upgrade conditions are met is determined based on the current position information, the switch locking information, the switch status information and the route speed limit information.

[0041] In practical applications, the approach turnout information includes turnout locking information and turnout status information. Among them, the turnout locking information refers to whether the approach turnout is in a locked state. When the turnout is in a locked state, the train can run safely. If the turnout is in an unlocked state, there will be safety hazards in the train running.

[0042] The turnout status information is the working status of the above-mentioned turnout. In the method provided in the present application, for the convenience of description, the turnout status information is divided into a normal position state and a non-normal position state, wherein the non-normal position state can be understood as the turnout being in the reverse position or four-open.

[0043] In this embodiment, it is necessary to further determine whether the target train currently meets the train upgrade conditions based on the current position information, turnout locking information, turnout status information and route speed limit information.

[0044] The train upgrade condition can be understood as the condition for whether the train can be upgraded from the first restricted manual driving mode to the second restricted manual driving mode. The speed limit of the first restricted manual driving mode is less than the speed limit of the second restricted manual driving mode.

[0045] Specifically, judging whether the train upgrade condition is met according to the current position information, the turnout locking information, the turnout status information and the approach speed limit information includes: When the current position information is located on the running line, the switch locking information is the approach switch locking, the switch status information is the switch positioning, and the approach speed limit information is greater than or equal to the speed limit threshold of the second restricted manual driving mode, it is determined that the target train meets the train upgrade conditions.

[0046] Train upgrade conditions include the following: 1. The target train is running on the main line. The target train has been positioned on the main line and its actual position information has been determined.

[0047] 2. The route ahead of the target train has been determined, and the switch locking information of the switch on the route ahead is in the locked state.

[0048] 3. The turnout status information corresponding to the turnouts included in the route ahead of the target train is all in the normal state.

[0049] 4. The route speed limit information of the route ahead of the target train is greater than the speed limit threshold of the second restricted manual driving mode.

[0050] The above four train upgrade conditions are the conditions for specifically judging whether the target train can be upgraded to the second restricted manual driving mode. Among them, the current position is located on the running line, which means that the target train is running on the main line. The approach turnout is locked, which means that the turnout locking information of the approach turnout is in a locked state. The turnout status information is turnout positioning, which means that the turnouts on the approach ahead of the target train are all in the correct position. The approach speed limit information is greater than or equal to the speed limit threshold of the second restricted manual driving mode, which means that the approach speed limit information of the approach ahead of the target train is greater than the speed limit threshold of the second restricted manual driving mode.

[0051] The purpose of the first item of the train upgrade conditions is to determine that the target train is operating normally. Trains on the wiring or yard lines are not within the scope of discussion of the method provided in this application.

[0052] The purpose of the 2nd to 4th items in the train upgrade conditions is to ensure the safe operation of the target train. Only when the turnouts are locked can the train pass safely without the problem of turnout loosening. When the turnout status information is in the positive position, it can withstand the faster speed of the train. The route speed limit information is higher than the speed limit threshold of the second restricted manual driving mode to ensure the safety of the target train when it runs at the maximum speed limit of the second restricted manual driving mode.

[0053] When the target train meets the above conditions, it can be determined that the target train meets the train upgrade condition. When at least one of the above conditions cannot be met by the target train, it can be determined that the target train does not meet the train upgrade condition.

[0054] Step 106: When the current position information and the route attribute information meet the train upgrade conditions, determine that the target train enters a second restricted manual driving mode, wherein the speed limit of the second restricted manual driving mode is greater than the speed limit of the first restricted manual driving mode.

[0055] When it is determined that the train upgrade conditions are met based on the current position information and route attribute information of the target train, it can be determined that the target train can enter the second restricted manual driving mode, wherein the second restricted manual driving mode (RM2) is similar to the first restricted manual driving mode, the only difference being that the maximum speed limit of the second restricted driving mode is greater than the maximum speed limit of the first restricted manual driving mode.

[0056] In actual applications, the maximum speed limit of the first restricted manual driving mode is usually set by default to 25km / h, which cannot meet the passengers' travel requirements in the urban (suburban) railway scenario. In order to improve the travel experience in the urban (suburban) railway scenario, the method provided in this application proposes a RM dual speed limit solution, that is, providing a first restricted manual driving (RM1) and a second restricted manual driving mode (RM2). The difference between RM1 and RM2 is that their maximum speed limits are different. The speed limit of RM1 is usually no more than 25km / h, and the speed limit of RM2 is usually 75km / h. It should be noted that in actual applications, the maximum speed limits of RM1 and RM2 can be configured according to actual conditions. In the method provided in this application, the maximum speed limits of RM1 and RM2 are not specifically limited.

[0057] In a specific embodiment provided in the present application, the method further comprises: When the current position information and the route attribute information do not satisfy a train upgrade condition, the target train is controlled to travel in a first restricted manual driving mode.

[0058] In the above steps, whether the target train meets the train upgrade conditions will be determined based on the current position information and route attribute information of the target train. If the target train meets the upgrade conditions, it can be determined that the target train can enter the second restricted manual driving mode. If the target train does not meet the upgrade conditions, it is necessary to continue to control the target train to travel in the first restricted manual driving mode to ensure the safe operation of the train.

[0059] Step 108: Control the target train to travel in a second restricted manual driving mode.

[0060] When it is determined that the target train can enter the second restricted manual driving mode, the target train can be controlled to upgrade to the second restricted manual driving mode, so that the target train can be controlled to travel at a faster speed. In practical applications, when it is determined that the target train can enter the second restricted manual driving mode, it can be directly upgraded to the second restricted manual driving mode, or the driver can manually confirm to enter the second restricted manual driving mode.

[0061] In a specific implementation manner provided in the present application, controlling the target train to travel in the second restricted manual driving mode includes: issuing a train upgrade confirmation reminder based on the second restricted manual driving mode; When confirmation information corresponding to the train upgrade confirmation reminder is received, the target train is controlled to travel in a second restricted manual driving mode.

[0062] In actual application, the second restricted manual driving mode is still manual driving. In order to inform the driver that the target train can enter the second restricted manual driving mode, it is necessary to send a train upgrade confirmation reminder to the driver. After seeing the train upgrade confirmation reminder, the train driver can issue a confirmation instruction for the reminder. When receiving the confirmation instruction, the target train can be controlled to enter the second restricted manual driving mode and travel in the second restricted manual driving mode.

[0063] For example, on the driver's operation page, when it is detected that the target train can enter the second restricted manual driving mode, a prompt message "Can enter RM2 mode, please confirm" pops up. The driver clicks the confirmation button to send a confirmation message, and after receiving the confirmation message, the target train can be controlled to travel in the second restricted manual driving mode.

[0064] In another specific implementation provided by the present application, controlling the target train to travel in the second restricted manual driving mode includes: issuing a train upgrade prompt message based on the second restricted manual driving mode; When receiving an upgrade electrical signal for the second restricted manual driving mode, sending an upgrade confirmation prompt message; When a confirmation instruction corresponding to the upgrade confirmation prompt information is received, the target train is controlled to travel in a second restricted manual driving mode.

[0065] In this embodiment, in order to prevent the driver's misoperation and further ensure the driving safety of the target train, when it is determined that the target train meets the requirements for entering the second restricted manual driving mode, a train upgrade prompt message can be sent to the driver. The train upgrade prompt message can be a text prompt, a voice prompt, etc.

[0066] At the same time, two driving gears are set on the restricted manual driving mode gear of the target train, namely RM1 and RM2. After receiving the train upgrade prompt information, the driver can adjust the driving mode to the second restricted manual driving mode by adjusting the driving gear. For the target train, an upgrade electrical signal corresponding to the second restricted manual driving mode can be received. In order to prevent the electrical signal from being a misoperation, a confirmation prompt information can be issued again. The confirmation prompt information can also be a text prompt or a voice prompt.

[0067] After receiving the upgrade confirmation prompt information, if the train driver confirms the upgrade, he can issue a confirmation instruction for the upgrade confirmation prompt information, and after receiving the confirmation instruction, the target train can be controlled to travel in the second restricted manual driving mode. In this embodiment, through the secondary confirmation method, it is avoided that the train enters the second restricted manual driving mode due to the driver's misoperation, thereby ensuring the driving safety of the train.

[0068] The train control method of the present application provides two limited manual driving modes, namely RM1 and RM2 modes. The difference between the two is that the maximum speed limit is different. The maximum speed limit of RM2 is greater than the maximum speed limit of RM1, which can better adapt to the speed limit problem of manual driving in different scenarios. It solves the problem of poor riding experience when driving only in a single RM mode in the urban (suburban) railway scenario, and improves the user's driving experience.

[0069] In another specific embodiment provided in the present application, the method further comprises: When the target train is in the second restricted manual driving mode, obtaining train travel information; When the train travel information satisfies the automatic driving mode condition, determining that the target train enters the automatic driving mode; The target train is controlled to travel based on the automatic driving mode.

[0070] The second restricted manual driving mode is not a driving state that the target train maintains continuously. In actual applications, it will be dynamically adjusted in combination with the actual driving conditions of the target train. When the target train is in the second restricted manual driving mode, the train driving information during the train driving process will be obtained in real time.

[0071] By further judging the train driving information, it is judged whether it meets the automatic driving mode conditions for upgrading to the automatic driving mode. If it meets the automatic driving mode conditions, the target train will be further upgraded to the automatic driving mode. If it does not meet the automatic driving mode conditions, the second restricted manual driving mode will continue to be maintained.

[0072] In the implementation manner provided in the present application, obtaining train travel information includes: Obtaining movement authorization information, movement authorization speed limit information and train preset operation mode information corresponding to the target train; Accordingly, the method further includes: According to the movement authorization information, the movement authorization speed limit information and the train preset operation mode information, it is determined whether the automatic driving mode conditions are met.

[0073] The train travel information can be understood as the vehicle information of the target train traveling in the second restricted manual driving mode, and specifically includes movement authorization information, movement authorization speed limit information, and train preset operation mode information.

[0074] Among them, the movement authorization information can be understood as the movement authorization information issued by the zone controller (ZC) after calculation. ZC is the core component of the signal system based on CBTC and belongs to the ground equipment. It divides a line into several control areas. Each control area is under the responsibility of a zone controller, which provides movement authorization (MA) for trains in the control area and informs the train of the maximum distance allowed to move forward.

[0075] The mobile authorized speed limit information may be understood as the maximum speed limit information of the train calculated based on the MA information after the MA information is obtained.

[0076] The train preset operation mode information can be understood as the highest driving mode that can be set on the target train. In actual application, the train operation modes are divided into RM, Bloc_CM, Bloc_AM, CBTC_CM, CBTC_AM and FAM from low to high. The train preset operation mode information specifies the highest level of driving mode that can be set on the target train.

[0077] During the operation of the target train, the movement authorization information, the movement authorization speed limit information and the train preset operation mode information corresponding to the target train are obtained, and it is determined whether the target train meets the automatic driving mode conditions based on the movement authorization information, the movement authorization speed limit information and the train preset operation mode information corresponding to the target train.

[0078] Specifically, judging whether the automatic driving mode condition is met according to the movement authorization information, the movement authorization speed limit information and the train preset operation mode information includes: When it is determined that the mobile authorization information meets the preset requirements, the difference between the mobile authorization speed limit information and the current speed of the target train is greater than a preset threshold, and the train preset operation mode information is greater than or equal to the train operation mode threshold, it is determined that the target train meets the automatic driving mode conditions.

[0079] In practical applications, judging whether the target train meets the conditions for the automatic driving mode may include the following three aspects: 1. Receive the mobile authorization information sent by the regional controller, and the mobile authorization information is correct.

[0080] 2. The difference between the mobile authorized speed limit information and the current running speed of the target train must be greater than 5km / h.

[0081] 3. The train preset operation mode information of the target train is higher than or equal to the CBTC_CM mode.

[0082] Only when the received movement authorization information of the target train is verified correctly, the difference between the movement authorization speed limit information and the current speed of the target train is greater than the preset threshold, and the preset operation mode information of the train is higher than or equal to the CBTC_CM mode, can it be determined that the target train meets the automatic driving mode conditions.

[0083] It should be noted that the above three judgment conditions can be adjusted according to actual business conditions. For example, the difference between the mobile authorized speed limit information and the current running speed of the target train can be greater than 10 km / h, 15 km / h, etc., and the train preset running mode information of the target train is higher than or equal to Bloc_AM, etc. In the method provided in this application, there is no limitation on specific values ​​or specific automatic driving modes.

[0084] In another specific embodiment provided in the present application, the method further comprises: When the target train stops according to the braking instruction, it is determined that the target train enters the first restricted manual driving mode from the second restricted manual driving mode.

[0085] In this embodiment, if the target train receives a braking command, it will stop according to the braking command to ensure the safety of the train. In this case, it is determined that the target train returns from the second restricted manual driving mode to the first restricted manual driving mode. Furthermore, when the target train stops completely, the driver can adjust the driving gear from RM2 to RM1.

[0086] The train control method provided in the embodiment of the present application adopts a dual RM control method, so that the target train can run with two different speed limit specifications in the RM driving mode according to the actual operating conditions and line conditions. When the road conditions are good, the running speed of the target train can be appropriately increased in the manual driving mode. This breaks the inefficiency caused by the single RM mode speed limit and improves the operating efficiency.

[0087] When the conditions for automatic driving are met in the RM driving mode, the RM mode can be directly upgraded to the automatic driving mode, which reduces the operating difficulty of the driver and further improves the operating efficiency of the target train.

[0088] The following combination Figure 2 , taking the application of the train control method provided by this application in the intercity railway scenario as an example, the train control method is further explained. Figure 2A processing flow chart of a train control method applied to an intercity railway scenario provided by an embodiment of the present application is shown, which specifically includes the following steps: Step 202: The target train is powered on, the driver turns on the key, and the train defaults to driving mode RM1.

[0089] Step 204: Determine that the target train is currently running in the vehicle depot, and maintain the target train running in RM1 mode.

[0090] Step 206: When it is detected that the target train has traveled to the main line and has a position, the approach turnout information and the approach speed limit information of the target train are obtained.

[0091] Step 208: When the switch locking information is the approach switch locked, and the switch status information is the switch positioning approach speed limit information which is greater than or equal to the speed limit threshold of the second restricted manual driving mode, it is determined that the target train can be upgraded to RM2.

[0092] Step 210: the target train sends a train upgrade prompt message to the driver. After receiving the train upgrade prompt message, the driver adjusts the driving gear from RM1 to RM2, wherein the maximum speed limit of RM2 is greater than the maximum speed limit of RM1.

[0093] Step 212: the target train sends an upgrade confirmation prompt message to the driver according to the gear adjustment. When the driver confirms the upgrade for the second time, the target train enters the RM2 driving mode.

[0094] Step 214: When the target train is operating in the RM2 driving mode, the movement authorization information, the movement authorization speed limit information and the train preset operation mode information corresponding to the target train are continuously detected.

[0095] Step 216: When it is determined that the movement authorization information meets the preset requirements, the difference between the movement authorization speed limit information and the current speed of the target train is greater than the preset threshold, and the train preset operation mode information is greater than or equal to the train operation mode threshold, the target train enters the automatic driving mode.

[0096] Step 218: When the target train receives a braking command while operating in the RM2 driving mode, the target train brakes, and after the train stops, the target train enters the RM1 driving mode from the RM2 driving mode.

[0097] The train control method provided in the embodiment of the present application adopts a dual RM control method, so that the target train can run with two different speed limit specifications in the RM driving mode according to the actual operating conditions and line conditions. When the road conditions are good, the running speed of the target train can be appropriately increased in the manual driving mode. This breaks the inefficiency caused by the single RM mode speed limit and improves the operating efficiency.

[0098] When the conditions for automatic driving are met in the RM driving mode, the RM mode can be directly upgraded to the automatic driving mode, which reduces the operating difficulty of the driver and further improves the operating efficiency of the target train.

[0099] Corresponding to the above method embodiment, the present application also provides a train control device embodiment, Figure 3 FIG. 1 is a schematic diagram showing the structure of a train control device provided by an embodiment of the present application. Figure 3 As shown, the device comprises: A first determination module 302 is configured to determine the current position information of the target train when the target train is in the first restricted manual driving mode; An acquisition module 304 is configured to acquire route attribute information corresponding to the target train according to the current position information; The second determination module 306 is configured to determine that the target train enters a second restricted manual driving mode when the current position information and the route attribute information meet the train upgrade condition, wherein the speed limit of the second restricted manual driving mode is greater than the speed limit of the first restricted manual driving mode; The control module 308 is configured to control the target train to travel in a second restricted manual driving mode.

[0100] Optionally, the acquisition module 304 is further configured to: The approach turnout information and the approach speed limit information corresponding to the target train are obtained according to the current position information.

[0101] Optionally, the approach turnout information includes turnout locking information and turnout status information; The device also includes: The judgment module is configured to judge whether the train upgrade conditions are met according to the current position information, the switch locking information, the switch status information and the route speed limit information.

[0102] Optionally, the judging module is further configured to: When the current position information is located on the running line, the switch locking information is the approach switch locking, the switch status information is the switch positioning, and the approach speed limit information is greater than or equal to the speed limit threshold of the second restricted manual driving mode, it is determined that the target train meets the train upgrade conditions.

[0103] Optionally, the control module 308 is further configured to: When the current position information and the route attribute information do not satisfy a train upgrade condition, the target train is controlled to travel in a first restricted manual driving mode.

[0104] Optionally, the control module 308 is further configured to: issuing a train upgrade confirmation reminder based on the second restricted manual driving mode; When confirmation information corresponding to the train upgrade confirmation reminder is received, the target train is controlled to travel in a second restricted manual driving mode.

[0105] Optionally, the control module 308 is further configured to: issuing a train upgrade prompt message based on the second restricted manual driving mode; When receiving an upgrade electrical signal for the second restricted manual driving mode, sending an upgrade confirmation prompt message; When a confirmation instruction corresponding to the upgrade confirmation prompt information is received, the target train is controlled to travel in a second restricted manual driving mode.

[0106] Optionally, the device further comprises: The information acquisition module 304 is configured to acquire train travel information when the target train is in the second restricted manual driving mode; The second determination module 306 is further configured to determine that the target train enters the automatic driving mode when the train travel information satisfies the automatic driving mode condition; The control module 308 is further configured to control the movement of the target train based on the automatic driving mode.

[0107] Optionally, the information acquisition module 304 is further configured to: Obtaining movement authorization information, movement authorization speed limit information and train preset operation mode information corresponding to the target train; Accordingly, the judging module is further configured as follows: According to the movement authorization information, the movement authorization speed limit information and the train preset operation mode information, it is determined whether the automatic driving mode conditions are met.

[0108] Optionally, the judging module is further configured to: When it is determined that the mobile authorization information meets the preset requirements, the difference between the mobile authorization speed limit information and the current speed of the target train is greater than a preset threshold, and the train preset operation mode information is greater than or equal to the train operation mode threshold, it is determined that the target train meets the automatic driving mode conditions.

[0109] Optionally, the second determining module 306 is further configured to: When the target train stops according to the braking instruction, it is determined that the target train enters the first restricted manual driving mode from the second restricted manual driving mode.

[0110] The train control device provided in the embodiment of the present application adopts a dual RM control method, so that the target train can run with two different speed limit specifications in the RM driving mode according to the actual operating conditions and line conditions. When the road conditions are good, the running speed of the target train can be appropriately increased in the manual driving mode. This breaks the inefficiency caused by the single RM mode speed limit and improves the operating efficiency.

[0111] When the conditions for automatic driving are met in the RM driving mode, the RM mode can be directly upgraded to the automatic driving mode, which reduces the operating difficulty of the driver and further improves the operating efficiency of the target train.

[0112] The above is a schematic scheme of a train control device of this embodiment. It should be noted that the technical scheme of the train control device and the technical scheme of the above train control method belong to the same concept, and the details of the technical scheme of the train control device that are not described in detail can all be referred to the description of the technical scheme of the above train control method.

[0113] Figure 4 The block diagram of a computing device 400 according to an embodiment of the present application is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0114] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0115] In one embodiment of the present application, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0116] The computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 400 may also be a mobile or stationary server.

[0117] The processor 420 is used to execute the following computer program / instructions, which implement the steps of the above-mentioned train control method when executed by the processor.

[0118] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above train control method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above train control method.

[0119] An embodiment of the present specification also provides a computer-readable storage medium storing a computer program / instruction, which implements the steps of the above-mentioned train control method when executed by a processor.

[0120] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the train control method described above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the train control method described above.

[0121] An embodiment of the present specification also provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned train control method when executed by a processor.

[0122] The above is a schematic scheme of a computer program product of this embodiment. It should be noted that the technical scheme of the computer program product and the technical scheme of the above train control method belong to the same concept, and the details not described in detail in the technical scheme of the computer program product can be referred to the description of the technical scheme of the above train control method.

[0123] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0124] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0125] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0126] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0127] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A train control method, characterized in that: include: When the target train is in the first restricted manual driving mode, determining current position information of the target train; Acquire route attribute information corresponding to the target train according to the current position information; When the current position information and the route attribute information meet the train upgrade condition, determining that the target train enters a second restricted manual driving mode, wherein the speed limit of the second restricted manual driving mode is greater than the speed limit of the first restricted manual driving mode; The target train is controlled to travel in a second restricted manual driving mode.

2. The method according to claim 1, characterized in that Acquiring route attribute information corresponding to the target train according to the current position information, including: The approach turnout information and the approach speed limit information corresponding to the target train are obtained according to the current position information.

3. The method according to claim 2, characterized in that The approach turnout information includes turnout locking information and turnout status information; the method further includes: Whether the train upgrade conditions are met is determined based on the current position information, the switch locking information, the switch status information and the route speed limit information.

4. The method according to claim 3, characterized in that Judging whether a train upgrade condition is met according to the current position information, the turnout locking information, the turnout status information and the route speed limit information includes: When the current position information is located on the running line, the switch locking information is the approach switch locking, the switch status information is the switch positioning, and the approach speed limit information is greater than or equal to the speed limit threshold of the second restricted manual driving mode, it is determined that the target train meets the train upgrade conditions.

5. The method according to claim 1, characterized in that The method further comprises: When the current position information and the route attribute information do not satisfy a train upgrade condition, the target train is controlled to travel in a first restricted manual driving mode.

6. The method according to claim 1, characterized in that Controlling the target train to travel in a second restricted manual driving mode includes: issuing a train upgrade confirmation reminder based on the second restricted manual driving mode; When confirmation information corresponding to the train upgrade confirmation reminder is received, the target train is controlled to travel in a second restricted manual driving mode.

7. The method according to claim 1, characterized in that Controlling the target train to travel in a second restricted manual driving mode includes: issuing a train upgrade prompt message based on the second restricted manual driving mode; When receiving an upgrade electrical signal for the second restricted manual driving mode, sending an upgrade confirmation prompt message; When a confirmation instruction corresponding to the upgrade confirmation prompt information is received, the target train is controlled to travel in a second restricted manual driving mode.

8. The method according to claim 1, characterized in that The method further comprises: When the target train is in the second restricted manual driving mode, obtaining train travel information; When the train travel information satisfies the automatic driving mode condition, determining that the target train enters the automatic driving mode; The target train is controlled to travel based on the automatic driving mode.

9. The method according to claim 8, characterized in that Get train travel information, including: Obtaining movement authorization information, movement authorization speed limit information and train preset operation mode information corresponding to the target train; Accordingly, the method further includes: According to the movement authorization information, the movement authorization speed limit information and the train preset operation mode information, it is determined whether the automatic driving mode conditions are met.

10. The method according to claim 9, characterized in that Judging whether an automatic driving mode condition is met according to the movement authorization information, the movement authorization speed limit information and the train preset operation mode information includes: When it is determined that the mobile authorization information meets the preset requirements, the difference between the mobile authorization speed limit information and the current speed of the target train is greater than a preset threshold, and the train preset operation mode information is greater than or equal to the train operation mode threshold, it is determined that the target train meets the automatic driving mode conditions.

11. The method according to claim 8, characterized in that The method further comprises: When the target train stops according to the braking instruction, it is determined that the target train enters the first restricted manual driving mode from the second restricted manual driving mode.

12. A train control device, characterized in that: include: A first determination module is configured to determine the current position information of the target train when the target train is in a first restricted manual driving mode; An acquisition module is configured to acquire route attribute information corresponding to the target train according to the current position information; A second determination module is configured to determine that the target train enters a second restricted manual driving mode when the current position information and the route attribute information meet a train upgrade condition, wherein a speed limit of the second restricted manual driving mode is greater than a speed limit of the first restricted manual driving mode; The control module is configured to control the target train to travel in a second restricted manual driving mode.

13. A computing device, characterized in that: include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the method described in any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium storing a computer program / instruction, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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