Train door control method and device, electronic equipment and storage medium

Abstract

The invention provides a train door control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a door control strategy of a full-automatic running train based on the type of a target event when the full-automatic running train runs in a target running mode and the target event occurs, and further controlling the door of the full-automatic running train based on the door control strategy. Controlling doors of the full-automatic running train, and judging whether the target event is eliminated or not; and under the condition that the target event is determined to be eliminated, a control recovery strategy of the full-automatic running train is obtained based on the type of the target event, and then the full-automatic running train is controlled based on the control recovery strategy. The invention provides a train door control method and device, electronic equipment and a storage medium, which can quickly respond and adopt a proper control strategy under the condition of sudden abnormity, can more flexibly control a train door under the condition of sudden abnormity of a full-automatic running train, and reduces adverse effects caused by sudden abnormity.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a train door control method, device, electronic equipment and storage medium. Background Art

[0002] With the rapid development of urban rail transit technology, the rail transit system has undergone a transformation from manual driving to semi-automatic driving and then to fully automatic driving. The safety and automation level of the rail transit system are constantly improving.

[0003] As a new generation of urban rail transit system, the fully automatic operation (FAO) train can automatically complete a series of operations such as train wake-up, sleep, start, acceleration, braking, parking, door opening and closing without the need for a driver, relying on advanced control systems and sensors. Fully automatic operation can effectively save labor costs and improve the operational efficiency and safety of rail transit.

[0004] However, since fully automatic trains are not equipped with drivers, in the relevant technology, when a fully automatic train encounters an abnormality during operation (such as a sudden station fire, a sudden train fire, or a sudden train failure, etc.), the train doors can only be opened and closed by the operation and maintenance personnel, which will seriously affect the timeliness and effectiveness of emergency response, and in extreme cases may even cause greater safety hazards and adverse consequences. Therefore, how to more flexibly control the train doors in the event of an abnormality in a fully automatic train is a technical problem that needs to be solved in this field. Summary of the invention

[0005] The present invention provides a train door control method, device, electronic device and storage medium, which are used to solve the defect in the prior art that it is difficult to flexibly control the train doors to open and close the doors when a sudden abnormality occurs during the running of a fully automatic train, and to achieve more flexible control of the train doors when a sudden abnormality occurs during the running of a fully automatic train.

[0006] The present invention provides a train door control method, comprising the following steps.

[0007] When the fully automatic train is running in a target operation mode, determining whether a target event occurs in the fully automatic train, wherein the target operation mode includes a fully automatic driving mode; When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event, and then controlling the door of the fully automatic train based on the door control strategy, and determining whether the target event is eliminated; When it is determined that the target event has been eliminated, a control recovery strategy for the fully automatic train is obtained based on the type of the target event, and then the fully automatic train is controlled based on the control recovery strategy.

[0008] According to a train door control method provided by the present invention, when it is determined that the target event occurs in the fully automatic train, obtaining the door control strategy of the fully automatic train based on the type of the target event includes: In the case where it is determined that a communication failure occurs between the fully automatic train and the computer interlocking system, the door control mode of the fully automatic train is that the driver manually controls the opening and closing of the doors, the fully automatic train receives a control instruction sent by the automatic train monitoring system to instruct the closing of the doors on both sides of the fully automatic train, all doors of the fully automatic train are fault-isolated, all platform doors of the planned stop platform of the fully automatic train are fault-isolated, or the fully automatic train receives a control instruction to instruct the fully automatic train to skip a stop and detain the train, it is determined that the first type of target event occurs in the fully automatic train; In the case where it is determined that the first type of target event occurs in the fully automatic train, determining that the door control strategy includes controlling the doors of the fully automatic train not to perform door opening or door closing operations in response to any instructions other than target control instructions, wherein the target control instructions include control instructions issued in the case of a platform fire or a train fire for instructing the fully automatic train to perform door opening and / or door closing operations; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: In a case where it is determined that the target event of the first type has been eliminated, determining a control recovery strategy for the fully automatic train includes stopping control of doors of the fully automatic train based on the door control strategy.

[0009] According to a train door control method provided by the present invention, when it is determined that the target event occurs in the fully automatic train, obtaining the door control strategy of the fully automatic train based on the type of the target event includes: In the case where it is determined that the fully automatic driving mode authorization of the fully automatic running train is invalid and the fully automatic running train has stopped at the platform, a communication failure occurs between the fully automatic running train and the automatic train monitoring system, the platform detention is activated at the planned stop platform of the fully automatic running train, the door control mode of the fully automatic running train is to automatically control the opening and closing of the doors, or a fire alarm occurs in the fully automatic running train, it is determined that the second type of target event occurs in the fully automatic running train; In the case where it is determined that the second type of target event occurs in the fully automatic running train, determining that the door control strategy includes controlling the doors of the fully automatic running train to be in an open state; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: In a case where it is determined that the target event of the second type has been eliminated, determining a control recovery strategy for the fully automatic operation train includes stopping control of doors of the fully automatic operation train based on the door control strategy.

[0010] According to a train door control method provided by the present invention, when it is determined that the target event occurs in the fully automatic train, obtaining the door control strategy of the fully automatic train based on the type of the target event includes: When it is determined that the fully automatic train is in the process of stopping at a station and the door state is lost, the body of the fully automatic train overlaps with the platform by at least one carriage and the passenger emergency handle in the fully automatic train is activated, the planned stop platform of the fully automatic train is in the passenger clearing state and the fully automatic train has stopped at the planned stop platform, the fully automatic train is switched to the creeping driving mode, the automatic train protection system at the rear end of the fully automatic train fails, the on-board controller at the rear end of the fully automatic train fails, the automatic operation modules at both ends of the fully automatic train fail, or after the fully automatic train stops at the platform, the platform door and the door of the fully automatic train have different switch states, it is determined that the fully automatic train has a third type of target event; In the case where it is determined that the third type of target event occurs in the fully automatic running train, determining the door control strategy includes: controlling the door of the fully automatic running train to be in an open state; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: When it is determined that the target event of the third type has been eliminated, determining that the control recovery strategy of the fully automatic train includes stopping the control of the doors of the fully automatic train based on the door control strategy upon receiving a control instruction triggered manually to instruct stopping the control of the doors of the fully automatic train based on the door control strategy.

[0011] According to a train door control method provided by the present invention, when it is determined that the target event occurs in the fully automatic train, obtaining the door control strategy of the fully automatic train based on the type of the target event includes: In the case where it is determined that a platform fire alarm is triggered at a planned stop of the fully automatic train, determining that a fourth type of target event occurs at the fully automatic train; In the case where it is determined that the fourth type of target event occurs in the fully automatic running train, determining that the door control strategy includes controlling the doors of the fully automatic running train to be in an open state; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: When it is determined that the fourth type of target event has been eliminated, the control of the doors of the fully automatic operation train based on the door control strategy is stopped.

[0012] According to a train door control method provided by the present invention, when it is determined that the target event occurs in the fully automatic train, obtaining the door control strategy of the fully automatic train based on the type of the target event includes: When receiving a manually triggered control instruction for controlling the doors of the fully automatic train to perform a door opening operation or a door closing operation, determining that a fifth type of target event occurs in the fully automatic train; In the case where it is determined that the fifth type of target event occurs in the fully automatic train, determining that the door control strategy includes controlling the doors of the fully automatic train in response to a manually triggered control instruction for controlling the doors of the fully automatic train to perform a door opening operation or a door closing operation; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: In a case where it is determined that the fifth type of target event has been eliminated, determining a control recovery strategy for the fully automatic train includes continuing to control the doors of the fully automatic train based on the door control strategy.

[0013] According to a train door control method provided by the present invention, when it is determined that the target event occurs in the fully automatic train, a door control strategy of the fully automatic train is obtained based on the type of the target event, and then the door of the fully automatic train is controlled based on the door control strategy, including: When it is determined that a plurality of different types of target events occur in the fully automatic operation train, obtaining each of the door control strategies based on the type of each of the target events; When each of the door control strategies is not in a hostile state, the door of the fully automatic train is controlled based on each of the door control strategies, and when each of the door control strategies is in a hostile state, the door control strategy is obtained based on the type of the target event with the highest priority among the target events; Among them, the priority of the fifth type of target event is higher than the priority of the fourth type of target event, the priority of the fourth type of target event is higher than the priority of the first type of target event, and the priority of the first type of target event is higher than the priorities of the second type of target event and the third type of target event.

[0014] The present invention also provides a train door control device, comprising the following modules: an event judgment module, used to judge whether a target event occurs in the fully automatic running train when the fully automatic running train is running in a target running mode, wherein the target running mode includes a fully automatic driving mode; a strategy acquisition module, for, when it is determined that the target event occurs in the fully automatic train, acquiring a door control strategy of the fully automatic train based on the type of the target event, and then controlling the door of the fully automatic train based on the door control strategy, and determining whether the target event is eliminated; The control recovery module is used to obtain the control recovery strategy of the fully automatic train based on the type of the target event when it is determined that the target event has been eliminated, and then control the fully automatic train based on the control recovery strategy.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the train door control method described in any one of the above methods is implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the train door control method as described in any one of the above is implemented.

[0017] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the train door control method as described above is implemented.

[0018] The train door control method, device, electronic device and storage medium provided by the present invention, when the fully automatic vehicle is running in the target operation mode, if it is determined that the fully automatic train has a target event, then based on the type of the target event, a door control strategy is obtained, and then based on the door control strategy, the doors of the fully automatic train are controlled, and it is judged whether the target event is eliminated; when it is determined that the target event has been eliminated, a recovery strategy for the target event is obtained based on the type of the target event, and then based on the control recovery strategy of the fully automatic train, the fully automatic train is controlled. In the event of sudden abnormalities, the method, device, electronic device and storage medium can respond quickly and take appropriate control strategies, and can more flexibly control the train doors in the event of sudden abnormalities of the fully automatic train, reduce the adverse effects caused by the sudden abnormalities, and effectively avoid passenger panic, which not only improves the safety and efficiency of train operation, but also optimizes the passenger experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a flow chart of the train door control method provided by the present invention.

[0021] Figure 2 It is a structural schematic diagram of the train door control device provided by the present invention.

[0022] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] In the description of the present application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually a class, and the number of objects is not limited. For example, the first object can be one or more. In addition, in the description of the present application, "and / or" represents at least one of the connected objects, and the character " / " generally represents that the front and back associated objects are in an "or" relationship.

[0026] It should be noted that the fully automatic operation system of a fully automatic train usually includes multiple subsystems such as automatic train control system (ATC), automatic train operation system (ATO), automatic monitoring system (ATS), etc. The fully automatic train can respond to the control of the fully automatic operation system and run at a predetermined speed and position.

[0027] After the fully automatic train enters the station normally and stops accurately under the control of the fully automatic operation system, the signal system will send instructions to the train doors and platform doors, and control the train doors and platform doors to open them, so that passengers in the carriage and on the platform can get on and off the train.

[0028] When the preset stop time is over, the signal system will send instructions to the train doors and platform doors again, controlling the train doors and platform doors to close, so that the fully automatic train can depart to the next station.

[0029] However, some unexpected abnormalities may occur during the operation of fully automatic trains, such as station fire, train fire or train failure. Since fully automatic trains are not equipped with drivers, in the relevant technology, when there is an abnormality during the operation of fully automatic trains, they can only wait on the spot or drive to the next station for the operation and maintenance personnel to board the train to open and close the train doors. It is difficult for fully automatic trains to flexibly control the train doors for opening and closing operations when there is an abnormality during the operation.

[0030] However, it is difficult for fully automatic trains to flexibly control the train doors for opening and closing in the event of an abnormality during operation, which will seriously affect the timeliness and effectiveness of emergency response, such as seriously affecting the efficiency of rescue or personnel evacuation. Moreover, in extreme cases, it may also lead to the superposition of multiple abnormalities, thereby causing greater safety hazards and adverse consequences, and seriously reducing the safety and operational stability of fully automatic trains. Therefore, how to more flexibly control the train doors in the event of an abnormality in a fully automatic train, thereby reducing the adverse effects caused by the abnormality and avoiding passenger panic, is a technical problem that needs to be solved in this field.

[0031] In this regard, the present invention provides a train door control method. The train door control method provided by the present invention, Combine the following Figure 1 The train door control method provided by the present invention is described.

[0032] Figure 1 FIG. 1 is a flow chart of the train door control method provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 101, when the fully automatic running train is running in a target running mode, determining whether a target event occurs in the fully automatic running train, and the target running mode includes a fully automatic driving mode.

[0033] It should be noted that the embodiment of the present invention is performed by a train door control device, which may be a vehicle on-board controller (VOBC) of a fully automatic train.

[0034] Specifically, the doors of a fully automatic train are the control objects of the train door control method provided by the present invention. When a fully automatic train is running in a fully autonomous driving mode (FAM), it can automatically complete a series of operations such as train wake-up, sleep, start, acceleration, braking, parking, door opening and closing without the need for a driver.

[0035] When the fully automatic train is running in the fully automatic driving mode, it can be determined whether a target event occurs in the fully automatic train based on various status information and control instructions received by the onboard controller of the fully automatic train.

[0036] It should be noted that the target event in the embodiment of the present invention is determined based on prior knowledge and / or actual conditions. In addition, the target event in the embodiment of the present invention is divided into multiple types according to different control strategies. The target event and the type of the target event are not specifically limited in the embodiment of the present invention.

[0037] Step 102: When it is determined that a target event occurs in the fully automatic train, a door control strategy of the fully automatic train is obtained based on the type of the target event, and then the doors of the fully automatic train are controlled based on the door control strategy, and it is determined whether the target event is eliminated.

[0038] Specifically, when it is determined that a target event has occurred in a fully automatic train, the control strategy corresponding to the type of target event can be determined as a door control strategy based on the correspondence between the type of target event and the control strategy, and then the doors of the fully automatic train can be controlled through control instructions based on the door control strategy.

[0039] It should be noted that the correspondence between different types of target events and different control strategies in the embodiment of the present invention can be determined based on prior knowledge and / or actual conditions. The correspondence between different types of target events and different control strategies in the embodiment of the present invention is not specifically limited.

[0040] While controlling the doors of the fully automatic train based on the door control strategy, it is also possible to determine whether the above target event has been eliminated by using various status information and control instructions received by the onboard controller of the fully automatic train.

[0041] Step 103: When it is determined that the target event has been eliminated, a control recovery strategy for the fully automatic train is obtained based on the type of the target event, and then the fully automatic train is controlled based on the control recovery strategy.

[0042] Specifically, when it is determined that the above-mentioned target event has been eliminated, the recovery strategy corresponding to the type of target event can be determined as the control recovery strategy for the fully automatic train based on the correspondence between the type of target event and the recovery strategy. Then, based on the recovery strategy corresponding to the target event, the fully automatic train can be controlled through control instructions.

[0043] The embodiment of the present invention, when a fully automatic vehicle is operating in a target operation mode, if it is determined that a target event occurs in the fully automatic train, then based on the type of the target event, a door control strategy is obtained, and then based on the door control strategy, the doors of the fully automatic train are controlled, and it is judged whether the target event is eliminated; when it is determined that the target event has been eliminated, a recovery strategy for the target event is obtained based on the type of the target event, and then based on the control recovery strategy of the fully automatic train, the fully automatic train is controlled. In the event of sudden abnormalities, the embodiment of the present invention can quickly respond and adopt appropriate control strategies, can more flexibly control the train doors in the event of sudden abnormalities in the fully automatic train, reduce the adverse effects caused by the sudden abnormalities, and can effectively avoid passenger panic, which not only improves the safety and efficiency of train operation, but also optimizes the passenger experience.

[0044] As an optional embodiment, when it is determined that a target event has occurred in a fully automatic train, the door control strategy of the fully automatic train is obtained based on the type of the target event, including: determining that a first type of target event has occurred in the fully automatic train when it is determined that a communication failure has occurred between the fully automatic train and the computer interlocking system, the door control mode of the fully automatic train is that the driver manually controls the opening and closing of the doors, the fully automatic train receives a control instruction sent by the automatic train monitoring system to instruct the closing of the doors on both sides of the fully automatic train, all doors of the fully automatic train are fault-isolated, all platform doors at the planned stop platform of the fully automatic train are fault-isolated, or the fully automatic train receives a control instruction to instruct the fully automatic train to skip a stop and detain the train.

[0045] Specifically, the first type of target event in the embodiment of the present invention may include but is not limited to: a communication failure between a fully automatic train and a computer interlocking system (Computer Interlocking, CI), the door control mode of the fully automatic train is the driver manually controlling the opening and closing of the doors (M / M door control mode), the fully automatic train receives a control instruction sent by the Automatic Train Supervision (Automatic Train Supervision, ATS) to instruct the fully automatic train to close the doors on both sides, all doors of the fully automatic train are fault-isolated, all platform doors at the planned stop platform of the fully automatic train are fault-isolated, and the fully automatic train receives a control instruction to instruct the fully automatic train to jump stop and detain the train.

[0046] When it is determined that a first type of target event occurs in a fully automatic train, determining a door control strategy includes controlling the doors of the fully automatic train not to open or close the doors in response to any instructions other than target control instructions, and the target control instructions include control instructions issued in the event of a platform fire or a train fire to instruct the fully automatic train to open and / or close the doors.

[0047] Specifically, when a fully automatic train is running on an interlocking communication track, the onboard controller of the fully automatic train can maintain a communication connection with the computer interlocking system through a wireless communication network and transmit heartbeat information to each other. The platform door status information of the planned stop platform of the fully automatic train can be sent to the fully automatic train by the computer interlocking system. Therefore, in the case of a communication failure between the fully automatic train and the computer interlocking system, the fully automatic train cannot obtain the platform door status information of the planned stop platform of the fully automatic train, nor can it link the platform door of the planned stop platform of the fully automatic train. In order to ensure the safety of passengers, in the case of determining that a communication failure has occurred between the fully automatic train and the computer interlocking system, the doors of the fully automatic train shall not respond to any instructions other than the target control instructions to open or close the doors.

[0048] The door control mode information of the fully automatic train can be collected by the Train Control and Management System (TCMS) of the fully automatic train and sent to the on-board controller of the fully automatic train through the network interface. When the door control mode of the fully automatic train is the M / M door control mode (the driver manually controls the opening and closing of the doors), the on-board controller of the fully automatic train cannot control the doors. Therefore, when the door control mode of the fully automatic train is the M / M door control mode (the driver manually controls the opening and closing of the doors), the doors of the fully automatic train shall not respond to any instructions other than the target control instructions to open or close the doors.

[0049] In certain emergency situations, the automatic train monitoring system will send a control instruction to the onboard controller of the fully automatic train to instruct the fully automatic train to close the doors on both sides. The onboard controller of the fully automatic train can respond to the above control instruction and close the doors on both sides. Therefore, for the operation safety of the fully automatic train, when the onboard controller of the fully automatic train receives the control instruction sent by the ATS system to instruct the closing of the doors on both sides of the fully automatic train, the doors of the fully automatic train shall not respond to any instructions other than the target control instruction to open or close the doors.

[0050] The door isolation information of the fully automatic train can be collected by the TCMS system of the fully automatic train and sent to the on-board controller of the fully automatic train through the network interface. In the case that all doors of the fully automatic train are isolated due to faults, it is considered that all doors of the fully automatic train have safety risks, and the doors of the fully automatic train shall not respond to any instructions other than the target control instructions to open or close the doors.

[0051] The fault isolation information of the platform doors in the planned stop platform of the fully automatic train can be sent from the platform door system to the ATS system. When the ATS system receives the above fault isolation information sent by the platform door system, it can send the above fault isolation information to the on-board controller of the fully automatic train. In the case that all platform doors in the planned stop platform of the fully automatic train are fault-isolated, it is considered that all platform doors in the planned stop platform of the fully automatic train have safety risks, and the doors of the fully automatic train shall not respond to any instructions other than the target control instructions for door opening or closing operations.

[0052] Skipping a stop means that a train will not stop at the station it was originally scheduled to stop at, but will go directly to the next station. Detaining a train means temporarily stopping a train at a station or section, preventing it from continuing to depart or run.

[0053] In the case that the onboard controller of a fully automatic train receives control instructions for instructing the fully automatic train to skip and detain the train at the same time, in order to ensure the running safety of the fully automatic train, the train will not stop at the platform. Therefore, in the case that the onboard controller of a fully automatic train receives control instructions for instructing the fully automatic train to skip and detain the train at the same time, the doors of the fully automatic train shall not open or close in response to any instructions other than the target control instructions.

[0054] When it is determined that the target event has been eliminated, based on the type of the target event, a control recovery strategy for the fully automatic train is obtained, including: when it is determined that the first type of target event has been eliminated, determining that the control recovery strategy for the fully automatic train includes stopping control of the doors of the fully automatic train based on the door control strategy.

[0055] As an optional embodiment, when it is determined that a target event has occurred in a fully automatic train, the door control strategy of the fully automatic train is obtained based on the type of the target event, including: determining that a second type of target event has occurred in the fully automatic train when it is determined that the fully automatic driving mode authorization of the fully automatic train has expired and the fully automatic train has stopped at the platform, a communication failure has occurred between the fully automatic train and an automatic train monitoring system, the planned stop platform of the fully automatic train activates platform detention, the door control mode of the fully automatic train is to automatically control the opening and closing of the doors, or a fire alarm has occurred in the fully automatic train.

[0056] Specifically, in the embodiment of the present invention, the second type of target event may include but is not limited to: the authorization of the fully automatic driving mode of the fully automatic train has failed and the fully automatic train has stopped at the platform, a communication failure has occurred between the fully automatic train and the automatic train monitoring system, the planned stop platform of the fully automatic train has activated the platform detention, the door control mode of the fully automatic train is the manual control of the door opening and closing by the driver or the automatic control of the door opening and closing, and a fire alarm has occurred in the fully automatic train.

[0057] When it is determined that the second type of target event occurs in the fully automatic train, determining the door control strategy includes controlling the doors of the fully automatic train to be in an open state.

[0058] Specifically, in order to ensure the operational efficiency of fully automatic trains, when it is determined that the fully automatic driving mode authorization of the fully automatic train has expired and the fully automatic train has stopped at the platform, the doors of the fully automatic train can be controlled to be in an open state so that operation and maintenance personnel can get on the train to control the fully automatic train.

[0059] The onboard controller of the fully automatic train can maintain communication connection with the Automatic Train Supervision (ATS) system through the wireless communication network. In order to ensure the operation safety and efficiency of the fully automatic train, in the event of a communication failure between the fully automatic train and the ATS system, the doors of the fully automatic train can be controlled to be open so that the operation and maintenance personnel can get on board to perform maintenance on the fully automatic train.

[0060] When the operation of the fully automatic train needs to be adjusted, the platform detention can be activated at the planned stop platform of the fully automatic train. After the platform detention is activated at the planned stop platform of the fully automatic train, the fully automatic train will no longer continue to run after reaching the above-mentioned planned stop platform, the signal of the above-mentioned planned stop platform will be turned off, and the platform door of the above-mentioned planned stop platform will remain closed. Therefore, when the platform detention is activated at the planned stop platform of the fully automatic train, the door of the fully automatic train can be controlled to be in an open state.

[0061] The door control mode information of the fully automatic train can be collected by the TCMS system of the fully automatic train and sent to the on-board controller of the fully automatic train through the network interface. When the door control mode of the fully automatic train is the A / M door control mode (automatic control of the opening and closing of the doors), the doors of the fully automatic train can be controlled to be in the open state.

[0062] When a fire alarm sounds in a fully automatic train, it means that a fire may have occurred in the fully automatic train. In order to ensure the safety of personnel, the doors of the fully automatic train can be controlled to be in an open state to ensure that passengers can evacuate in time.

[0063] When it is determined that the target event has been eliminated, based on the type of the target event, a control recovery strategy for the fully automatic train is obtained, including: when it is determined that the second type of target event has been eliminated, determining that the control recovery strategy for the fully automatic train includes stopping control of the doors of the fully automatic train based on the door control strategy.

[0064] As an optional embodiment, when it is determined that a target event has occurred in a fully automatic train, based on the type of the target event, a door control strategy of the fully automatic train is obtained, including: when it is determined that the fully automatic train is in the process of stopping at a station and the door status is lost, the body of the fully automatic train overlaps with the platform by at least one car and the passenger emergency handle in the fully automatic train is activated, the planned stop platform of the fully automatic train is in a passenger-clearing state and the fully automatic train has stopped at the planned stop platform, the fully automatic train is switched to a creeping driving mode, the automatic train protection system at the rear end of the fully automatic train fails, the on-board controller at the rear end of the fully automatic train fails, the automatic operation modules at both ends of the fully automatic train fail, or after the fully automatic train stops at the platform, the switch status of the platform door and the door of the fully automatic train are different, then it is determined that a third type of target event has occurred in the fully automatic train.

[0065] Specifically, in the embodiment of the present invention, the third type of target event may include but is not limited to: the door status of the fully automatic train is lost, the passenger emergency handle in the fully automatic train is activated, the planned stop platform of the fully automatic train is in the clearing state and the fully automatic train has stopped at the planned stop platform, the fully automatic train switches to the creeping driving mode, the automatic train protection system at the rear end of the fully automatic train fails, the on-board controller at the rear end of the fully automatic train fails, the automatic operation module at both ends of the fully automatic train fails, and after the fully automatic train stops at the platform, the platform door and the door of the fully automatic train have different switch states.

[0066] When it is determined that the third type of target event occurs in the fully automatic running train, determining the door control strategy includes: controlling the doors of the fully automatic running train to be in an open state.

[0067] Specifically, the door status information of the fully automatic train can be collected by the TCMS system of the fully automatic train and sent to the on-board controller of the fully automatic train through the network interface. The loss of the door status of the fully automatic train means that the on-board controller of the fully automatic train is not sure whether the door is closed or open. Therefore, in order to prevent personal accidents and facilitate operation and maintenance personnel to get on the train for processing, when the fully automatic train is in the process of stopping at a station and the door status is lost, the door of the fully automatic train can be controlled to be in an open state.

[0068] When the train is running, if the passenger operates the emergency handle, the emergency brake can be triggered to force the train to stop. The activation information of the passenger emergency handle can be collected by the TCMS system of the fully automatic train and sent to the on-board controller of the fully automatic train through the network interface. When the body of the fully automatic train overlaps with the platform by at least one car and the passenger emergency handle in the fully automatic train is activated, it means that an emergency has occurred, and the doors of the fully automatic train can be controlled to be in an open state.

[0069] The rail transit system has the function of automatically clearing passengers, and can automatically issue clearing orders to trains for the final destination in the line operation plan. The rail transit system also has the function of setting up temporary clearing passengers, and can manually issue clearing orders to mainline stations. When the planned stop platform of the fully automatic train is in the clearing state and the fully automatic train has stopped at the planned stop platform, the doors of the fully automatic train can be controlled to be open, and the platform doors of the above-mentioned planned stop platform are also open. At the same time, the vehicle and platform broadcasts are linked to remind passengers on the fully automatic train to get off the train, and passengers on the above-mentioned planned stop platform are not to get on the train. When a fully automatic train is running in automatic driving mode, if a fault is detected in the vehicle network of the fully automatic train, or a communication failure occurs between the TCMS system of the fully automatic train and the on-board controller of the fully automatic train, the fully automatic train will switch to the creeping driving mode. When the fully automatic train is switched to the creeping driving mode, the doors of the fully automatic train can be controlled to be in an open state.

[0070] If the automatic train protection system at the rear end of the fully automatic train fails, the on-board controller at the rear end of the fully automatic train fails, the automatic operation modules at both ends of the fully automatic train fail, and the platform door and the door of the fully automatic train are in different open and closed states after the fully automatic train stops at the platform, the fully automatic train will have a greater risk of safe operation. The doors of the fully automatic train can be controlled to be open so that operation and maintenance personnel can get on board to handle the situation.

[0071] When it is determined that the target event has been eliminated, based on the type of the target event, a control recovery strategy for the fully automatic train is obtained, including: when it is determined that the third type of target event has been eliminated, determining that the control recovery strategy for the fully automatic train includes stopping the control of the doors of the fully automatic train based on the door control strategy upon receiving a control instruction triggered manually to instruct stopping the control of the doors of the fully automatic train based on the door control strategy.

[0072] As an optional embodiment, when it is determined that a target event occurs in a fully automatic train, a door control strategy of the fully automatic train is obtained based on the type of the target event, including: when it is determined that a planned stop platform of the fully automatic train triggers a platform fire alarm, determining that a fourth type of target event occurs in the fully automatic train.

[0073] Specifically, the fourth type of target event in the embodiment of the present invention may include but is not limited to a planned stop of a fully automatic train at a platform triggering a platform fire alarm.

[0074] When it is determined that the fourth type of target event occurs in the fully automatic running train, determining the door control strategy includes controlling the doors of the fully automatic running train to be in an open state.

[0075] Specifically, the station's Fire Alarm System (FAS) can send the platform's fire alarm to the train's TIAS system. In order to ensure the safety of passengers, if the planned stop of the fully automatic train triggers the platform fire alarm, the doors of the fully automatic train can be controlled to be open.

[0076] When it is determined that the target event has been eliminated, a control recovery strategy for the fully automatic train is obtained based on the type of the target event, including: when it is determined that the fourth type of target event has been eliminated, stopping control of the doors of the fully automatic train based on the door control strategy.

[0077] As an optional embodiment, when it is determined that a target event has occurred in a fully automatic train, a door control strategy of the fully automatic train is obtained based on the type of the target event, including: when a manually triggered control instruction for controlling the doors of the fully automatic train to open or close the doors is received, determining that a fifth type of target event has occurred in the fully automatic train.

[0078] Specifically, the fifth type of target event in the embodiment of the present invention may include but is not limited to receiving a manually triggered control instruction for controlling the doors of a fully automatic train to open the door and receiving a manually triggered control instruction for controlling the doors of a fully automatic train to close the door.

[0079] When it is determined that the fifth type of target event occurs in the fully automatic train, the door control strategy includes controlling the doors of the fully automatic train in response to manually triggered control instructions for controlling the doors of the fully automatic train to open or close the doors.

[0080] Specifically, the computer interlocking system can collect the status of the platform door opening button and the platform door closing button, and send them to the on-board controller of the fully automatic train through the wireless network.

[0081] Train operation and maintenance personnel or passengers can trigger control instructions for opening or closing the doors of fully automatic trains through the status of the platform door opening button and the platform door closing button.

[0082] Train operation and maintenance personnel can also input control instructions in the ATS system to control the doors of fully automatic trains to open or close the doors.

[0083] When the onboard controller of a fully automatic train receives a manually triggered control instruction for controlling the doors of the fully automatic train to open or a control instruction for controlling the doors of the fully automatic train to close, it can respond to the above control instruction to control the doors of the fully automatic train to open or close.

[0084] When it is determined that the target event has been eliminated, based on the type of the target event, a control recovery strategy for the fully automatic train is obtained, including: when it is determined that the fifth type of target event has been eliminated, determining that the control recovery strategy for the fully automatic train includes continuing to control the doors of the fully automatic train based on the door control strategy.

[0085] As an optional embodiment, when it is determined that a target event occurs in a fully automatic train, the door control strategy of the fully automatic train is obtained based on the type of the target event, and then the doors of the fully automatic train are controlled based on the door control strategy, including: when it is determined that multiple different types of target events occur in the fully automatic train, each door control strategy is obtained based on the type of each target event.

[0086] When the door control strategies are not in a hostile state, the doors of the fully automatic train are controlled based on each door control strategy. When the door control strategies are in a hostile state, the door control strategy is obtained based on the type of target event with the highest priority among the target events.

[0087] Among them, the priority of the fifth type of target event is higher than the priority of the fourth type of target event, the priority of the fourth type of target event is higher than the priority of the first type of target event, and the priority of the first type of target event is higher than the priorities of the second type of target event and the third type of target event.

[0088] Specifically, when it is determined that a target event occurs in a fully automatic train, a door control strategy for the fully automatic train can be determined based on the type of the target event, and then the doors of the fully automatic train can be controlled based on the door control strategy.

[0089] When it is determined that multiple target events occur in a fully automatic train, but the multiple target events are of the same type, the door control strategy of the fully automatic train can be determined based on the type of the target events, and then the doors of the fully automatic train can be controlled based on the door control strategy.

[0090] When it is determined that multiple target events occur in a fully automatic train, but the above-mentioned multiple target events are not target events of the same type, each door control strategy of the fully automatic train can be determined based on the type of each target event, and then it can be judged whether the door control strategies of the fully automatic train are in a hostile state. When the door control strategies of the fully automatic train are not in a hostile state, the doors of the fully automatic train can be controlled based on each of the above-mentioned door control strategies.

[0091] When the door control strategies of the fully automatic train are in a hostile state, the doors of the fully automatic train can be controlled based on the priority of the types of target events and the door control strategy obtained based on the type of the target event with the highest priority among the target events.

[0092] It should be noted that the door control strategy for controlling the doors of a fully automatic train to be in an open state in the embodiment of the present invention is in a hostile state to the door control strategy for controlling the doors of a fully automatic train to be in a closed state.

[0093] The door control strategy that controls the doors of a fully automatic train not to open or close in response to any instructions other than the target control instructions is in a hostile state to the door control strategy that keeps the doors of a fully automatic train in an open state and the door control strategy that keeps the doors of a fully automatic train in a closed state.

[0094] It should be noted that the train door control method provided by the present invention only involves the control of the doors of a fully automatic train. When it is determined that a target event has occurred in the fully automatic train, the on-board controller of the fully automatic train can also determine other control strategies for the fully automatic train based on the type of the target event, which will not be repeated in the embodiments of the present invention.

[0095] Figure 2 Schematic diagram of the structure of the train door control device provided by the present invention. Figure 2 The train door control device provided by the present invention is described. The train door control device described below and the train door control method provided by the present invention described above can be referred to each other. Figure 2 As shown, the device includes: an event determination module 201, a strategy acquisition module 202 and a control recovery module 203.

[0096] The event judgment module 201 is used to judge whether a target event occurs in the fully automatic running train when the fully automatic running train is running in a target running mode, and the target running mode includes a fully automatic driving mode.

[0097] The strategy acquisition module 202 is used to obtain the door control strategy of the fully automatic train based on the type of the target event when it is determined that the target event occurs in the fully automatic train, and then control the door of the fully automatic train based on the door control strategy, and determine whether the target event is eliminated.

[0098] The control recovery module 203 is used to obtain the control recovery strategy of the fully automatic train based on the type of the target event when it is determined that the target event has been eliminated, and then control the fully automatic train based on the control recovery strategy.

[0099] The train door control device in the embodiment of the present invention, when the fully automatic vehicle is running in the target operation mode, if it is determined that the target event occurs in the fully automatic train, then obtains the door control strategy based on the type of the target event, and then controls the door of the fully automatic train based on the door control strategy, and judges whether the target event is eliminated. When it is determined that the target event has been eliminated, the target event recovery strategy is obtained based on the type of the target event, and then the fully automatic train is controlled based on the control recovery strategy of the fully automatic train. The device can respond quickly and take appropriate control strategies in the event of sudden abnormalities, can more flexibly control the train doors in the event of sudden abnormalities in the fully automatic train, reduce the adverse effects caused by the sudden abnormalities, and effectively avoid passenger panic, which not only improves the safety and efficiency of train operation, but also optimizes the passenger experience.

[0100] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the train door control method, which includes: when the fully automatic train is running in the target operation mode, determining whether the fully automatic train has a target event, the target operation mode includes a fully automatic driving mode; when it is determined that the fully automatic train has a target event, based on the type of the target event, obtaining the door control strategy of the fully automatic train, and then controlling the door of the fully automatic train based on the door control strategy, and determining whether the target event has been eliminated; when it is determined that the target event has been eliminated, obtaining the control recovery strategy of the fully automatic train based on the type of the target event, and then controlling the fully automatic train based on the control recovery strategy.

[0101] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0102] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the train door control method provided by the above methods, which includes: when the fully automatic train is running in a target operation mode, determining whether a target event occurs in the fully automatic train, the target operation mode includes a fully automatic driving mode; when it is determined that the target event occurs in the fully automatic train, based on the type of the target event, obtaining the door control strategy of the fully automatic train, and then controlling the doors of the fully automatic train based on the door control strategy, and determining whether the target event is eliminated; when it is determined that the target event has been eliminated, based on the type of the target event, obtaining the control recovery strategy of the fully automatic train, and then controlling the fully automatic train based on the control recovery strategy.

[0103] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the train door control method provided by the above-mentioned methods, the method comprising: when a fully automatic train is operating in a target operation mode, determining whether a target event occurs in the fully automatic train, the target operation mode comprising a fully automatic driving mode; when it is determined that a target event occurs in the fully automatic train, based on the type of the target event, obtaining a door control strategy for the fully automatic train, and then based on the door control strategy, controlling the doors of the fully automatic train and determining whether the target event is eliminated; when it is determined that the target event has been eliminated, based on the type of the target event, obtaining a control recovery strategy for the fully automatic train, and then controlling the fully automatic train based on the control recovery strategy.

[0104] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0105] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A train door control method, characterized in that: include: When the fully automatic train is running in a target operation mode, determining whether a target event occurs in the fully automatic train, wherein the target operation mode includes a fully automatic driving mode; When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event, and then controlling the door of the fully automatic train based on the door control strategy, and determining whether the target event is eliminated; When it is determined that the target event has been eliminated, a control recovery strategy for the fully automatic train is obtained based on the type of the target event, and then the fully automatic train is controlled based on the control recovery strategy.

2. The train door control method according to claim 1, characterized in that: When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event includes: In the case where it is determined that a communication failure occurs between the fully automatic train and the computer interlocking system, the door control mode of the fully automatic train is that the driver manually controls the opening and closing of the doors, the fully automatic train receives a control instruction sent by the automatic train monitoring system to instruct the closing of the doors on both sides of the fully automatic train, all doors of the fully automatic train are fault-isolated, all platform doors of the planned stop platform of the fully automatic train are fault-isolated, or the fully automatic train receives a control instruction to instruct the fully automatic train to skip a stop and detain the train, it is determined that the first type of target event occurs in the fully automatic train; In the case where it is determined that the first type of target event occurs in the fully automatic train, determining that the door control strategy includes controlling the doors of the fully automatic train not to perform door opening or door closing operations in response to any instructions other than target control instructions, wherein the target control instructions include control instructions issued in the case of a platform fire or a train fire for instructing the fully automatic train to perform door opening and / or door closing operations; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: In a case where it is determined that the target event of the first type has been eliminated, determining a control recovery strategy for the fully automatic train includes stopping control of doors of the fully automatic train based on the door control strategy.

3. The train door control method according to claim 2, characterized in that: When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event includes: In the case where it is determined that the fully automatic driving mode authorization of the fully automatic running train is invalid and the fully automatic running train has stopped at the platform, a communication failure occurs between the fully automatic running train and the automatic train monitoring system, the platform detention is activated at the planned stop platform of the fully automatic running train, the door control mode of the fully automatic running train is to automatically control the opening and closing of the doors, or a fire alarm occurs in the fully automatic running train, it is determined that the second type of target event occurs in the fully automatic running train; In the case where it is determined that the second type of target event occurs in the fully automatic running train, determining that the door control strategy includes controlling the doors of the fully automatic running train to be in an open state; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: In a case where it is determined that the target event of the second type has been eliminated, determining a control recovery strategy for the fully automatic operation train includes stopping control of doors of the fully automatic operation train based on the door control strategy.

4. The train door control method according to claim 3, characterized in that: When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event includes: When it is determined that the fully automatic train is in the process of stopping at a station and the door state is lost, the body of the fully automatic train overlaps with the platform by at least one carriage and the passenger emergency handle in the fully automatic train is activated, the planned stop platform of the fully automatic train is in the passenger clearing state and the fully automatic train has stopped at the planned stop platform, the fully automatic train is switched to the creeping driving mode, the automatic train protection system at the rear end of the fully automatic train fails, the on-board controller at the rear end of the fully automatic train fails, the automatic operation modules at both ends of the fully automatic train fail, or after the fully automatic train stops at the platform, the platform door and the door of the fully automatic train have different switch states, it is determined that the fully automatic train has a third type of target event; In the case where it is determined that the third type of target event occurs in the fully automatic running train, determining the door control strategy includes: controlling the door of the fully automatic running train to be in an open state; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: When it is determined that the target event of the third type has been eliminated, determining that the control recovery strategy of the fully automatic train includes stopping the control of the doors of the fully automatic train based on the door control strategy upon receiving a control instruction triggered manually to instruct stopping the control of the doors of the fully automatic train based on the door control strategy.

5. The train door control method according to claim 4, characterized in that: When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event includes: In the case where it is determined that a platform fire alarm is triggered at a planned stop of the fully automatic train, determining that a fourth type of target event occurs at the fully automatic train; In the case where it is determined that the fourth type of target event occurs in the fully automatic running train, determining that the door control strategy includes controlling the doors of the fully automatic running train to be in an open state; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: When it is determined that the fourth type of target event has been eliminated, the control of the doors of the fully automatic operation train based on the door control strategy is stopped.

6. The train door control method according to claim 5, characterized in that: When it is determined that the target event occurs in the fully automatic train, obtaining a door control strategy of the fully automatic train based on the type of the target event includes: When receiving a manually triggered control instruction for controlling the doors of the fully automatic train to perform a door opening operation or a door closing operation, determining that a fifth type of target event occurs in the fully automatic train; In the case where it is determined that the fifth type of target event occurs in the fully automatic train, determining that the door control strategy includes controlling the doors of the fully automatic train in response to a manually triggered control instruction for controlling the doors of the fully automatic train to perform a door opening operation or a door closing operation; When it is determined that the target event has been eliminated, obtaining a control recovery strategy for the fully automatic train based on the type of the target event includes: In a case where it is determined that the fifth type of target event has been eliminated, determining a control recovery strategy for the fully automatic train includes continuing to control the doors of the fully automatic train based on the door control strategy.

7. The train door control method according to claim 6, characterized in that: The method of, when it is determined that the target event occurs in the fully automatic train, acquiring a door control strategy of the fully automatic train based on the type of the target event, and then controlling the door of the fully automatic train based on the door control strategy, comprises: When it is determined that a plurality of different types of target events occur in the fully automatic operation train, obtaining each of the door control strategies based on the type of each of the target events; When each of the door control strategies is not in a hostile state, the door of the fully automatic train is controlled based on each of the door control strategies, and when each of the door control strategies is in a hostile state, the door control strategy is obtained based on the type of the target event with the highest priority among the target events; Among them, the priority of the fifth type of target event is higher than the priority of the fourth type of target event, the priority of the fourth type of target event is higher than the priority of the first type of target event, and the priority of the first type of target event is higher than the priorities of the second type of target event and the third type of target event.

8. A train door control device, characterized in that: include: an event judgment module, used to judge whether a target event occurs in the fully automatic running train when the fully automatic running train is running in a target running mode, wherein the target running mode includes a fully automatic driving mode; a strategy acquisition module, for, when it is determined that the target event occurs in the fully automatic train, acquiring a door control strategy of the fully automatic train based on the type of the target event, and then controlling the door of the fully automatic train based on the door control strategy, and determining whether the target event is eliminated; The control recovery module is used to obtain the control recovery strategy of the fully automatic train based on the type of the target event when it is determined that the target event has been eliminated, and then control the fully automatic train based on the control recovery strategy.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the train door control method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the train door control method according to any one of claims 1 to 7 is implemented.

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